Merge pull request #2563 from Lopuska/patch-1

add btCollisionDispatcherMt.cpp on unity build

.gitignore

@@ -19,3 +19,14 @@ pip-selfcheck.json
 /build
 /dist
 *.eggs
+
+# CMake
+CMakeFiles/
+CMakeCache.txt
+cmake_install.cmake
+CTestTestFile.cmake
+
+# Visual Studio build files
+*.vcxproj
+*.vcxproj.filters
+*.sln

CMakeLists.txt

@@ -55,7 +55,6 @@ IF(NOT WIN32)
 ENDIF(NOT WIN32)
 
 OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
-OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
 
 #statically linking VC++ isn't supported for WindowsPhone/WindowsStore
 IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)

Extras/BulletRobotics/CMakeLists.txt

@@ -290,7 +290,6 @@ IF (INSTALL_EXTRA_LIBS)
     SET_TARGET_PROPERTIES(BulletRobotics  PROPERTIES FRAMEWORK true)
     SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
   ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
-ENDIF (INSTALL_EXTRA_LIBS)
 
 IF(NOT MSVC)
     CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics.pc.cmake
@@ -301,4 +300,6 @@ IF(NOT MSVC)
       DESTINATION
       ${PKGCONFIG_INSTALL_PREFIX}
     )
-ENDIF(NOT MSVC)
+ENDIF(NOT MSVC)
+ENDIF (INSTALL_EXTRA_LIBS)
+

Extras/ConvexDecomposition/cd_wavefront.cpp

@@ -176,7 +176,7 @@ public:
 		mHard[(int)c] = ST_DATA;
 	}
 
-	void DefaultSymbols(void);  // set up default symbols for hard seperator and comment symbol of the '#' character.
+	void DefaultSymbols(void);  // set up default symbols for hard separator and comment symbol of the '#' character.
 
 	bool EOS(char c)
 	{
@@ -197,7 +197,7 @@ private:
 	inline bool IsHard(char c);
 	inline char *SkipSpaces(char *foo);
 	inline bool IsWhiteSpace(char c);
-	inline bool IsNonSeparator(char c);  // non seperator,neither hard nor soft
+	inline bool IsNonSeparator(char c);  // non separator, neither hard nor soft
 
 	bool mMyAlloc;  // whether or not *I* allocated the buffer and am responsible for deleting it.
 	char *mData;    // ascii data to parse.

Extras/obj2sdf/obj2sdf.cpp

@@ -77,9 +77,10 @@ int main(int argc, char* argv[])
 	b3FileUtils::extractPath(fileNameWithPath, materialPrefixPath, MAX_PATH_LEN);
 
 	std::vector<tinyobj::shape_t> shapes;
+	tinyobj::attrib_t attribute;
 
 	b3BulletDefaultFileIO fileIO;
-	std::string err = tinyobj::LoadObj(shapes, fileNameWithPath, materialPrefixPath,&fileIO);
+	std::string err = tinyobj::LoadObj(attribute, shapes, fileNameWithPath, materialPrefixPath,&fileIO);
 
 	char sdfFileName[MAX_PATH_LEN];
 	sprintf(sdfFileName, "%s%s.sdf", materialPrefixPath, "newsdf");
@@ -117,20 +118,20 @@ int main(int argc, char* argv[])
 			int curTexcoords = shapeC->texcoords.size() / 2;
 
 			int faceCount = shape.mesh.indices.size();
-			int vertexCount = shape.mesh.positions.size();
+			int vertexCount = attribute.vertices.size();
 			for (int v = 0; v < vertexCount; v++)
 			{
-				shapeC->positions.push_back(shape.mesh.positions[v]);
+				shapeC->positions.push_back(attribute.vertices[v]);
 			}
-			int numNormals = int(shape.mesh.normals.size());
+			int numNormals = int(attribute.normals.size());
 			for (int vn = 0; vn < numNormals; vn++)
 			{
-				shapeC->normals.push_back(shape.mesh.normals[vn]);
+				shapeC->normals.push_back(attribute.normals[vn]);
 			}
-			int numTexCoords = int(shape.mesh.texcoords.size());
+			int numTexCoords = int(attribute.texcoords.size());
 			for (int vt = 0; vt < numTexCoords; vt++)
 			{
-				shapeC->texcoords.push_back(shape.mesh.texcoords[vt]);
+				shapeC->texcoords.push_back(attribute.texcoords[vt]);
 			}
 
 			for (int face = 0; face < faceCount; face += 3)
@@ -140,9 +141,9 @@ int main(int argc, char* argv[])
 					continue;
 				}
 
-				shapeC->indices.push_back(shape.mesh.indices[face] + curPositions);
-				shapeC->indices.push_back(shape.mesh.indices[face + 1] + curPositions);
-				shapeC->indices.push_back(shape.mesh.indices[face + 2] + curPositions);
+				shapeC->indices.push_back(shape.mesh.indices[face].vertex_index + curPositions);
+				shapeC->indices.push_back(shape.mesh.indices[face + 1].vertex_index + curPositions);
+				shapeC->indices.push_back(shape.mesh.indices[face + 2].vertex_index + curPositions);
 			}
 		}
 	}
@@ -329,7 +330,7 @@ int main(int argc, char* argv[])
 			}
 
 			int faceCount = shape.mesh.indices.size();
-			int vertexCount = shape.mesh.positions.size();
+			int vertexCount = attribute.vertices.size();
 			tinyobj::material_t mat = shape.material;
 			if (shape.name.length())
 			{
@@ -339,7 +340,7 @@ int main(int argc, char* argv[])
 			}
 			for (int v = 0; v < vertexCount / 3; v++)
 			{
-				fprintf(f, "v %f %f %f\n", shape.mesh.positions[v * 3 + 0], shape.mesh.positions[v * 3 + 1], shape.mesh.positions[v * 3 + 2]);
+				fprintf(f, "v %f %f %f\n", attribute.vertices[v * 3 + 0], attribute.vertices[v * 3 + 1], attribute.vertices[v * 3 + 2]);
 			}
 
 			if (mat.name.length())
@@ -352,18 +353,18 @@ int main(int argc, char* argv[])
 			}
 
 			fprintf(f, "\n");
-			int numNormals = int(shape.mesh.normals.size());
+			int numNormals = int(attribute.normals.size());
 
 			for (int vn = 0; vn < numNormals / 3; vn++)
 			{
-				fprintf(f, "vn %f %f %f\n", shape.mesh.normals[vn * 3 + 0], shape.mesh.normals[vn * 3 + 1], shape.mesh.normals[vn * 3 + 2]);
+				fprintf(f, "vn %f %f %f\n", attribute.normals[vn * 3 + 0], attribute.normals[vn * 3 + 1], attribute.normals[vn * 3 + 2]);
 			}
 
 			fprintf(f, "\n");
-			int numTexCoords = int(shape.mesh.texcoords.size());
+			int numTexCoords = int(attribute.texcoords.size());
 			for (int vt = 0; vt < numTexCoords / 2; vt++)
 			{
-				fprintf(f, "vt %f %f\n", shape.mesh.texcoords[vt * 2 + 0], shape.mesh.texcoords[vt * 2 + 1]);
+				fprintf(f, "vt %f %f\n", attribute.texcoords[vt * 2 + 0], attribute.texcoords[vt * 2 + 1]);
 			}
 
 			fprintf(f, "s off\n");
@@ -375,9 +376,9 @@ int main(int argc, char* argv[])
 					continue;
 				}
 				fprintf(f, "f %d/%d/%d %d/%d/%d %d/%d/%d\n",
-						shape.mesh.indices[face] + 1, shape.mesh.indices[face] + 1, shape.mesh.indices[face] + 1,
-						shape.mesh.indices[face + 1] + 1, shape.mesh.indices[face + 1] + 1, shape.mesh.indices[face + 1] + 1,
-						shape.mesh.indices[face + 2] + 1, shape.mesh.indices[face + 2] + 1, shape.mesh.indices[face + 2] + 1);
+						shape.mesh.indices[face].vertex_index + 1, shape.mesh.indices[face].vertex_index + 1, shape.mesh.indices[face].vertex_index + 1,
+						shape.mesh.indices[face + 1].vertex_index + 1, shape.mesh.indices[face + 1].vertex_index + 1, shape.mesh.indices[face + 1].vertex_index + 1,
+						shape.mesh.indices[face + 2].vertex_index + 1, shape.mesh.indices[face + 2].vertex_index + 1, shape.mesh.indices[face + 2].vertex_index + 1);
 			}
 			fclose(f);
 
@@ -437,4 +438,4 @@ int main(int argc, char* argv[])
 	fclose(sdfFile);
 
 	return 0;
-}
+}

README.md

@@ -5,7 +5,20 @@
 
 This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
 
-New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and see [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
+## PyBullet ##
+New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
+
+If you use PyBullet in your research, please cite it like this:
+
+```
+@MISC{coumans2019,
+author =   {Erwin Coumans and Yunfei Bai},
+title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
+howpublished = {\url{http://pybullet.org}},
+year = {2016--2019}
+}
+```
+
 
 The Bullet 2 API will stay default and up-to-date while slowly moving to a new API.
 The steps towards a new API is in a nutshell:
@@ -44,6 +57,18 @@ track down the issue, but more work is required to cover all OpenCL kernels.
 All source code files are licensed under the permissive zlib license
 (http://opensource.org/licenses/Zlib) unless marked differently in a particular folder/file.
 
+## Build instructions for Bullet using vcpkg
+
+You can download and install Bullet using the [vcpkg](https://github.com/Microsoft/vcpkg/) dependency manager:
+
+    git clone https://github.com/Microsoft/vcpkg.git
+    cd vcpkg
+    ./bootstrap-vcpkg.sh
+    ./vcpkg integrate install
+    vcpkg install bullet3
+
+The Bullet port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please [create an issue or pull request](https://github.com/Microsoft/vcpkg) on the vcpkg repository.
+
 ## Build instructions for Bullet using premake. You can also use cmake instead.
 
 **Windows**

VERSION

@@ -1 +1 @@
-2.88
+2.89

build_visual_studio_vr_pybullet_double.bat

@@ -18,7 +18,7 @@ rem SET myvar=c:\python-3.5.2
 cd build3
 
 
-premake4  --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+premake4  --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 
 rem premake4  --double   --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
 rem premake4  --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 

bullet.pc.cmake

@@ -1,6 +1,11 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+libdir=${exec_prefix}/@LIB_DESTINATION@
+includedir=${prefix}/@INCLUDE_INSTALL_DIR@
+
 Name: bullet
 Description: Bullet Continuous Collision Detection and Physics Library
-Requires:
 Version: @BULLET_VERSION@
-Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath
-Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include
+Requires:
+Libs: -L${libdir} -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath
+Cflags: @BULLET_DOUBLE_DEF@ -I${includedir} -I${prefix}/include

data/cloth.obj

@@ -0,0 +1,64 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib cloth.mtl
+o Plane_Plane.001
+v -1.000000 0.000000 1.000000
+v 1.000000 0.000000 1.000000
+v -1.000000 0.000000 -1.000000
+v 1.000000 0.000000 -1.000000
+v -1.000000 0.000000 0.000000
+v 0.000000 0.000000 1.000000
+v 1.000000 0.000000 0.000000
+v 0.000000 0.000000 -1.000000
+v 0.000000 0.000000 0.000000
+v -1.000000 0.000000 0.500000
+v 0.500000 0.000000 1.000000
+v 1.000000 0.000000 -0.500000
+v -0.500000 0.000000 -1.000000
+v -1.000000 0.000000 -0.500000
+v -0.500000 0.000000 1.000000
+v 1.000000 0.000000 0.500000
+v 0.500000 0.000000 -1.000000
+v 0.000000 0.000000 -0.500000
+v 0.000000 0.000000 0.500000
+v -0.500000 0.000000 0.000000
+v 0.500000 0.000000 0.000000
+v 0.500000 0.000000 0.500000
+v -0.500000 0.000000 0.500000
+v -0.500000 0.000000 -0.500000
+v 0.500000 0.000000 -0.500000
+vn 0.0000 1.0000 0.0000
+usemtl None
+s off
+f 12//1 17//1 25//1
+f 18//1 13//1 24//1
+f 19//1 20//1 23//1
+f 16//1 21//1 22//1
+f 22//1 9//1 19//1
+f 11//1 19//1 6//1
+f 2//1 22//1 11//1
+f 23//1 5//1 10//1
+f 15//1 10//1 1//1
+f 6//1 23//1 15//1
+f 24//1 3//1 14//1
+f 20//1 14//1 5//1
+f 9//1 24//1 20//1
+f 25//1 8//1 18//1
+f 21//1 18//1 9//1
+f 7//1 25//1 21//1
+f 12//1 4//1 17//1
+f 18//1 8//1 13//1
+f 19//1 9//1 20//1
+f 16//1 7//1 21//1
+f 22//1 21//1 9//1
+f 11//1 22//1 19//1
+f 2//1 16//1 22//1
+f 23//1 20//1 5//1
+f 15//1 23//1 10//1
+f 6//1 19//1 23//1
+f 24//1 13//1 3//1
+f 20//1 24//1 14//1
+f 9//1 18//1 24//1
+f 25//1 17//1 8//1
+f 21//1 25//1 18//1
+f 7//1 12//1 25//1

data/cloth_z_up.obj

@@ -0,0 +1,64 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib cloth_z_up.mtl
+o Plane_Plane.001
+v -1.000000 -1.000000 0.000000
+v 1.000000 -1.000000 0.000000
+v -1.000000 1.000000 -0.000000
+v 1.000000 1.000000 -0.000000
+v -1.000000 0.000000 0.000000
+v -0.000000 -1.000000 0.000000
+v 1.000000 -0.000000 -0.000000
+v 0.000000 1.000000 -0.000000
+v 0.000000 0.000000 0.000000
+v -1.000000 -0.500000 0.000000
+v 0.500000 -1.000000 0.000000
+v 1.000000 0.500000 -0.000000
+v -0.500000 1.000000 -0.000000
+v -1.000000 0.500000 -0.000000
+v -0.500000 -1.000000 0.000000
+v 1.000000 -0.500000 0.000000
+v 0.500000 1.000000 -0.000000
+v 0.000000 0.500000 -0.000000
+v -0.000000 -0.500000 0.000000
+v -0.500000 0.000000 0.000000
+v 0.500000 -0.000000 -0.000000
+v 0.500000 -0.500000 0.000000
+v -0.500000 -0.500000 0.000000
+v -0.500000 0.500000 -0.000000
+v 0.500000 0.500000 -0.000000
+vn 0.0000 0.0000 1.0000
+usemtl None
+s off
+f 12//1 17//1 25//1
+f 18//1 13//1 24//1
+f 19//1 20//1 23//1
+f 16//1 21//1 22//1
+f 22//1 9//1 19//1
+f 11//1 19//1 6//1
+f 2//1 22//1 11//1
+f 23//1 5//1 10//1
+f 15//1 10//1 1//1
+f 6//1 23//1 15//1
+f 24//1 3//1 14//1
+f 20//1 14//1 5//1
+f 9//1 24//1 20//1
+f 25//1 8//1 18//1
+f 21//1 18//1 9//1
+f 7//1 25//1 21//1
+f 12//1 4//1 17//1
+f 18//1 8//1 13//1
+f 19//1 9//1 20//1
+f 16//1 7//1 21//1
+f 22//1 21//1 9//1
+f 11//1 22//1 19//1
+f 2//1 16//1 22//1
+f 23//1 20//1 5//1
+f 15//1 23//1 10//1
+f 6//1 19//1 23//1
+f 24//1 13//1 3//1
+f 20//1 24//1 14//1
+f 9//1 18//1 24//1
+f 25//1 17//1 8//1
+f 21//1 25//1 18//1
+f 7//1 12//1 25//1

data/single_tet.vtk

@@ -0,0 +1,15 @@
+# vtk DataFile Version 2.0
+ball_, Created by Gmsh
+ASCII
+DATASET UNSTRUCTURED_GRID
+POINTS 4 double
+0 0 0
+1 0 0
+0 1 0
+0 0 1
+
+CELLS 1 1
+4 0 1 2 3
+
+CELL_TYPES 1
+10

data/table/table.urdf

@@ -29,21 +29,21 @@
       <geometry>
 	    <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
       </geometry>
-	  <material name="framemat0"/>	 
+	  <material name="white"/>	 
     </visual>
     <visual>
       <origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/>
       <geometry>
         <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
       </geometry>
-	  <material name="framemat0"/>
+	  <material name="white"/>
 	  </visual>
     <visual>
       <origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/>
       <geometry>
         <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
       </geometry>
-	  <material name="framemat0"/>
+	  <material name="white"/>
 	  </visual>
     <visual>
       <origin rpy="0 0 0" xyz="0.65 0.4 0.29"/>

examples/BlockSolver/BlockSolverExample.cpp

@@ -1,209 +0,0 @@
-#include "BlockSolverExample.h"
-#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
-#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
-#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
-#include "btBlockSolver.h"
-//for URDF import support
-#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
-#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
-#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
-#include "../CommonInterfaces/CommonMultiBodyBase.h"
-
-class BlockSolverExample : public CommonMultiBodyBase
-{
-	int m_option;
-
-public:
-	BlockSolverExample(GUIHelperInterface* helper, int option);
-	virtual ~BlockSolverExample();
-
-	virtual void initPhysics();
-
-	virtual void stepSimulation(float deltaTime);
-
-	virtual void resetCamera()
-	{
-		float dist = 3;
-		float pitch = -35;
-		float yaw = 50;
-		float targetPos[3] = {0, 0, .1};
-		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
-	}
-
-	void createMultiBodyStack();
-	btMultiBody* createMultiBody(btScalar mass, const btTransform& trans, btCollisionShape* collisionShape);
-	btMultiBody* loadRobot(std::string filepath);
-};
-
-BlockSolverExample::BlockSolverExample(GUIHelperInterface* helper, int option)
-	: CommonMultiBodyBase(helper),
-	  m_option(option)
-{
-	m_guiHelper->setUpAxis(2);
-}
-
-BlockSolverExample::~BlockSolverExample()
-{
-	// Do nothing
-}
-
-void BlockSolverExample::stepSimulation(float deltaTime)
-{
-	//use a smaller internal timestep, there are stability issues
-	btScalar internalTimeStep = 1. / 240.f;
-	m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
-}
-
-void BlockSolverExample::initPhysics()
-{
-	///collision configuration contains default setup for memory, collision setup
-	m_collisionConfiguration = new btDefaultCollisionConfiguration();
-
-	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
-	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
-
-	m_broadphase = new btDbvtBroadphase();
-
-	btMLCPSolverInterface* mlcp;
-	if (m_option & BLOCK_SOLVER_SI)
-	{
-		btAssert(!m_solver);
-		m_solver = new btMultiBodyConstraintSolver;
-		b3Printf("Constraint Solver: Sequential Impulse");
-	}
-	if (m_option & BLOCK_SOLVER_MLCP_PGS)
-	{
-		btAssert(!m_solver);
-		mlcp = new btSolveProjectedGaussSeidel();
-		m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
-		b3Printf("Constraint Solver: MLCP + PGS");
-	}
-	if (m_option & BLOCK_SOLVER_MLCP_DANTZIG)
-	{
-		btAssert(!m_solver);
-		mlcp = new btDantzigSolver();
-		m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
-		b3Printf("Constraint Solver: MLCP + Dantzig");
-	}
-	if (m_option & BLOCK_SOLVER_BLOCK)
-	{
-		m_solver = new btBlockSolver();
-	}
-
-	btAssert(m_solver);
-
-	btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
-	m_dynamicsWorld = world;
-	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
-	m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
-	m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
-	m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-6);  //todo: what value is good?
-
-	if (m_option & BLOCK_SOLVER_SCENE_MB_STACK)
-	{
-		createMultiBodyStack();
-	}
-
-	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
-}
-
-void BlockSolverExample::createMultiBodyStack()
-{
-	///create a few basic rigid bodies
-	bool loadPlaneFromURDF = false;
-	if (loadPlaneFromURDF)
-	{
-		btMultiBody* mb = loadRobot("plane.urdf");
-		printf("!\n");
-	}
-	else
-	{
-		btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
-		m_collisionShapes.push_back(groundShape);
-		btScalar mass = 0;
-		btTransform tr;
-		tr.setIdentity();
-		tr.setOrigin(btVector3(0, 0, -50));
-		btMultiBody* body = createMultiBody(mass, tr, groundShape);
-	}
-
-	for (int i = 0; i < 10; i++)
-	{
-		btBoxShape* boxShape = createBoxShape(btVector3(btScalar(.1), btScalar(.1), btScalar(.1)));
-		m_collisionShapes.push_back(boxShape);
-		btScalar mass = 1;
-		if (i == 9)
-			mass = 100;
-		btTransform tr;
-		tr.setIdentity();
-		tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2));
-		btMultiBody* body = createMultiBody(mass, tr, boxShape);
-	}
-	if (/* DISABLES CODE */ (0))
-	{
-		btMultiBody* mb = loadRobot("cube_small.urdf");
-		btTransform tr;
-		tr.setIdentity();
-		tr.setOrigin(btVector3(0, 0, 1.));
-		mb->setBaseWorldTransform(tr);
-	}
-}
-
-btMultiBody* BlockSolverExample::createMultiBody(btScalar mass, const btTransform& trans, btCollisionShape* collisionShape)
-{
-	btVector3 inertia;
-	collisionShape->calculateLocalInertia(mass, inertia);
-
-	bool canSleep = false;
-	bool isDynamic = mass > 0;
-	btMultiBody* mb = new btMultiBody(0, mass, inertia, !isDynamic, canSleep);
-	btMultiBodyLinkCollider* collider = new btMultiBodyLinkCollider(mb, -1);
-	collider->setWorldTransform(trans);
-	mb->setBaseWorldTransform(trans);
-
-	collider->setCollisionShape(collisionShape);
-
-	int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
-	int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
-
-	this->m_dynamicsWorld->addCollisionObject(collider, collisionFilterGroup, collisionFilterMask);
-	mb->setBaseCollider(collider);
-
-	mb->finalizeMultiDof();
-
-	this->m_dynamicsWorld->addMultiBody(mb);
-	m_dynamicsWorld->forwardKinematics();
-	return mb;
-}
-
-btMultiBody* BlockSolverExample::loadRobot(std::string filepath)
-{
-	btMultiBody* m_multiBody = 0;
-	BulletURDFImporter u2b(m_guiHelper, 0, 0, 1, 0);
-	bool loadOk = u2b.loadURDF(filepath.c_str());  // lwr / kuka.urdf");
-	if (loadOk)
-	{
-		int rootLinkIndex = u2b.getRootLinkIndex();
-		b3Printf("urdf root link index = %d\n", rootLinkIndex);
-		MyMultiBodyCreator creation(m_guiHelper);
-		btTransform identityTrans;
-		identityTrans.setIdentity();
-		ConvertURDF2Bullet(u2b, creation, identityTrans, m_dynamicsWorld, true, u2b.getPathPrefix());
-		for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
-		{
-			m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
-		}
-		m_multiBody = creation.getBulletMultiBody();
-		if (m_multiBody)
-		{
-			b3Printf("Root link name = %s", u2b.getLinkName(u2b.getRootLinkIndex()).c_str());
-		}
-	}
-	return m_multiBody;
-}
-
-CommonExampleInterface* BlockSolverExampleCreateFunc(CommonExampleOptions& options)
-{
-	return new BlockSolverExample(options.m_guiHelper, options.m_option);
-}

examples/BlockSolver/BlockSolverExample.h

@@ -1,7 +0,0 @@
-
-#ifndef BLOCK_SOLVER_EXAMPLE_H
-#define BLOCK_SOLVER_EXAMPLE_H
-
-class CommonExampleInterface* BlockSolverExampleCreateFunc(struct CommonExampleOptions& options);
-
-#endif  //BLOCK_SOLVER_EXAMPLE_H

examples/BlockSolver/RigidBodyBoxes.cpp

@@ -1,151 +0,0 @@
-#include "RigidBodyBoxes.h"
-#include "../CommonInterfaces/CommonParameterInterface.h"
-#include "../CommonInterfaces/CommonRigidBodyBase.h"
-#include "BlockSolverExample.h"
-#include "btBlockSolver.h"
-
-class RigidBodyBoxes : public CommonRigidBodyBase
-{
-	int m_option;
-	int m_numIterations;
-	int m_numBoxes;
-	btAlignedObjectArray<btRigidBody*> boxes;
-	static btScalar numSolverIterations;
-
-public:
-	RigidBodyBoxes(GUIHelperInterface* helper, int option);
-	virtual ~RigidBodyBoxes();
-
-	virtual void initPhysics();
-
-	virtual void stepSimulation(float deltaTime);
-	void resetCubePosition();
-	virtual void resetCamera()
-	{
-		float dist = 3;
-		float pitch = -35;
-		float yaw = 50;
-		float targetPos[3] = {0, 0, .1};
-		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1],
-								 targetPos[2]);
-	}
-
-	void createRigidBodyStack();
-};
-
-btScalar RigidBodyBoxes::numSolverIterations = 50;
-
-RigidBodyBoxes::RigidBodyBoxes(GUIHelperInterface* helper, int option)
-	: CommonRigidBodyBase(helper),
-	  m_option(option),
-	  m_numIterations(numSolverIterations),
-	  m_numBoxes(4)
-{
-	m_guiHelper->setUpAxis(2);
-}
-
-RigidBodyBoxes::~RigidBodyBoxes()
-{
-	// Do nothing
-}
-
-void RigidBodyBoxes::createRigidBodyStack()
-{
-	// create ground
-	btBoxShape* groundShape =
-		createBoxShape(btVector3(btScalar(5.), btScalar(5.), btScalar(5.)));
-	m_collisionShapes.push_back(groundShape);
-	btTransform groundTransform;
-	groundTransform.setIdentity();
-	groundTransform.setOrigin(btVector3(0, 0, -5));
-	btScalar mass(0.);
-	btRigidBody* body = createRigidBody(mass, groundTransform, groundShape,
-										btVector4(0, 0, 1, 1));
-
-	// create a few boxes
-	mass = 1;
-	for (int i = 0; i < m_numBoxes; i++)
-	{
-		btBoxShape* boxShape =
-			createBoxShape(btVector3(btScalar(.1), btScalar(.1), btScalar(.1)));
-		m_collisionShapes.push_back(boxShape);
-		mass *= 4;
-		btTransform tr;
-		tr.setIdentity();
-		tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2));
-		boxes.push_back(createRigidBody(mass, tr, boxShape));
-	}
-}
-
-void RigidBodyBoxes::initPhysics()
-{
-	/// collision configuration contains default setup for memory, collision setup
-	m_collisionConfiguration = new btDefaultCollisionConfiguration();
-
-	/// use the default collision dispatcher. For parallel processing you can use
-	/// a diffent dispatcher (see Extras/BulletMultiThreaded)
-	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
-	m_broadphase = new btDbvtBroadphase();
-
-	{
-		SliderParams slider("numSolverIterations", &numSolverIterations);
-		slider.m_minVal = 5;
-		slider.m_maxVal = 500;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-	}
-
-	if (m_option & BLOCK_SOLVER_SI)
-	{
-		m_solver = new btSequentialImpulseConstraintSolver;
-		b3Printf("Constraint Solver: Sequential Impulse");
-	}
-	if (m_option & BLOCK_SOLVER_BLOCK)
-	{
-		m_solver = new btBlockSolver();
-		b3Printf("Constraint Solver: Block solver");
-	}
-
-	btAssert(m_solver);
-
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(
-		m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
-	m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
-
-	createRigidBodyStack();
-
-	m_dynamicsWorld->getSolverInfo().m_numIterations = numSolverIterations;
-	m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-6);
-
-	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
-	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
-}
-
-void RigidBodyBoxes::resetCubePosition()
-{
-	for (int i = 0; i < m_numBoxes; i++)
-	{
-		btTransform tr;
-		tr.setIdentity();
-		tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2));
-		boxes[i]->setWorldTransform(tr);
-	}
-}
-
-void RigidBodyBoxes::stepSimulation(float deltaTime)
-{
-	if ((int)numSolverIterations != m_numIterations)
-	{
-		resetCubePosition();
-		m_numIterations = (int)numSolverIterations;
-		m_dynamicsWorld->getSolverInfo().m_numIterations = m_numIterations;
-		b3Printf("New num iterations; %d", m_numIterations);
-	}
-
-	m_dynamicsWorld->stepSimulation(deltaTime);
-}
-
-CommonExampleInterface* RigidBodyBoxesCreateFunc(
-	CommonExampleOptions& options)
-{
-	return new RigidBodyBoxes(options.m_guiHelper, options.m_option);
-}

examples/BlockSolver/RigidBodyBoxes.h

@@ -1,6 +0,0 @@
-#ifndef BLOCKSOLVER_RIGIDBODYBOXES_H_
-#define BLOCKSOLVER_RIGIDBODYBOXES_H_
-
-class CommonExampleInterface* RigidBodyBoxesCreateFunc(struct CommonExampleOptions& options);
-
-#endif  //BLOCKSOLVER_RIGIDBODYBOXES_H_

examples/BlockSolver/btBlockSolver.cpp

@@ -1,374 +0,0 @@
-#include "btBlockSolver.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
-#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
-#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
-
-#include "LinearMath/btQuickprof.h"
-
-void setupHelper(btSISolverSingleIterationData& siData,
-				 btCollisionObject** bodies, int numBodies,
-				 const btContactSolverInfo& info,
-				 btTypedConstraint** constraintStart, int constrainNums,
-				 btPersistentManifold** manifoldPtr, int numManifolds);
-
-struct btBlockSolverInternalData
-{
-	btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
-	btConstraintArray m_tmpSolverContactConstraintPool;
-	btConstraintArray m_tmpSolverNonContactConstraintPool;
-	btConstraintArray m_tmpSolverContactFrictionConstraintPool;
-	btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
-
-	btAlignedObjectArray<int> m_orderTmpConstraintPool;
-	btAlignedObjectArray<int> m_orderNonContactConstraintPool;
-	btAlignedObjectArray<int> m_orderFrictionConstraintPool;
-	btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>
-		m_tmpConstraintSizesPool;
-
-	unsigned long m_btSeed2;
-	int m_fixedBodyId;
-	int m_maxOverrideNumSolverIterations;
-	btAlignedObjectArray<int>
-		m_kinematicBodyUniqueIdToSolverBodyTable;  // only used for multithreading
-
-	btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
-	btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
-	btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
-
-	btBlockSolverInternalData()
-		: m_btSeed2(0),
-		  m_fixedBodyId(-1),
-		  m_maxOverrideNumSolverIterations(0),
-		  m_resolveSingleConstraintRowGeneric(
-			  btSequentialImpulseConstraintSolver::
-				  getScalarConstraintRowSolverGeneric()),
-		  m_resolveSingleConstraintRowLowerLimit(
-			  btSequentialImpulseConstraintSolver::
-				  getScalarConstraintRowSolverLowerLimit()),
-		  m_resolveSplitPenetrationImpulse(
-			  btSequentialImpulseConstraintSolver::
-				  getScalarSplitPenetrationImpulseGeneric()) {}
-};
-
-btBlockSolver::btBlockSolver()
-{
-	m_data21 = new btBlockSolverInternalData;
-	m_data22 = new btBlockSolverInternalData;
-}
-
-btBlockSolver::~btBlockSolver()
-{
-	delete m_data21;
-	delete m_data22;
-}
-
-btScalar btBlockSolver::solveGroupInternalBlock(
-	btCollisionObject** bodies, int numBodies,
-	btPersistentManifold** manifoldPtr, int numManifolds,
-	btTypedConstraint** constraints, int numConstraints,
-	const btContactSolverInfo& info, btIDebugDraw* debugDrawer,
-	btDispatcher* dispatcher)
-{
-	// initialize data for two children solvers
-	btSISolverSingleIterationData siData1(
-		m_data21->m_tmpSolverBodyPool, m_data21->m_tmpSolverContactConstraintPool,
-		m_data21->m_tmpSolverNonContactConstraintPool,
-		m_data21->m_tmpSolverContactFrictionConstraintPool,
-		m_data21->m_tmpSolverContactRollingFrictionConstraintPool,
-		m_data21->m_orderTmpConstraintPool,
-		m_data21->m_orderNonContactConstraintPool,
-		m_data21->m_orderFrictionConstraintPool,
-		m_data21->m_tmpConstraintSizesPool,
-		m_data21->m_resolveSingleConstraintRowGeneric,
-		m_data21->m_resolveSingleConstraintRowLowerLimit,
-		m_data21->m_resolveSplitPenetrationImpulse,
-		m_data21->m_kinematicBodyUniqueIdToSolverBodyTable, m_data21->m_btSeed2,
-		m_data21->m_fixedBodyId, m_data21->m_maxOverrideNumSolverIterations);
-
-	btSISolverSingleIterationData siData2(
-		m_data22->m_tmpSolverBodyPool, m_data22->m_tmpSolverContactConstraintPool,
-		m_data22->m_tmpSolverNonContactConstraintPool,
-		m_data22->m_tmpSolverContactFrictionConstraintPool,
-		m_data22->m_tmpSolverContactRollingFrictionConstraintPool,
-		m_data22->m_orderTmpConstraintPool,
-		m_data22->m_orderNonContactConstraintPool,
-		m_data22->m_orderFrictionConstraintPool,
-		m_data22->m_tmpConstraintSizesPool,
-		m_data22->m_resolveSingleConstraintRowGeneric,
-		m_data22->m_resolveSingleConstraintRowLowerLimit,
-		m_data22->m_resolveSplitPenetrationImpulse,
-		m_data22->m_kinematicBodyUniqueIdToSolverBodyTable, m_data22->m_btSeed2,
-		m_data22->m_fixedBodyId, m_data22->m_maxOverrideNumSolverIterations);
-
-	m_data21->m_fixedBodyId = -1;
-	m_data22->m_fixedBodyId = -1;
-
-	// set up
-	int halfNumConstraints1 = numConstraints / 2;
-	int halfNumConstraints2 = numConstraints - halfNumConstraints1;
-
-	int halfNumManifolds1 = numConstraints / 2;
-	int halfNumManifolds2 = numManifolds - halfNumManifolds1;
-
-	setupHelper(siData1, bodies, numBodies, info, constraints,
-				halfNumConstraints1, manifoldPtr, halfNumManifolds1);
-
-	setupHelper(siData2, bodies, numBodies, info,
-				constraints + halfNumConstraints1, halfNumConstraints2,
-				manifoldPtr + halfNumManifolds1, halfNumManifolds2);
-	// set up complete
-
-	// begin solve
-	btScalar leastSquaresResidual = 0;
-	{
-		BT_PROFILE("solveGroupCacheFriendlyIterations");
-		/// this is a special step to resolve penetrations (just for contacts)
-		btSequentialImpulseConstraintSolver::
-			solveGroupCacheFriendlySplitImpulseIterationsInternal(
-				siData1, bodies, numBodies, manifoldPtr, halfNumManifolds1,
-				constraints, halfNumConstraints1, info, debugDrawer);
-
-		btSequentialImpulseConstraintSolver::
-			solveGroupCacheFriendlySplitImpulseIterationsInternal(
-				siData2, bodies, numBodies, manifoldPtr + halfNumManifolds1,
-				halfNumManifolds2, constraints + halfNumConstraints1,
-				halfNumConstraints2, info, debugDrawer);
-
-		int maxIterations =
-			siData1.m_maxOverrideNumSolverIterations > info.m_numIterations
-				? siData1.m_maxOverrideNumSolverIterations
-				: info.m_numIterations;
-
-		for (int iteration = 0; iteration < maxIterations; iteration++)
-		{
-			btScalar res1 =
-				btSequentialImpulseConstraintSolver::solveSingleIterationInternal(
-					siData1, iteration, constraints, halfNumConstraints1, info);
-
-			btScalar res2 =
-				btSequentialImpulseConstraintSolver::solveSingleIterationInternal(
-					siData2, iteration, constraints + halfNumConstraints1,
-					halfNumConstraints2, info);
-			leastSquaresResidual = btMax(res1, res2);
-
-			if (leastSquaresResidual <= info.m_leastSquaresResidualThreshold ||
-				(iteration >= (maxIterations - 1)))
-			{
-#ifdef VERBOSE_RESIDUAL_PRINTF
-				printf("residual = %f at iteration #%d\n", m_leastSquaresResidual,
-					   iteration);
-#endif
-				break;
-			}
-		}
-	}
-
-	btScalar res = btSequentialImpulseConstraintSolver::
-		solveGroupCacheFriendlyFinishInternal(siData1, bodies, numBodies, info);
-	+btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(
-		siData2, bodies, numBodies, info);
-
-	return res;
-}
-
-void setupHelper(btSISolverSingleIterationData& siData,
-				 btCollisionObject** bodies, int numBodies,
-				 const btContactSolverInfo& info,
-				 btTypedConstraint** constraintStart, int constrainNums,
-				 btPersistentManifold** manifoldPtr, int numManifolds)
-{
-	btSequentialImpulseConstraintSolver::convertBodiesInternal(siData, bodies,
-															   numBodies, info);
-	btSequentialImpulseConstraintSolver::convertJointsInternal(
-		siData, constraintStart, constrainNums, info);
-
-	int i;
-	btPersistentManifold* manifold = 0;
-
-	for (i = 0; i < numManifolds; i++)
-	{
-		manifold = manifoldPtr[i];
-		btSequentialImpulseConstraintSolver::convertContactInternal(siData,
-																	manifold, info);
-
-		int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size();
-		int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size();
-		int numFrictionPool =
-			siData.m_tmpSolverContactFrictionConstraintPool.size();
-
-		siData.m_orderNonContactConstraintPool.resizeNoInitialize(
-			numNonContactPool);
-		if ((info.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-			siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2);
-		else
-			siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
-
-		siData.m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
-		{
-			int i;
-			for (i = 0; i < numNonContactPool; i++)
-			{
-				siData.m_orderNonContactConstraintPool[i] = i;
-			}
-			for (i = 0; i < numConstraintPool; i++)
-			{
-				siData.m_orderTmpConstraintPool[i] = i;
-			}
-			for (i = 0; i < numFrictionPool; i++)
-			{
-				siData.m_orderFrictionConstraintPool[i] = i;
-			}
-		}
-	}
-}
-
-btScalar btBlockSolver::solveGroup(btCollisionObject** bodies, int numBodies,
-								   btPersistentManifold** manifoldPtr,
-								   int numManifolds,
-								   btTypedConstraint** constraints,
-								   int numConstraints,
-								   const btContactSolverInfo& info,
-								   btIDebugDraw* debugDrawer,
-								   btDispatcher* dispatcher)
-{
-	// if (m_childSolvers.size())
-	// hard code to use block solver for now
-	return solveGroupInternalBlock(bodies, numBodies, manifoldPtr, numManifolds,
-								   constraints, numConstraints, info, debugDrawer,
-								   dispatcher);
-	//  else
-	//    return solveGroupInternal(bodies, numBodies, manifoldPtr, numManifolds,
-	//                             constraints, numConstraints, info, debugDrawer,
-	//                             dispatcher);
-}
-
-btScalar btBlockSolver::solveGroupInternal(
-	btCollisionObject** bodies, int numBodies,
-	btPersistentManifold** manifoldPtr, int numManifolds,
-	btTypedConstraint** constraints, int numConstraints,
-	const btContactSolverInfo& info, btIDebugDraw* debugDrawer,
-	btDispatcher* dispatcher)
-{
-	btSISolverSingleIterationData siData(
-		m_data21->m_tmpSolverBodyPool, m_data21->m_tmpSolverContactConstraintPool,
-		m_data21->m_tmpSolverNonContactConstraintPool,
-		m_data21->m_tmpSolverContactFrictionConstraintPool,
-		m_data21->m_tmpSolverContactRollingFrictionConstraintPool,
-		m_data21->m_orderTmpConstraintPool,
-		m_data21->m_orderNonContactConstraintPool,
-		m_data21->m_orderFrictionConstraintPool,
-		m_data21->m_tmpConstraintSizesPool,
-		m_data21->m_resolveSingleConstraintRowGeneric,
-		m_data21->m_resolveSingleConstraintRowLowerLimit,
-		m_data21->m_resolveSplitPenetrationImpulse,
-		m_data21->m_kinematicBodyUniqueIdToSolverBodyTable, m_data21->m_btSeed2,
-		m_data21->m_fixedBodyId, m_data21->m_maxOverrideNumSolverIterations);
-
-	m_data21->m_fixedBodyId = -1;
-	// todo: setup sse2/4 constraint row methods
-
-	btSequentialImpulseConstraintSolver::convertBodiesInternal(siData, bodies,
-															   numBodies, info);
-	btSequentialImpulseConstraintSolver::convertJointsInternal(
-		siData, constraints, numConstraints, info);
-
-	int i;
-	btPersistentManifold* manifold = 0;
-	// btCollisionObject* colObj0=0,*colObj1=0;
-
-	for (i = 0; i < numManifolds; i++)
-	{
-		manifold = manifoldPtr[i];
-		btSequentialImpulseConstraintSolver::convertContactInternal(siData,
-																	manifold, info);
-	}
-
-	int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size();
-	int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size();
-	int numFrictionPool = siData.m_tmpSolverContactFrictionConstraintPool.size();
-
-	// @todo: use stack allocator for such temporarily memory, same for solver
-	// bodies/constraints
-	siData.m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool);
-	if ((info.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-		siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2);
-	else
-		siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
-
-	siData.m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
-	{
-		int i;
-		for (i = 0; i < numNonContactPool; i++)
-		{
-			siData.m_orderNonContactConstraintPool[i] = i;
-		}
-		for (i = 0; i < numConstraintPool; i++)
-		{
-			siData.m_orderTmpConstraintPool[i] = i;
-		}
-		for (i = 0; i < numFrictionPool; i++)
-		{
-			siData.m_orderFrictionConstraintPool[i] = i;
-		}
-	}
-
-	btScalar leastSquaresResidual = 0;
-
-	{
-		BT_PROFILE("solveGroupCacheFriendlyIterations");
-		/// this is a special step to resolve penetrations (just for contacts)
-		btSequentialImpulseConstraintSolver::
-			solveGroupCacheFriendlySplitImpulseIterationsInternal(
-				siData, bodies, numBodies, manifoldPtr, numManifolds, constraints,
-				numConstraints, info, debugDrawer);
-
-		int maxIterations =
-			siData.m_maxOverrideNumSolverIterations > info.m_numIterations
-				? siData.m_maxOverrideNumSolverIterations
-				: info.m_numIterations;
-
-		for (int iteration = 0; iteration < maxIterations; iteration++)
-		{
-			leastSquaresResidual =
-				btSequentialImpulseConstraintSolver::solveSingleIterationInternal(
-					siData, iteration, constraints, numConstraints, info);
-
-			if (leastSquaresResidual <= info.m_leastSquaresResidualThreshold ||
-				(iteration >= (maxIterations - 1)))
-			{
-#ifdef VERBOSE_RESIDUAL_PRINTF
-				printf("residual = %f at iteration #%d\n", m_leastSquaresResidual,
-					   iteration);
-#endif
-				break;
-			}
-		}
-	}
-
-	btScalar res = btSequentialImpulseConstraintSolver::
-		solveGroupCacheFriendlyFinishInternal(siData, bodies, numBodies, info);
-	return res;
-}
-
-void btBlockSolver::solveMultiBodyGroup(
-	btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold,
-	int numManifolds, btTypedConstraint** constraints, int numConstraints,
-	btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints,
-	const btContactSolverInfo& info, btIDebugDraw* debugDrawer,
-	btDispatcher* dispatcher)
-{
-	btMultiBodyConstraintSolver::solveMultiBodyGroup(
-		bodies, numBodies, manifold, numManifolds, constraints, numConstraints,
-		multiBodyConstraints, numMultiBodyConstraints, info, debugDrawer,
-		dispatcher);
-}
-
-void btBlockSolver::reset()
-{
-	// or just set m_data2->m_btSeed2=0?
-	delete m_data21;
-	delete m_data22;
-	m_data21 = new btBlockSolverInternalData;
-	m_data22 = new btBlockSolverInternalData;
-}

examples/BlockSolver/btBlockSolver.h

@@ -1,77 +0,0 @@
-#ifndef BT_BLOCK_SOLVER_H
-#define BT_BLOCK_SOLVER_H
-
-#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
-#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
-#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
-#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
-#include "Bullet3Common/b3Logging.h"
-
-enum BlockSolverOptions
-{
-	BLOCK_SOLVER_SI = 1 << 0,
-	BLOCK_SOLVER_MLCP_PGS = 1 << 1,
-	BLOCK_SOLVER_MLCP_DANTZIG = 1 << 2,
-	BLOCK_SOLVER_BLOCK = 1 << 3,
-
-	BLOCK_SOLVER_SCENE_MB_STACK = 1 << 5,
-	BLOCK_SOLVER_SCENE_CHAIN = 1 << 6,
-};
-
-class btBlockSolver : public btMultiBodyConstraintSolver
-{
-  struct btBlockSolverInternalData* m_data21;
-  struct btBlockSolverInternalData* m_data22;
- public
-     : btBlockSolver();
-
-  virtual ~btBlockSolver();
-
-  // btRigidBody
-  virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies,
-                              btPersistentManifold** manifoldPtr,
-                              int numManifolds, btTypedConstraint** constraints,
-                              int numConstraints,
-                              const btContactSolverInfo& info,
-                              class btIDebugDraw* debugDrawer,
-                              btDispatcher* dispatcher);
-
-  btScalar solveGroupInternal(btCollisionObject** bodies, int numBodies,
-                              btPersistentManifold** manifoldPtr,
-                              int numManifolds,
-                              btTypedConstraint** constraints,
-                              int numConstraints,
-                              const btContactSolverInfo& info,
-                              btIDebugDraw* debugDrawer,
-                              btDispatcher* dispatcher);
-
-  btScalar solveGroupInternalBlock(btCollisionObject** bodies, int numBodies,
-                                   btPersistentManifold** manifoldPtr,
-                                   int numManifolds,
-                                   btTypedConstraint** constraints,
-                                   int numConstraints,
-                                   const btContactSolverInfo& info,
-                                   btIDebugDraw* debugDrawer,
-                                   btDispatcher* dispatcher);
-
-  // btMultibody
-  virtual void solveMultiBodyGroup(
-      btCollisionObject** bodies, int numBodies,
-      btPersistentManifold** manifold, int numManifolds,
-      btTypedConstraint** constraints, int numConstraints,
-      btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints,
-      const btContactSolverInfo& info, btIDebugDraw* debugDrawer,
-      btDispatcher* dispatcher);
-
-  /// clear internal cached data and reset random seed
-  virtual void reset();
-
-	virtual btConstraintSolverType getSolverType() const
-	{
-		return BT_BLOCK_SOLVER;
-	}
-};
-
-#endif  //BT_BLOCK_SOLVER_H

examples/CMakeLists.txt

@@ -1,4 +1,4 @@
-SUBDIRS( HelloWorld BasicDemo )
+SUBDIRS( HelloWorld BasicDemo)
 IF(BUILD_BULLET3)
 	SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow TwoJoint )
 ENDIF()

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -1,6 +1,5 @@
 #ifndef GUI_HELPER_INTERFACE_H
 #define GUI_HELPER_INTERFACE_H
-
 class btRigidBody;
 class btVector3;
 class btCollisionObject;
@@ -44,10 +43,11 @@ struct GUIHelperInterface
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) = 0;
 	virtual void removeAllGraphicsInstances() = 0;
 	virtual void removeGraphicsInstance(int graphicsUid) {}
+	virtual void changeInstanceFlags(int instanceUid, int flags) {}
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
 	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
 	virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height) {}
-
+	virtual void updateShape(int shapeIndex, float* vertices) {}
 	virtual int getShapeIndexFromInstance(int instanceUid) { return -1; }
 	virtual void replaceTexture(int shapeIndex, int textureUid) {}
 	virtual void removeTexture(int textureUid) {}
@@ -118,6 +118,8 @@ struct GUIHelperInterface
 
 	//empty name stops dumping video
 	virtual void dumpFramesToVideo(const char* mp4FileName){};
+	virtual void drawDebugDrawerLines(){}
+	virtual void clearLines(){}
 };
 
 ///the DummyGUIHelper does nothing, so we can test the examples without GUI/graphics (in 'console mode')

examples/CommonInterfaces/CommonGraphicsAppInterface.h

@@ -93,6 +93,7 @@ struct CommonGraphicsApp
 		if (blue)
 			*blue = m_backgroundColorRGB[2];
 	}
+	virtual void setMp4Fps(int fps) {}
 	virtual void setBackgroundColor(float red, float green, float blue)
 	{
 		m_backgroundColorRGB[0] = red;

examples/CommonInterfaces/CommonRenderInterface.h

@@ -9,6 +9,13 @@ enum
 	B3_GL_POINTS
 };
 
+enum
+{
+	B3_INSTANCE_TRANSPARANCY = 1,
+	B3_INSTANCE_TEXTURE = 2,
+	B3_INSTANCE_DOUBLE_SIDED = 4,
+};
+
 enum
 {
 	B3_DEFAULT_RENDERMODE = 1,
@@ -94,7 +101,8 @@ struct CommonRenderInterface
 	virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex) = 0;
 	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex) = 0;
 	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex) = 0;
-
+	virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex) = 0;
+	
 	virtual int getTotalNumInstances() const = 0;
 
 	virtual void writeTransforms() = 0;

examples/DeformableDemo/ClothFriction.cpp

@@ -0,0 +1,253 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#include "ClothFriction.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The ClothFriction shows the use of deformable friction.
+class ClothFriction : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+    ClothFriction(struct GUIHelperInterface* helper)
+    : CommonRigidBodyBase(helper)
+    {
+    }
+    virtual ~ClothFriction()
+    {
+    }
+    void initPhysics();
+    
+    void exitPhysics();
+    
+    void resetCamera()
+    {
+        float dist = 12;
+        float pitch = -50;
+        float yaw = 120;
+        float targetPos[3] = {0, -3, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            {
+                //btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
+            }
+        }
+
+    }
+};
+
+void ClothFriction::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+    
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+    
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+    
+    m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+    
+    ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+    m_solver = sol;
+    
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+    btVector3 gravity = btVector3(0, -10, 0);
+    m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
+    
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    
+    {
+        ///create a ground
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150), btScalar(25.), btScalar(150)));
+        
+        m_collisionShapes.push_back(groundShape);
+        
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -32, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.1));
+        //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);
+        body->setFriction(3);
+        
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+    
+    // create a piece of cloth
+    {
+        btScalar s = 4;
+        btScalar h = 0;
+        
+        btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
+                                                         btVector3(+s, h, -s),
+                                                         btVector3(-s, h, +s),
+                                                         btVector3(+s, h, +s),
+                                                         10,10,
+                                                         0, true);
+        
+        psb->getCollisionShape()->setMargin(0.05);
+        psb->generateBendingConstraints(2);
+        psb->setTotalMass(1);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 3;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+        
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,1, true);
+        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+        m_forces.push_back(mass_spring);
+        
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+        
+        
+        h = 2;
+        s = 2;
+        btSoftBody* psb2 = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
+                                                          btVector3(+s, h, -s),
+                                                          btVector3(-s, h, +s),
+                                                          btVector3(+s, h, +s),
+                                                          5,5,
+                                                          0, true);
+        psb2->getCollisionShape()->setMargin(0.05);
+        psb2->generateBendingConstraints(2);
+        psb2->setTotalMass(1);
+        psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb2->m_cfg.kDF = 20;
+        psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
+        psb->translate(btVector3(0,0,0));
+        getDeformableDynamicsWorld()->addSoftBody(psb2);
+        
+        btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,1, true);
+        getDeformableDynamicsWorld()->addForce(psb2, mass_spring2);
+        m_forces.push_back(mass_spring2);
+        
+        btDeformableGravityForce* gravity_force2 =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
+        m_forces.push_back(gravity_force2);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void ClothFriction::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+    
+    delete m_dynamicsWorld;
+    
+    delete m_solver;
+    
+    delete m_broadphase;
+    
+    delete m_dispatcher;
+    
+    delete m_collisionConfiguration;
+}
+
+class CommonExampleInterface* ClothFrictionCreateFunc(struct CommonExampleOptions& options)
+{
+    return new ClothFriction(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/ClothFriction.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef CLOTH_FRICTION_H
+#define CLOTH_FRICTION_H
+
+class CommonExampleInterface* ClothFrictionCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //CLOTH_FRICTION_H

examples/DeformableDemo/DeformableClothAnchor.cpp

@@ -0,0 +1,236 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+#include "DeformableClothAnchor.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The DeformableClothAnchor shows contact between deformable objects and rigid objects.
+class DeformableClothAnchor : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+    DeformableClothAnchor(struct GUIHelperInterface* helper)
+    : CommonRigidBodyBase(helper)
+    {
+    }
+    virtual ~DeformableClothAnchor()
+    {
+    }
+    void initPhysics();
+    
+    void exitPhysics();
+    
+    void resetCamera()
+    {
+        float dist = 20;
+        float pitch = -45;
+        float yaw = 100;
+        float targetPos[3] = {0, -3, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+        //use a smaller internal timestep, there are stability issues
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+            {
+                //btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
+            }
+        }
+    }
+};
+
+void DeformableClothAnchor::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+    
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+    
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+    
+    m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+    
+    ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+    m_solver = sol;
+    
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+    //    deformableBodySolver->setWorld(getDeformableDynamicsWorld());
+    //    m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
+    btVector3 gravity = btVector3(0, -10, 0);
+    m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+    
+    //    getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    
+    {
+        ///create a ground
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+        
+        m_collisionShapes.push_back(groundShape);
+        
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -50, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+        //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);
+        body->setFriction(1);
+        
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+    
+    // create a piece of cloth
+    {
+        const btScalar s = 4;
+        const btScalar h = 6;
+        const int r = 9;
+        btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
+                                                         btVector3(+s, h, -s),
+                                                         btVector3(-s, h, +s),
+                                                         btVector3(+s, h, +s), r, r, 4 + 8, true);
+        psb->getCollisionShape()->setMargin(0.1);
+        psb->generateBendingConstraints(2);
+        psb->setTotalMass(1);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 2;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+        
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(100,1, true);
+        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+        m_forces.push_back(mass_spring);
+        
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+        
+        btTransform startTransform;
+        startTransform.setIdentity();
+        startTransform.setOrigin(btVector3(0, h, -(s + 3.5)));
+        btRigidBody* body = createRigidBody(2, startTransform, new btBoxShape(btVector3(s, 1, 3)));
+        psb->appendDeformableAnchor(0, body);
+        psb->appendDeformableAnchor(r - 1, body);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void DeformableClothAnchor::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+    
+    delete m_dynamicsWorld;
+    
+    delete m_solver;
+    
+    delete m_broadphase;
+    
+    delete m_dispatcher;
+    
+    delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* DeformableClothAnchorCreateFunc(struct CommonExampleOptions& options)
+{
+    return new DeformableClothAnchor(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/DeformableClothAnchor.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef DEFORMABLE_CLOTH_ANCHOR_H
+#define DEFORMABLE_CLOTH_ANCHOR_H
+
+class CommonExampleInterface* DeformableClothAnchorCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //DEFORMABLE_CLOTH_ANCHOR_H

examples/DeformableDemo/DeformableContact.cpp

@@ -0,0 +1,264 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#include "DeformableContact.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The DeformableContact shows the contact between deformable objects
+
+class DeformableContact : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+    DeformableContact(struct GUIHelperInterface* helper)
+    : CommonRigidBodyBase(helper)
+    {
+    }
+    virtual ~DeformableContact()
+    {
+    }
+    void initPhysics();
+    
+    void exitPhysics();
+    
+    void resetCamera()
+    {
+        float dist = 12;
+        float pitch = -50;
+        float yaw = 120;
+        float targetPos[3] = {0, -3, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+        
+		
+		btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            {
+                //btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// StddeformableWorld->getDrawFlags());
+            }
+        }
+		
+    }
+};
+
+void DeformableContact::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+    
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+    
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+    
+    m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+    
+    ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+    m_solver = sol;
+    
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+    btVector3 gravity = btVector3(0, -10, 0);
+    m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+    getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+		getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    
+    {
+        ///create a ground
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150), btScalar(25.), btScalar(150)));
+        
+        m_collisionShapes.push_back(groundShape);
+        
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -32, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+        //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);
+        body->setFriction(2);
+        
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+    
+    // create a piece of cloth
+    {
+        btScalar s = 4;
+        btScalar h = 0;
+        
+        btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
+                                                         btVector3(+s, h, -s),
+                                                         btVector3(-s, h, +s),
+                                                         btVector3(+s, h, +s),
+                                                         20,20,
+                                                         1 + 2 + 4 + 8, true);
+        
+        psb->getCollisionShape()->setMargin(0.1);
+        psb->generateBendingConstraints(2);
+        psb->setTotalMass(1);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 0;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+        
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,1, true);
+        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+        m_forces.push_back(mass_spring);
+        
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+
+        
+        h = 2;
+        s = 2;
+        btSoftBody* psb2 = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
+                                                          btVector3(+s, h, -s),
+                                                          btVector3(-s, h, +s),
+                                                          btVector3(+s, h, +s),
+                                                          10,10,
+                                                          0, true);
+        psb2->getCollisionShape()->setMargin(0.1);
+        psb2->generateBendingConstraints(2);
+        psb2->setTotalMass(1);
+        psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb2->m_cfg.kDF = 0.5;
+        psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
+        psb->translate(btVector3(3.5,0,0));
+        getDeformableDynamicsWorld()->addSoftBody(psb2);
+        
+        btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,1, true);
+        getDeformableDynamicsWorld()->addForce(psb2, mass_spring2);
+        m_forces.push_back(mass_spring2);
+        
+        btDeformableGravityForce* gravity_force2 =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
+        m_forces.push_back(gravity_force2);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+	int numInstances = m_guiHelper->getRenderInterface()->getTotalNumInstances();
+	double rgbaColors[3][4] = { { 1, 0, 0, 1 } , { 0, 1, 0, 1 } ,{ 0, 0, 1, 1 } };
+
+	for (int i = 0; i < numInstances; i++)
+	{
+		m_guiHelper->changeInstanceFlags(i, B3_INSTANCE_DOUBLE_SIDED);
+	}
+	
+}
+
+void DeformableContact::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+    
+    delete m_dynamicsWorld;
+    
+    delete m_solver;
+    
+    delete m_broadphase;
+    
+    delete m_dispatcher;
+    
+    delete m_collisionConfiguration;
+}
+
+class CommonExampleInterface* DeformableContactCreateFunc(struct CommonExampleOptions& options)
+{
+    return new DeformableContact(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/DeformableContact.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef DEFORMABLE_CONTACT_H
+#define DEFORMABLE_CONTACT_H
+
+class CommonExampleInterface* DeformableContactCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_DEFORMABLE_CONTACT_H

examples/DeformableDemo/DeformableMultibody.cpp

@@ -0,0 +1,402 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#include "DeformableMultibody.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+#include "../SoftDemo/BunnyMesh.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
+
+#include "../CommonInterfaces/CommonMultiBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+///The DeformableMultibody demo deformable bodies self-collision
+static bool g_floatingBase = true;
+static float friction = 1.;
+class DeformableMultibody : public CommonMultiBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+	DeformableMultibody(struct GUIHelperInterface* helper)
+		: CommonMultiBodyBase(helper)
+	{
+	}
+    
+	virtual ~DeformableMultibody()
+	{
+	}
+    
+	void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+        float dist = 30;
+        float pitch = -30;
+        float yaw = 100;
+        float targetPos[3] = {0, -10, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+    
+    virtual void stepSimulation(float deltaTime);
+    
+    btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
+    
+    void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
+    
+
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonMultiBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            {
+                btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
+            }
+        }
+    }
+};
+
+void DeformableMultibody::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+    btDeformableMultiBodyConstraintSolver* sol;
+    sol = new btDeformableMultiBodyConstraintSolver;
+    sol->setDeformableSolver(deformableBodySolver);
+	m_solver = sol;
+    
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+    btVector3 gravity = btVector3(0, -10, 0);
+	m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    {
+        ///create a ground
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -40, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+        //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);
+        body->setFriction(0.5);
+
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body,1,1+2);
+    }
+
+    {
+        bool damping = true;
+        bool gyro = false;
+        int numLinks = 4;
+        bool spherical = false;  //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
+        bool canSleep = false;
+        bool selfCollide = true;
+        btVector3 linkHalfExtents(.4, 1, .4);
+        btVector3 baseHalfExtents(.4, 1, .4);
+        
+        btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 10.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
+        
+        mbC->setCanSleep(canSleep);
+        mbC->setHasSelfCollision(selfCollide);
+        mbC->setUseGyroTerm(gyro);
+        //
+        if (!damping)
+        {
+            mbC->setLinearDamping(0.0f);
+            mbC->setAngularDamping(0.0f);
+        }
+        else
+        {
+            mbC->setLinearDamping(0.04f);
+            mbC->setAngularDamping(0.04f);
+        }
+
+        if (numLinks > 0)
+        {
+            btScalar q0 = 0.f * SIMD_PI / 180.f;
+            if (!spherical)
+            {
+                mbC->setJointPosMultiDof(0, &q0);
+            }
+            else
+            {
+                btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
+                quat0.normalize();
+                mbC->setJointPosMultiDof(0, quat0);
+            }
+        }
+        ///
+        addColliders_testMultiDof(mbC, m_dynamicsWorld, baseHalfExtents, linkHalfExtents);
+    }
+    
+    // create a patch of cloth
+    {
+        btScalar h = 0;
+        const btScalar s = 4;
+        btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
+                                                         btVector3(+s, h, -s),
+                                                         btVector3(-s, h, +s),
+                                                         btVector3(+s, h, +s),
+                                                         20,20,
+//                                                         3,3,
+                                                         1 + 2 + 4 + 8, true);
+
+        psb->getCollisionShape()->setMargin(0.25);
+        psb->generateBendingConstraints(2);
+        psb->setTotalMass(1);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 2;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        psb->setCollisionFlags(0);
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30, 1, true);
+        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+        m_forces.push_back(mass_spring);
+        
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void DeformableMultibody::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+void DeformableMultibody::stepSimulation(float deltaTime)
+{
+//    getDeformableDynamicsWorld()->getMultiBodyDynamicsWorld()->stepSimulation(deltaTime);
+    m_dynamicsWorld->stepSimulation(deltaTime, 5, 1./250.);
+}
+
+
+btMultiBody* DeformableMultibody::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
+{
+    //init the base
+    btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
+    float baseMass = .1f;
+    
+    if (baseMass)
+    {
+        btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
+        pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
+        delete pTempBox;
+    }
+    
+    bool canSleep = false;
+    
+    btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
+    
+    btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
+    pMultiBody->setBasePos(basePosition);
+    pMultiBody->setWorldToBaseRot(baseOriQuat);
+    btVector3 vel(0, 0, 0);
+    //    pMultiBody->setBaseVel(vel);
+    
+    //init the links
+    btVector3 hingeJointAxis(1, 0, 0);
+    float linkMass = .1f;
+    btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
+    
+    btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
+    pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
+    delete pTempBox;
+    
+    //y-axis assumed up
+    btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0);                      //par body's COM to cur body's COM offset
+    btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0);                         //cur body's COM to cur body's PIV offset
+    btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;  //par body's COM to cur body's PIV offset
+    
+    //////
+    btScalar q0 = 0.f * SIMD_PI / 180.f;
+    btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
+    quat0.normalize();
+    /////
+    
+    for (int i = 0; i < numLinks; ++i)
+    {
+        if (!spherical)
+            pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
+        else
+            //pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
+            pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
+    }
+    
+    pMultiBody->finalizeMultiDof();
+    
+    ///
+    pWorld->addMultiBody(pMultiBody);
+    ///
+    return pMultiBody;
+}
+
+void DeformableMultibody::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
+{
+    btAlignedObjectArray<btQuaternion> world_to_local;
+    world_to_local.resize(pMultiBody->getNumLinks() + 1);
+    
+    btAlignedObjectArray<btVector3> local_origin;
+    local_origin.resize(pMultiBody->getNumLinks() + 1);
+    world_to_local[0] = pMultiBody->getWorldToBaseRot();
+    local_origin[0] = pMultiBody->getBasePos();
+    
+    {
+
+        btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
+        
+        btCollisionShape* box = new btBoxShape(baseHalfExtents);
+        btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
+        col->setCollisionShape(box);
+        
+        btTransform tr;
+        tr.setIdentity();
+        tr.setOrigin(local_origin[0]);
+        tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+        col->setWorldTransform(tr);
+        
+        pWorld->addCollisionObject(col, 2, 1 + 2);
+        
+        col->setFriction(friction);
+        pMultiBody->setBaseCollider(col);
+    }
+    
+    for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+    {
+        const int parent = pMultiBody->getParent(i);
+        world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
+        local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
+    }
+    
+    for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+    {
+        btVector3 posr = local_origin[i + 1];
+        
+        btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
+        
+        btCollisionShape* box = new btBoxShape(linkHalfExtents);
+        btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
+        
+        col->setCollisionShape(box);
+        btTransform tr;
+        tr.setIdentity();
+        tr.setOrigin(posr);
+        tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+        col->setWorldTransform(tr);
+        col->setFriction(friction);
+        pWorld->addCollisionObject(col, 2, 1 + 2);
+        
+        pMultiBody->getLink(i).m_collider = col;
+    }
+}
+class CommonExampleInterface* DeformableMultibodyCreateFunc(struct CommonExampleOptions& options)
+{
+	return new DeformableMultibody(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/DeformableMultibody.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef _DEFORMABLE_MULTIBODY_H
+#define _DEFORMABLE_MULTIBODY_H
+
+class CommonExampleInterface* DeformableMultibodyCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_DEFORMABLE_MULTIBODY_H

examples/DeformableDemo/DeformableRigid.cpp

@@ -0,0 +1,291 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+#include "DeformableRigid.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The DeformableRigid shows contact between deformable objects and rigid objects.
+class DeformableRigid : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+	DeformableRigid(struct GUIHelperInterface* helper)
+		: CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~DeformableRigid()
+	{
+	}
+	void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+        float dist = 20;
+        float pitch = -45;
+        float yaw = 100;
+        float targetPos[3] = {0, -3, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+    
+    void stepSimulation(float deltaTime)
+    {
+        //use a smaller internal timestep, there are stability issues
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    void Ctor_RbUpStack(int count)
+    {
+        float mass = 0.2;
+        
+        btCompoundShape* cylinderCompound = new btCompoundShape;
+        btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5));
+        btCollisionShape* boxShape = new btBoxShape(btVector3(2, .5, .5));
+        btTransform localTransform;
+        localTransform.setIdentity();
+        cylinderCompound->addChildShape(localTransform, boxShape);
+        btQuaternion orn(SIMD_HALF_PI, 0, 0);
+        localTransform.setRotation(orn);
+        //    localTransform.setOrigin(btVector3(1,1,1));
+        cylinderCompound->addChildShape(localTransform, cylinderShape);
+        
+        btCollisionShape* shape[] = {
+            new btBoxShape(btVector3(1, 1, 1)),
+//            new btSphereShape(0.75),
+//            cylinderCompound
+        };
+//        static const int nshapes = sizeof(shape) / sizeof(shape[0]);
+//        for (int i = 0; i < count; ++i)
+//        {
+//            btTransform startTransform;
+//            startTransform.setIdentity();
+//            startTransform.setOrigin(btVector3(0, 2+ 2 * i, 0));
+//            startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+//            createRigidBody(mass, startTransform, shape[i % nshapes]);
+//        }
+        btTransform startTransform;
+        startTransform.setIdentity();
+        startTransform.setOrigin(btVector3(1, 1.5, 1));
+        createRigidBody(mass, startTransform, shape[0]);
+        startTransform.setOrigin(btVector3(1, 1.5, -1));
+        createRigidBody(mass, startTransform, shape[0]);
+        startTransform.setOrigin(btVector3(-1, 1.5, 1));
+        createRigidBody(mass, startTransform, shape[0]);
+        startTransform.setOrigin(btVector3(-1, 1.5, -1));
+        createRigidBody(mass, startTransform, shape[0]);
+        startTransform.setOrigin(btVector3(0, 3.5, 0));
+        createRigidBody(mass, startTransform, shape[0]);
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+            {
+                btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
+            }
+        }
+    }
+};
+
+void DeformableRigid::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+
+	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+	btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+//    deformableBodySolver->setWorld(getDeformableDynamicsWorld());
+	//	m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
+    btVector3 gravity = btVector3(0, -10, 0);
+	m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
+    
+//    getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    {
+        ///create a ground
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -32, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+        //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);
+        body->setFriction(1);
+
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+    
+    // create a piece of cloth
+    {
+        bool onGround = false;
+        const btScalar s = 4;
+        const btScalar h = 0;
+        
+        btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
+                                                         btVector3(+s, h, -s),
+                                                         btVector3(-s, h, +s),
+                                                         btVector3(+s, h, +s),
+//                                                         3,3,
+                                                          20,20,
+                                                          1 + 2 + 4 + 8, true);
+//                                                          0, true);
+
+        if (onGround)
+            psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
+                                                 btVector3(+s, 0, -s),
+                                                 btVector3(-s, 0, +s),
+                                                 btVector3(+s, 0, +s),
+//                                                 20,20,
+                                                 2,2,
+                                                 0, true);
+        
+        psb->getCollisionShape()->setMargin(0.1);
+        psb->generateBendingConstraints(2);
+        psb->setTotalMass(1);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = .4;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+        
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true);
+        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+        m_forces.push_back(mass_spring);
+        
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+        // add a few rigid bodies
+        Ctor_RbUpStack(1);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void DeformableRigid::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* DeformableRigidCreateFunc(struct CommonExampleOptions& options)
+{
+	return new DeformableRigid(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/DeformableRigid.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef _DEFORMABLE_RIGID_H
+#define _DEFORMABLE_RIGID_H
+
+class CommonExampleInterface* DeformableRigidCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_DEFORMABLE_RIGID_H

examples/DeformableDemo/DeformableSelfCollision.cpp

@@ -0,0 +1,234 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+#include "DeformableSelfCollision.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The DeformableSelfCollision shows deformable self collisions
+class DeformableSelfCollision : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+    DeformableSelfCollision(struct GUIHelperInterface* helper)
+    : CommonRigidBodyBase(helper)
+    {
+    }
+    virtual ~DeformableSelfCollision()
+    {
+    }
+    void initPhysics();
+    
+    void exitPhysics();
+    
+    void resetCamera()
+    {
+        float dist = 10;
+        float pitch = -8;
+        float yaw = 100;
+        float targetPos[3] = {0, -10, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            {
+                btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
+            }
+        }
+    }
+};
+
+void DeformableSelfCollision::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+    
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+    
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+    
+    m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+    
+    ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+    m_solver = sol;
+    
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+    //    deformableBodySolver->setWorld(getDeformableDynamicsWorld());
+    //    m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
+    btVector3 gravity = btVector3(0, -100, 0);
+    m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+    
+    //    getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    
+    {
+        ///create a ground
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+        
+        m_collisionShapes.push_back(groundShape);
+        
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -35, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+        //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);
+        body->setFriction(40);
+        
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+    
+    // create a piece of cloth
+    {
+        const btScalar s = 2;
+        const btScalar h = 0;
+        
+        btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -4*s),
+                                                         btVector3(+s, h, -4*s),
+                                                         btVector3(-s, h, +4*s),
+                                                         btVector3(+s, h, +4*s),
+                                                         10,40,
+                                                         0, true, 0.01);
+
+        
+        psb->getCollisionShape()->setMargin(0.2);
+        psb->generateBendingConstraints(2);
+        psb->setTotalMass(1);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 0.2;
+        psb->rotate(btQuaternion(0,SIMD_PI / 2, 0));
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+		psb->setSelfCollision(true);
+        
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,0.2, true);
+        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+        m_forces.push_back(mass_spring);
+        
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void DeformableSelfCollision::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+    
+    delete m_dynamicsWorld;
+    
+    delete m_solver;
+    
+    delete m_broadphase;
+    
+    delete m_dispatcher;
+    
+    delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* DeformableSelfCollisionCreateFunc(struct CommonExampleOptions& options)
+{
+    return new DeformableSelfCollision(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/DeformableSelfCollision.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef DEFORMABLE_SELF_COLLISION_H
+#define DEFORMABLE_SELF_COLLISION_H
+
+class CommonExampleInterface* DeformableSelfCollisionCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_DEFORMABLE_SELF_COLLISION_H

examples/DeformableDemo/GraspDeformable.cpp

@@ -0,0 +1,545 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#include "GraspDeformable.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
+#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
+#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
+#include "../Utils/b3BulletDefaultFileIO.h"
+#include "../CommonInterfaces/CommonMultiBodyBase.h"
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include "../CommonInterfaces/CommonFileIOInterface.h"
+#include "Bullet3Common/b3FileUtils.h"
+
+///The GraspDeformable shows grasping a volumetric deformable objects with multibody gripper with moter constraints.
+static btScalar sGripperVerticalVelocity = 0.f;
+static btScalar sGripperClosingTargetVelocity = 0.f;
+static float friction = 1.;
+struct TetraCube
+{
+#include "../SoftDemo/cube.inl"
+};
+
+struct TetraBunny
+{
+#include "../SoftDemo/bunny.inl"
+};
+
+static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex)
+{
+    bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute
+                         || mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic);
+    return canHaveMotor;
+}
+
+class GraspDeformable : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+	GraspDeformable(struct GUIHelperInterface* helper)
+		: CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~GraspDeformable()
+	{
+	}
+	void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+        float dist = 2;
+        float pitch = -45;
+        float yaw = 100;
+        float targetPos[3] = {0, -0, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+    
+    btMultiBody* createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld,const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating);
+    
+    void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
+    
+    btMultiBody* createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating);
+    
+    void stepSimulation(float deltaTime)
+    {
+        double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
+        int num_multiBody = getDeformableDynamicsWorld()->getNumMultibodies();
+        for (int i = 0; i < num_multiBody; ++i)
+        {
+            btMultiBody* mb = getDeformableDynamicsWorld()->btMultiBodyDynamicsWorld::getMultiBody(i);
+            mb->setBaseVel(btVector3(0,sGripperVerticalVelocity, 0));
+            int dofIndex = 6;  //skip the 3 linear + 3 angular degree of freedom entries of the base
+            for (int link = 0; link < mb->getNumLinks(); link++)
+            {
+                if (supportsJointMotor(mb, link))
+                {
+                    btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr;
+                    if (motor)
+                    {
+                        if (dofIndex == 6)
+                        {
+                            motor->setVelocityTarget(-fingerTargetVelocities[1], 1);
+                            motor->setMaxAppliedImpulse(2);
+                        }
+                        if (dofIndex == 7)
+                        {
+                            motor->setVelocityTarget(fingerTargetVelocities[1], 1);
+                            motor->setMaxAppliedImpulse(2);
+                        }
+                        motor->setMaxAppliedImpulse(1);
+                    }
+                }
+                dofIndex += mb->getLink(link).m_dofCount;
+            }
+        }
+        
+        //use a smaller internal timestep, there are stability issues
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    void createGrip()
+    {
+        int count = 2;
+        float mass = 2;
+        btCollisionShape* shape[] = {
+            new btBoxShape(btVector3(3, 3, 0.5)),
+        };
+        static const int nshapes = sizeof(shape) / sizeof(shape[0]);
+        for (int i = 0; i < count; ++i)
+        {
+            btTransform startTransform;
+            startTransform.setIdentity();
+            startTransform.setOrigin(btVector3(10, 0, 0));
+            startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+            createRigidBody(mass, startTransform, shape[i % nshapes]);
+        }
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            {
+                btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
+            }
+        }
+    }
+};
+
+
+void GraspDeformable::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+    
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+
+	btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+    btVector3 gravity = btVector3(0, -9.81, 0);
+	m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    // build a gripper
+    if(1)
+    {
+        bool damping = true;
+        bool gyro = false;
+        bool canSleep = false;
+        bool selfCollide = true;
+        int numLinks = 2;
+        btVector3 linkHalfExtents(.1, .2, .04);
+        btVector3 baseHalfExtents(.1, 0.02, .2);
+        btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, .7f,0.f), linkHalfExtents, baseHalfExtents, false);
+        
+        mbC->setCanSleep(canSleep);
+        mbC->setHasSelfCollision(selfCollide);
+        mbC->setUseGyroTerm(gyro);
+
+        for (int i = 0; i < numLinks; i++)
+        {
+            int mbLinkIndex = i;
+            float maxMotorImpulse = 1.f;
+
+            if (supportsJointMotor(mbC, mbLinkIndex))
+            {
+                int dof = 0;
+                btScalar desiredVelocity = 0.f;
+                btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mbC, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse);
+                motor->setPositionTarget(0, 0);
+                motor->setVelocityTarget(0, 1);
+                mbC->getLink(mbLinkIndex).m_userPtr = motor;
+                getDeformableDynamicsWorld()->addMultiBodyConstraint(motor);
+                motor->finalizeMultiDof();
+            }
+        }
+        
+        if (!damping)
+        {
+            mbC->setLinearDamping(0.0f);
+            mbC->setAngularDamping(0.0f);
+        }
+        else
+        {
+            mbC->setLinearDamping(0.04f);
+            mbC->setAngularDamping(0.04f);
+        }
+        btScalar q0 = 0.f * SIMD_PI / 180.f;
+        if (numLinks > 0)
+            mbC->setJointPosMultiDof(0, &q0);
+        addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents);
+    }
+    
+    //create a ground
+    {
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -25-.6, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+        //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);
+        body->setFriction(0.1);
+
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body,1,1+2);
+    }
+
+    // create a soft block
+	if (1)
+	{
+		char absolute_path[1024];
+		b3BulletDefaultFileIO fileio;
+        fileio.findResourcePath("ditto.vtk", absolute_path, 1024);
+		//        fileio.findResourcePath("banana.vtk", absolute_path, 1024);
+		//        fileio.findResourcePath("ball.vtk", absolute_path, 1024);
+		//        fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024);
+		//        fileio.findResourcePath("single_tet.vtk", absolute_path, 1024);
+//                fileio.findResourcePath("tube.vtk", absolute_path, 1024);
+		//        fileio.findResourcePath("torus.vtk", absolute_path, 1024);
+		//        fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024);
+		//        fileio.findResourcePath("bread.vtk", absolute_path, 1024);
+		//        fileio.findResourcePath("boot.vtk", absolute_path, 1024);
+		//        btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
+		//                                                                  TetraCube::getElements(),
+		//                                                                  0,
+		//                                                                  TetraCube::getNodes(),
+		//                                                                  false, true, true);
+		btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), absolute_path);
+
+//        psb->scale(btVector3(30, 30, 30)); // for banana
+        psb->scale(btVector3(.7, .7, .7));
+//        psb->scale(btVector3(2, 2, 2));
+//        psb->scale(btVector3(.3, .3, .3));  // for tube, torus, boot
+        psb->scale(btVector3(.1, .1, .1));  // for ditto
+//        psb->translate(btVector3(.25, 10, 0.4));
+        psb->getCollisionShape()->setMargin(0.0005);
+        psb->setMaxStress(50);
+        psb->setTotalMass(.01);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 20;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+
+        btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(8,32, .05);
+        getDeformableDynamicsWorld()->addForce(psb, neohookean);
+        m_forces.push_back(neohookean);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+
+    // create a piece of cloth
+    if(0)
+    {
+        bool onGround = false;
+        const btScalar s = .1;
+        const btScalar h = 1;
+        btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
+                                                         btVector3(+s, h, -s),
+                                                         btVector3(-s, h, +s),
+                                                         btVector3(+s, h, +s),
+                                                         20,20,
+                                                                  0, true);
+
+        if (onGround)
+            psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
+                                                 btVector3(+s, 0, -s),
+                                                 btVector3(-s, 0, +s),
+                                                 btVector3(+s, 0, +s),
+                                                 //                                                 20,20,
+                                                 2,2,
+                                                 0, true);
+
+        psb->getCollisionShape()->setMargin(0.005);
+        psb->generateBendingConstraints(2);
+        psb->setTotalMass(.01);
+        psb->setSpringStiffness(10);
+        psb->setDampingCoefficient(0.05);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 1;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+//        getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.0,0.0, true));
+        getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.05, false));
+        getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
+    }
+    
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+    
+    {
+        SliderParams slider("Moving velocity", &sGripperVerticalVelocity);
+        slider.m_minVal = -.2;
+        slider.m_maxVal = .2;
+        m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+    
+    {
+        SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
+        slider.m_minVal = -.3;
+        slider.m_maxVal = .3;
+        m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+    
+}
+
+void GraspDeformable::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating)
+{
+    //init the base
+    btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
+    float baseMass = 100.f;
+    float linkMass = 100.f;
+    int numLinks = 2;
+    
+    if (baseMass)
+    {
+        btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
+        pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
+        delete pTempBox;
+    }
+    
+    bool canSleep = false;
+    btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
+    
+    btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
+    pMultiBody->setBasePos(basePosition);
+    pMultiBody->setWorldToBaseRot(baseOriQuat);
+    
+    //init the links
+    btVector3 hingeJointAxis(1, 0, 0);
+    
+    btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
+    
+    btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
+    pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
+    delete pTempBox;
+    
+    //y-axis assumed up
+    btAlignedObjectArray<btVector3> parentComToCurrentCom;
+    parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, -baseHalfExtents[2] * 4.f));
+    parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, +baseHalfExtents[2] * 4.f));//par body's COM to cur body's COM offset
+    
+    btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*8.f, 0);                         //cur body's COM to cur body's PIV offset
+    
+    btAlignedObjectArray<btVector3> parentComToCurrentPivot;
+    parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[0] - currentPivotToCurrentCom));
+    parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[1] - currentPivotToCurrentCom));//par body's COM to cur body's PIV offset
+    
+    //////
+    btScalar q0 = 0.f * SIMD_PI / 180.f;
+    btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
+    quat0.normalize();
+    /////
+    
+    for (int i = 0; i < numLinks; ++i)
+    {
+        pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot[i], currentPivotToCurrentCom, true);
+    }
+    pMultiBody->finalizeMultiDof();
+    ///
+    pWorld->addMultiBody(pMultiBody);
+    ///
+    return pMultiBody;
+}
+
+void GraspDeformable::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
+{
+    btAlignedObjectArray<btQuaternion> world_to_local;
+    world_to_local.resize(pMultiBody->getNumLinks() + 1);
+    
+    btAlignedObjectArray<btVector3> local_origin;
+    local_origin.resize(pMultiBody->getNumLinks() + 1);
+    world_to_local[0] = pMultiBody->getWorldToBaseRot();
+    local_origin[0] = pMultiBody->getBasePos();
+    
+    {
+        btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
+        
+        if (1)
+        {
+            btCollisionShape* box = new btBoxShape(baseHalfExtents);
+            btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
+            col->setCollisionShape(box);
+            
+            btTransform tr;
+            tr.setIdentity();
+            tr.setOrigin(local_origin[0]);
+            tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+            col->setWorldTransform(tr);
+            
+            pWorld->addCollisionObject(col, 2, 1 + 2);
+            
+            col->setFriction(friction);
+            pMultiBody->setBaseCollider(col);
+        }
+    }
+    
+    for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+    {
+        const int parent = pMultiBody->getParent(i);
+        world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
+        local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
+    }
+    
+    for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+    {
+        btVector3 posr = local_origin[i + 1];
+        
+        btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
+        
+        btCollisionShape* box = new btBoxShape(linkHalfExtents);
+        btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
+        
+        col->setCollisionShape(box);
+        btTransform tr;
+        tr.setIdentity();
+        tr.setOrigin(posr);
+        tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+        col->setWorldTransform(tr);
+        col->setFriction(friction);
+        pWorld->addCollisionObject(col, 2, 1 + 2);
+        
+        pMultiBody->getLink(i).m_collider = col;
+    }
+}
+
+class CommonExampleInterface* GraspDeformableCreateFunc(struct CommonExampleOptions& options)
+{
+	return new GraspDeformable(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/GraspDeformable.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef _GRASP_DEFORMABLE_H
+#define _GRASP_DEFORMABLE_H
+
+class CommonExampleInterface* GraspDeformableCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_GRASP_DEFORMABLE_H

examples/DeformableDemo/MultibodyClothAnchor.cpp

@@ -0,0 +1,395 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+#include "MultibodyClothAnchor.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The MultibodyClothAnchor shows contact between deformable objects and rigid objects.
+class MultibodyClothAnchor : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+    MultibodyClothAnchor(struct GUIHelperInterface* helper)
+    : CommonRigidBodyBase(helper)
+    {
+    }
+    virtual ~MultibodyClothAnchor()
+    {
+    }
+    void initPhysics();
+    
+    void exitPhysics();
+    
+    void resetCamera()
+    {
+        float dist = 20;
+        float pitch = -45;
+        float yaw = 100;
+        float targetPos[3] = {0, -3, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+        //use a smaller internal timestep, there are stability issues
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+            {
+                btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
+            }
+        }
+    }
+    
+    btMultiBody* createMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
+    
+    void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
+};
+
+void MultibodyClothAnchor::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+    
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+    
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+    
+    m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+    
+    ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+    m_solver = sol;
+    
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+    //    deformableBodySolver->setWorld(getDeformableDynamicsWorld());
+    //    m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
+    btVector3 gravity = btVector3(0, -20, 0);
+    m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+    
+    //    getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    
+    {
+        ///create a ground
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+        
+        m_collisionShapes.push_back(groundShape);
+        
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -35, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+        //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);
+        body->setFriction(1);
+        
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body,1,1+2);
+    }
+    
+    // create a piece of cloth
+    {
+        const btScalar s = 4;
+        const btScalar h = 6;
+        const int r = 9;
+        btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
+                                                         btVector3(+s, h, -s),
+                                                         btVector3(-s, h, +s),
+                                                         btVector3(+s, h, +s), r, r, 4 + 8, true);
+        psb->getCollisionShape()->setMargin(0.1);
+        psb->generateBendingConstraints(2);
+        psb->setTotalMass(1);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 2;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+        
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true);
+        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+        m_forces.push_back(mass_spring);
+        
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+        
+        bool damping = true;
+        bool gyro = false;
+        int numLinks = 5;
+        bool spherical = false;  //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
+        bool canSleep = false;
+        bool selfCollide = true;
+        btVector3 linkHalfExtents(1.5, .5, .5);
+        btVector3 baseHalfExtents(1.5, .5, .5);
+        
+        btMultiBody* mbC = createMultiBody(getDeformableDynamicsWorld(), numLinks, btVector3(s+3.5f, h, -s-0.6f), linkHalfExtents, baseHalfExtents, spherical, true);
+        
+        mbC->setCanSleep(canSleep);
+        mbC->setHasSelfCollision(selfCollide);
+        mbC->setUseGyroTerm(gyro);
+        //
+        if (!damping)
+        {
+            mbC->setLinearDamping(0.0f);
+            mbC->setAngularDamping(0.0f);
+        }
+        else
+        {
+            mbC->setLinearDamping(0.04f);
+            mbC->setAngularDamping(0.04f);
+        }
+        
+        if (numLinks > 0)
+        {
+            btScalar q0 = 0.f * SIMD_PI / 180.f;
+            if (!spherical)
+            {
+                mbC->setJointPosMultiDof(0, &q0);
+            }
+            else
+            {
+                btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
+                quat0.normalize();
+                mbC->setJointPosMultiDof(0, quat0);
+            }
+        }
+        ///
+        addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents);
+
+        // quick hack: advance time to populate the variables in multibody
+        m_dynamicsWorld->stepSimulation(SIMD_EPSILON, 0);
+        btAlignedObjectArray<btQuaternion> scratch_q;
+        btAlignedObjectArray<btVector3> scratch_m;
+        mbC->forwardKinematics(scratch_q, scratch_m);
+        psb->appendDeformableAnchor(0, mbC->getLink(3).m_collider);
+        psb->appendDeformableAnchor(r - 1, mbC->getLink(0).m_collider);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void MultibodyClothAnchor::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+    
+    delete m_dynamicsWorld;
+    
+    delete m_solver;
+    
+    delete m_broadphase;
+    
+    delete m_dispatcher;
+    
+    delete m_collisionConfiguration;
+}
+
+btMultiBody* MultibodyClothAnchor::createMultiBody(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
+{
+    //init the base
+    btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
+    float baseMass = 1.f;
+
+    if (baseMass)
+    {
+        btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
+        pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
+        delete pTempBox;
+    }
+    
+    bool canSleep = false;
+    
+    btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
+    
+    btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
+    pMultiBody->setBasePos(basePosition);
+    pMultiBody->setWorldToBaseRot(baseOriQuat);
+    btVector3 vel(0, 0, 0);
+
+    //init the links
+    btVector3 hingeJointAxis(0, 1, 0);
+    float linkMass = 1.f;
+    btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
+    
+    btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
+    pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
+    delete pTempBox;
+    
+    //y-axis assumed up
+    btVector3 parentComToCurrentCom(-linkHalfExtents[0] * 2.f, 0, 0);                      //par body's COM to cur body's COM offset
+    btVector3 currentPivotToCurrentCom(-linkHalfExtents[0], 0, 0);                         //cur body's COM to cur body's PIV offset
+    btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;  //par body's COM to cur body's PIV offset
+    
+    //////
+    btScalar q0 = 0.f * SIMD_PI / 180.f;
+    btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
+    quat0.normalize();
+    /////
+    
+    for (int i = 0; i < numLinks; ++i)
+    {
+        if (!spherical)
+            pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
+        else
+            pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
+    }
+    
+    pMultiBody->finalizeMultiDof();
+    
+    ///
+    pWorld->addMultiBody(pMultiBody);
+    ///
+    return pMultiBody;
+}
+
+void MultibodyClothAnchor::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
+{
+    btAlignedObjectArray<btQuaternion> world_to_local;
+    world_to_local.resize(pMultiBody->getNumLinks() + 1);
+    
+    btAlignedObjectArray<btVector3> local_origin;
+    local_origin.resize(pMultiBody->getNumLinks() + 1);
+    world_to_local[0] = pMultiBody->getWorldToBaseRot();
+    local_origin[0] = pMultiBody->getBasePos();
+    
+    {
+        btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
+
+        btCollisionShape* box = new btBoxShape(baseHalfExtents);
+        btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
+        col->setCollisionShape(box);
+
+        btTransform tr;
+        tr.setIdentity();
+        tr.setOrigin(local_origin[0]);
+        tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+        col->setWorldTransform(tr);
+        pWorld->addCollisionObject(col, 2, 1+2);
+        col->setFriction(1);
+        pMultiBody->setBaseCollider(col);
+    }
+
+    for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+    {
+        const int parent = pMultiBody->getParent(i);
+        world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
+        local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
+    }
+
+    for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+    {
+        btVector3 posr = local_origin[i + 1];
+        
+        btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
+        
+        btCollisionShape* box = new btBoxShape(linkHalfExtents);
+        btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
+        
+        col->setCollisionShape(box);
+        btTransform tr;
+        tr.setIdentity();
+        tr.setOrigin(posr);
+        tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+        col->setWorldTransform(tr);
+        col->setFriction(1);
+        pWorld->addCollisionObject(col, 2, 1+2);
+        pMultiBody->getLink(i).m_collider = col;
+    }
+}
+
+class CommonExampleInterface* MultibodyClothAnchorCreateFunc(struct CommonExampleOptions& options)
+{
+    return new MultibodyClothAnchor(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/MultibodyClothAnchor.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef MULTIBODY_CLOTH_ANCHOR_H
+#define MULTIBODY_CLOTH_ANCHOR_H
+
+class CommonExampleInterface* MultibodyClothAnchorCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //MULTIBODY_CLOTH_ANCHOR_H

examples/DeformableDemo/Pinch.cpp

@@ -0,0 +1,387 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#include "Pinch.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The Pinch shows the frictional contact between kinematic rigid objects with deformable objects
+
+struct TetraCube
+{
+#include "../SoftDemo/cube.inl"
+};
+
+class Pinch : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+	Pinch(struct GUIHelperInterface* helper)
+		: CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~Pinch()
+	{
+	}
+	void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+        float dist = 25;
+        float pitch = -30;
+        float yaw = 100;
+        float targetPos[3] = {0, -0, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+    
+    void stepSimulation(float deltaTime)
+    {
+        //use a smaller internal timestep, there are stability issues
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    void createGrip()
+    {
+        int count = 2;
+        float mass = 1e6;
+        btCollisionShape* shape[] = {
+            new btBoxShape(btVector3(3, 3, 0.5)),
+        };
+        static const int nshapes = sizeof(shape) / sizeof(shape[0]);
+        for (int i = 0; i < count; ++i)
+        {
+            btTransform startTransform;
+            startTransform.setIdentity();
+            startTransform.setOrigin(btVector3(10, 0, 0));
+            startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+            createRigidBody(mass, startTransform, shape[i % nshapes]);
+        }
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            {
+                btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+                btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
+            }
+        }
+    }
+};
+
+void dynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
+{
+    btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
+    if (rbs.size()<2)
+        return;
+    btRigidBody* rb0 = rbs[0];
+    btScalar pressTime = 0.9;
+    btScalar liftTime = 2.5;
+    btScalar shiftTime = 3.5;
+    btScalar holdTime = 4.5*1000;
+    btScalar dropTime = 5.3*1000;
+    btTransform rbTransform;
+    rbTransform.setIdentity();
+    btVector3 translation;
+    btVector3 velocity;
+    
+    btVector3 initialTranslationLeft = btVector3(0.5,3,4);
+    btVector3 initialTranslationRight = btVector3(0.5,3,-4);
+    btVector3 pinchVelocityLeft = btVector3(0,0,-2);
+    btVector3 pinchVelocityRight = btVector3(0,0,2);
+    btVector3 liftVelocity = btVector3(0,5,0);
+    btVector3 shiftVelocity = btVector3(0,0,5);
+    btVector3 holdVelocity = btVector3(0,0,0);
+    btVector3 openVelocityLeft = btVector3(0,0,4);
+    btVector3 openVelocityRight = btVector3(0,0,-4);
+    
+    if (time < pressTime)
+    {
+        velocity = pinchVelocityLeft;
+        translation = initialTranslationLeft + pinchVelocityLeft * time;
+    }
+    else if (time < liftTime)
+    {
+        velocity = liftVelocity;
+        translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (time - pressTime);
+        
+    }
+    else if (time < shiftTime)
+    {
+        velocity = shiftVelocity;
+        translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
+    }
+    else if (time < holdTime)
+    {
+        velocity = btVector3(0,0,0);
+        translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
+    }
+    else if (time < dropTime)
+    {
+        velocity = openVelocityLeft;
+        translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime);
+    }
+    else
+    {
+        velocity = holdVelocity;
+        translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime);
+    }
+    rbTransform.setOrigin(translation);
+    rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+    rb0->setCenterOfMassTransform(rbTransform);
+    rb0->setAngularVelocity(btVector3(0,0,0));
+    rb0->setLinearVelocity(velocity);
+    
+    btRigidBody* rb1 = rbs[1];
+    if (time < pressTime)
+    {
+        velocity = pinchVelocityRight;
+        translation = initialTranslationRight + pinchVelocityRight * time;
+    }
+    else if (time < liftTime)
+    {
+        velocity = liftVelocity;
+        translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (time - pressTime);
+        
+    }
+    else if (time < shiftTime)
+    {
+        velocity = shiftVelocity;
+        translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
+    }
+    else if (time < holdTime)
+    {
+        velocity = btVector3(0,0,0);
+        translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
+    }
+    else if (time < dropTime)
+    {
+        velocity = openVelocityRight;
+        translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime);
+    }
+    else
+    {
+        velocity = holdVelocity;
+        translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime);
+    }
+    rbTransform.setOrigin(translation);
+    rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+    rb1->setCenterOfMassTransform(rbTransform);
+    rb1->setAngularVelocity(btVector3(0,0,0));
+    rb1->setLinearVelocity(velocity);
+    
+    rb0->setFriction(20);
+    rb1->setFriction(20);
+}
+
+void Pinch::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+
+	btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+    btVector3 gravity = btVector3(0, -10, 0);
+	m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+    getDeformableDynamicsWorld()->setSolverCallback(dynamics);
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    //create a ground
+    {
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -25, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+        //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);
+        body->setFriction(0.5);
+
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+    
+    // create a soft block
+    {
+        btScalar verts[24] = {0.f, 0.f, 0.f,
+            1.f, 0.f, 0.f,
+            0.f, 1.f, 0.f,
+            0.f, 0.f, 1.f,
+            1.f, 1.f, 0.f,
+            0.f, 1.f, 1.f,
+            1.f, 0.f, 1.f,
+            1.f, 1.f, 1.f
+        };
+        int triangles[60] = {0, 6, 3,
+            0,1,6,
+            7,5,3,
+            7,3,6,
+            4,7,6,
+            4,6,1,
+            7,2,5,
+            7,4,2,
+            0,3,2,
+            2,3,5,
+            0,2,4,
+            0,4,1,
+            0,6,5,
+            0,6,4,
+            3,4,2,
+            3,4,7,
+            2,7,3,
+            2,7,1,
+            4,5,0,
+            4,5,6,
+        };
+//       btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(getDeformableDynamicsWorld()->getWorldInfo(), &verts[0], &triangles[0], 20);
+////
+        btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
+                                                                  TetraCube::getElements(),
+                                                                  0,
+                                                                  TetraCube::getNodes(),
+                                                                  false, true, true);
+        
+        psb->scale(btVector3(2, 2, 2));
+        psb->translate(btVector3(0, 4, 0));
+        psb->getCollisionShape()->setMargin(0.1);
+        psb->setTotalMass(1);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 2;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+        btSoftBodyHelpers::generateBoundaryFaces(psb);
+        
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05);
+        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+        m_forces.push_back(mass_spring);
+        
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+        
+        btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.2,1);
+        getDeformableDynamicsWorld()->addForce(psb, neohookean);
+        m_forces.push_back(neohookean);
+        // add a grippers
+        createGrip();
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void Pinch::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* PinchCreateFunc(struct CommonExampleOptions& options)
+{
+	return new Pinch(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/Pinch.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef _PINCH_H
+#define _PINCH_H
+
+class CommonExampleInterface* PinchCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_PINCH_H

examples/DeformableDemo/PinchFriction.cpp

@@ -0,0 +1,400 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+#include "PinchFriction.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The PinchFriction shows the frictional contacts among volumetric deformable objects
+
+struct TetraCube
+{
+#include "../SoftDemo/cube.inl"
+};
+
+class PinchFriction : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+    PinchFriction(struct GUIHelperInterface* helper)
+    : CommonRigidBodyBase(helper)
+    {
+    }
+    virtual ~PinchFriction()
+    {
+    }
+    void initPhysics();
+    
+    void exitPhysics();
+    
+    void resetCamera()
+    {
+        float dist = 25;
+        float pitch = -30;
+        float yaw = 100;
+        float targetPos[3] = {0, -0, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+        //use a smaller internal timestep, there are stability issues
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    void createGrip()
+    {
+        int count = 2;
+        float mass = 1e6;
+        btCollisionShape* shape[] = {
+            new btBoxShape(btVector3(3, 3, 0.5)),
+        };
+        static const int nshapes = sizeof(shape) / sizeof(shape[0]);
+        for (int i = 0; i < count; ++i)
+        {
+            btTransform startTransform;
+            startTransform.setIdentity();
+            startTransform.setOrigin(btVector3(10, 0, 0));
+            startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+            createRigidBody(mass, startTransform, shape[i % nshapes]);
+        }
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+    }
+};
+
+void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
+{
+    btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
+    if (rbs.size()<2)
+        return;
+    btRigidBody* rb0 = rbs[0];
+    btScalar pressTime = 0.45;
+    btScalar liftTime = 5;
+    btScalar shiftTime = 1.75;
+    btScalar holdTime = 7.5;
+    btScalar dropTime = 8.3;
+    btTransform rbTransform;
+    rbTransform.setIdentity();
+    btVector3 translation;
+    btVector3 velocity;
+    
+    btVector3 initialTranslationLeft = btVector3(0.5,3,4);
+    btVector3 initialTranslationRight = btVector3(0.5,3,-4);
+    btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-2);
+    btVector3 PinchFrictionVelocityRight = btVector3(0,0,2);
+    btVector3 liftVelocity = btVector3(0,2,0);
+    btVector3 shiftVelocity = btVector3(0,0,0);
+    btVector3 holdVelocity = btVector3(0,0,0);
+    btVector3 openVelocityLeft = btVector3(0,0,4);
+    btVector3 openVelocityRight = btVector3(0,0,-4);
+    
+    if (time < pressTime)
+    {
+        velocity = PinchFrictionVelocityLeft;
+        translation = initialTranslationLeft + PinchFrictionVelocityLeft * time;
+    }
+    else if (time < liftTime)
+    {
+        velocity = liftVelocity;
+        translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (time - pressTime);
+        
+    }
+    else if (time < shiftTime)
+    {
+        velocity = shiftVelocity;
+        translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
+    }
+    else if (time < holdTime)
+    {
+        velocity = btVector3(0,0,0);
+        translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
+    }
+    else if (time < dropTime)
+    {
+        velocity = openVelocityLeft;
+        translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime);
+    }
+    else
+    {
+        velocity = holdVelocity;
+        translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime);
+    }
+    rbTransform.setOrigin(translation);
+    rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+    rb0->setCenterOfMassTransform(rbTransform);
+    rb0->setAngularVelocity(btVector3(0,0,0));
+    rb0->setLinearVelocity(velocity);
+    
+    btRigidBody* rb1 = rbs[1];
+    if (time < pressTime)
+    {
+        velocity = PinchFrictionVelocityRight;
+        translation = initialTranslationRight + PinchFrictionVelocityRight * time;
+    }
+    else if (time < liftTime)
+    {
+        velocity = liftVelocity;
+        translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (time - pressTime);
+        
+    }
+    else if (time < shiftTime)
+    {
+        velocity = shiftVelocity;
+        translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
+    }
+    else if (time < holdTime)
+    {
+        velocity = btVector3(0,0,0);
+        translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
+    }
+    else if (time < dropTime)
+    {
+        velocity = openVelocityRight;
+        translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime);
+    }
+    else
+    {
+        velocity = holdVelocity;
+        translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime);
+    }
+    rbTransform.setOrigin(translation);
+    rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+    rb1->setCenterOfMassTransform(rbTransform);
+    rb1->setAngularVelocity(btVector3(0,0,0));
+    rb1->setLinearVelocity(velocity);
+    
+    rb0->setFriction(200);
+    rb1->setFriction(200);
+}
+
+void PinchFriction::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+    
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+    
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+    
+    m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+    
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+    m_solver = sol;
+    
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+    btVector3 gravity = btVector3(0, -10, 0);
+    m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
+    getDeformableDynamicsWorld()->setSolverCallback(dynamics2);
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    
+    //create a ground
+    {
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+        
+        m_collisionShapes.push_back(groundShape);
+        
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -25, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+        //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);
+        body->setFriction(0.5);
+        
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+    
+    // create a soft block
+    {
+        btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
+                                                                  TetraCube::getElements(),
+                                                                  0,
+                                                                  TetraCube::getNodes(),
+                                                                  false, true, true);
+        
+        psb->scale(btVector3(2, 2, 1));
+        psb->translate(btVector3(0, 2.1, 2.2));
+        psb->getCollisionShape()->setMargin(0.05);
+        psb->setTotalMass(.6);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 2;
+        btSoftBodyHelpers::generateBoundaryFaces(psb);
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+
+        btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+        
+        btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1);
+        getDeformableDynamicsWorld()->addForce(psb, neohookean);
+        m_forces.push_back(neohookean);
+    }
+    
+    // create a second soft block
+    {
+        btSoftBody* psb2 = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
+                                                                  TetraCube::getElements(),
+                                                                  0,
+                                                                  TetraCube::getNodes(),
+                                                                  false, true, true);
+        
+        psb2->scale(btVector3(2, 2, 1));
+        psb2->translate(btVector3(0, 2.1, -2.2));
+        psb2->getCollisionShape()->setMargin(0.05);
+        psb2->setTotalMass(.6);
+        psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb2->m_cfg.kDF = 2;
+        psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
+        btSoftBodyHelpers::generateBoundaryFaces(psb2);
+        getDeformableDynamicsWorld()->addSoftBody(psb2);
+        
+        btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb2, gravity_force);
+        m_forces.push_back(gravity_force);
+        
+        btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1);
+        getDeformableDynamicsWorld()->addForce(psb2, neohookean);
+        m_forces.push_back(neohookean);
+    }
+    
+    // create a third soft block
+    {
+        btSoftBody* psb3 = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
+                                                                   TetraCube::getElements(),
+                                                                   0,
+                                                                   TetraCube::getNodes(),
+                                                                   false, true, true);
+        
+        psb3->scale(btVector3(2, 2, 1));
+        psb3->translate(btVector3(0, 2.1, 0));
+        psb3->getCollisionShape()->setMargin(0.05);
+        psb3->setTotalMass(.6);
+        psb3->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb3->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb3->m_cfg.kDF = 2;
+        psb3->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        psb3->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
+        btSoftBodyHelpers::generateBoundaryFaces(psb3);
+        getDeformableDynamicsWorld()->addSoftBody(psb3);
+        
+        btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb3, gravity_force);
+        m_forces.push_back(gravity_force);
+        
+        btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1);
+        getDeformableDynamicsWorld()->addForce(psb3, neohookean);
+        m_forces.push_back(neohookean);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    // add a pair of grippers
+    createGrip();
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void PinchFriction::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+    
+    delete m_dynamicsWorld;
+    
+    delete m_solver;
+    
+    delete m_broadphase;
+    
+    delete m_dispatcher;
+    
+    delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* PinchFrictionCreateFunc(struct CommonExampleOptions& options)
+{
+    return new PinchFriction(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/PinchFriction.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef _PINCH_FRICTION_H
+#define _PINCH_FRICTION_H
+
+class CommonExampleInterface* PinchFrictionCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_PINCH_FRICTION_H

examples/DeformableDemo/SplitImpulse.cpp

@@ -0,0 +1,259 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+#include "SplitImpulse.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+#define USE_SPLIT_IMPULSE 1
+///The SplitImpulse shows the effect of split impulse in deformable rigid contact.
+class SplitImpulse : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+	SplitImpulse(struct GUIHelperInterface* helper)
+		: CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~SplitImpulse()
+	{
+	}
+	void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+        float dist = 20;
+        float pitch = -45;
+        float yaw = 100;
+        float targetPos[3] = {0, -3, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+    
+    void stepSimulation(float deltaTime)
+    {
+        //use a smaller internal timestep, there are stability issues
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    void Ctor_RbUpStack(int count)
+    {
+        float mass = 0.2;
+        
+        btCollisionShape* shape[] = {
+            new btBoxShape(btVector3(1, 1, 1)),
+        };
+        btTransform startTransform;
+        startTransform.setIdentity();
+        startTransform.setOrigin(btVector3(0, 0.7, 0));
+        createRigidBody(mass, startTransform, shape[0]);
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+            {
+                btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+                btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
+            }
+        }
+    }
+};
+
+void SplitImpulse::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+
+	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+	btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+//    deformableBodySolver->setWorld(getDeformableDynamicsWorld());
+	//	m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
+    btVector3 gravity = btVector3(0, -50, 0);
+	m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
+    
+//    getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    {
+        ///create a ground
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -32, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+        //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);
+        body->setFriction(1);
+
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+    
+#ifdef USE_SPLIT_IMPULSE
+        getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.03;
+#else
+        getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.0;
+#endif
+    
+    // create a piece of cloth
+    {
+        const btScalar s = 4;
+        const btScalar h = 0;
+        
+        btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
+                                                         btVector3(+s, h, -s),
+                                                         btVector3(-s, h, +s),
+                                                         btVector3(+s, h, +s),
+//                                                         3,3,
+                                                          20,20,
+                                                          1 + 2 + 4 + 8, true);
+//                                                          0, true);
+
+        
+        psb->getCollisionShape()->setMargin(0.15);
+        psb->generateBendingConstraints(2);
+        psb->setTotalMass(1);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 2;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+        
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true);
+        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+        m_forces.push_back(mass_spring);
+        
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+        // add a few rigid bodies
+        Ctor_RbUpStack(1);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void SplitImpulse::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* SplitImpulseCreateFunc(struct CommonExampleOptions& options)
+{
+	return new SplitImpulse(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/SplitImpulse.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef _SPLIT_IMPULSE_H
+#define _SPLIT_IMPULSE_H
+
+class CommonExampleInterface* SplitImpulseCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_SPLIT_IMPULSE_H

examples/DeformableDemo/VolumetricDeformable.cpp

@@ -0,0 +1,293 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#include "VolumetricDeformable.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The VolumetricDeformable shows the contact between volumetric deformable objects and rigid objects.
+
+struct TetraCube
+{
+#include "../SoftDemo/cube.inl"
+};
+
+class VolumetricDeformable : public CommonRigidBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+	VolumetricDeformable(struct GUIHelperInterface* helper)
+		: CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~VolumetricDeformable()
+	{
+	}
+	void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+        float dist = 20;
+        float pitch = -45;
+        float yaw = 100;
+        float targetPos[3] = {0, 3, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+    
+    void stepSimulation(float deltaTime)
+    {
+        //use a smaller internal timestep, there are stability issues
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    void createStaticBox(const btVector3& halfEdge, const btVector3& translation)
+    {
+        btCollisionShape* box = new btBoxShape(halfEdge);
+        m_collisionShapes.push_back(box);
+        
+        btTransform Transform;
+        Transform.setIdentity();
+        Transform.setOrigin(translation);
+        Transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.0));
+        //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)
+            box->calculateLocalInertia(mass, localInertia);
+        //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+        btDefaultMotionState* myMotionState = new btDefaultMotionState(Transform);
+        btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, box, localInertia);
+        btRigidBody* body = new btRigidBody(rbInfo);
+        body->setFriction(0.5);
+        
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+    
+    void Ctor_RbUpStack(int count)
+    {
+        float mass = 1;
+        
+        btCompoundShape* cylinderCompound = new btCompoundShape;
+        btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5));
+        btCollisionShape* boxShape = new btBoxShape(btVector3(2, .5, .5));
+        btTransform localTransform;
+        localTransform.setIdentity();
+        cylinderCompound->addChildShape(localTransform, boxShape);
+        btQuaternion orn(SIMD_HALF_PI, 0, 0);
+        localTransform.setRotation(orn);
+        //    localTransform.setOrigin(btVector3(1,1,1));
+        cylinderCompound->addChildShape(localTransform, cylinderShape);
+        
+        btCollisionShape* shape[] = {
+            new btBoxShape(btVector3(1, 1, 1)),
+        };
+        static const int nshapes = sizeof(shape) / sizeof(shape[0]);
+        for (int i = 0; i < count; ++i)
+        {
+            btTransform startTransform;
+            startTransform.setIdentity();
+            startTransform.setOrigin(btVector3(i, 10 + 2 * i, i-1));
+            createRigidBody(mass, startTransform, shape[i % nshapes]);
+        }
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        ///just make it a btSoftRigidDynamicsWorld please
+        ///or we will add type checking
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonRigidBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+            {
+                btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+                btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
+            }
+        }
+    }
+};
+
+void VolumetricDeformable::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+
+	btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(deformableBodySolver);
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+    btVector3 gravity = btVector3(0, -100, 0);
+	m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    {
+        ///create a ground
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(50.), btScalar(150.)));
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -50, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.0));
+        //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);
+        body->setFriction(0.5);
+
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+    
+    createStaticBox(btVector3(1, 5, 5), btVector3(-5,0,0));
+    createStaticBox(btVector3(1, 5, 5), btVector3(5,0,0));
+    createStaticBox(btVector3(5, 5, 1), btVector3(0,0,5));
+    createStaticBox(btVector3(5, 5, 1), btVector3(0,0,-5));
+    
+    // create volumetric soft body
+    {
+        btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
+                                                                  TetraCube::getElements(),
+                                                                  0,
+                                                                  TetraCube::getNodes(),
+                                                                  false, true, true);
+        getDeformableDynamicsWorld()->addSoftBody(psb);
+        psb->scale(btVector3(2, 2, 2));
+        psb->translate(btVector3(0, 5, 0));
+        psb->getCollisionShape()->setMargin(0.25);
+        psb->setTotalMass(1);
+        psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        psb->m_cfg.kDF = 0.5;
+        psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        btSoftBodyHelpers::generateBoundaryFaces(psb);
+        
+        btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        m_forces.push_back(gravity_force);
+        
+        btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(30,100,0.05);
+        getDeformableDynamicsWorld()->addForce(psb, neohookean);
+        m_forces.push_back(neohookean);
+        
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    // add a few rigid bodies
+    Ctor_RbUpStack(4); 
+    
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void VolumetricDeformable::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* VolumetricDeformableCreateFunc(struct CommonExampleOptions& options)
+{
+	return new VolumetricDeformable(options.m_guiHelper);
+}
+
+

examples/DeformableDemo/VolumetricDeformable.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. 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.
+ */
+
+#ifndef _VOLUMETRIC_DEFORMABLE_H
+#define _VOLUMETRIC_DEFORMABLE_H
+
+class CommonExampleInterface* VolumetricDeformableCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_VOLUMETRIC_DEFORMABLE__H

examples/ExampleBrowser/CMakeLists.txt

@@ -220,12 +220,6 @@ SET(BulletExampleBrowser_SRCS
 	../MultiThreadedDemo/CommonRigidBodyMTBase.h
 	../Heightfield/HeightfieldExample.cpp
 	../Heightfield/HeightfieldExample.h
-	../BlockSolver/btBlockSolver.cpp
-	../BlockSolver/btBlockSolver.h
-	../BlockSolver/BlockSolverExample.cpp
-	../BlockSolver/BlockSolverExample.h
-	../BlockSolver/RigidBodyBoxes.cpp
-	../BlockSolver/RigidBodyBoxes.h
 	../Tutorial/Tutorial.cpp
 	../Tutorial/Tutorial.h
 	../Tutorial/Dof6ConstraintTutorial.cpp
@@ -359,6 +353,30 @@ SET(BulletExampleBrowser_SRCS
  ../MultiBody/MultiBodyConstraintFeedback.cpp
   ../SoftDemo/SoftDemo.cpp
   ../SoftDemo/SoftDemo.h
+  ../DeformableDemo/DeformableContact.cpp
+  ../DeformableDemo/DeformableContact.h
+  ../DeformableDemo/GraspDeformable.cpp
+  ../DeformableDemo/GraspDeformable.h
+  ../DeformableDemo/Pinch.cpp
+  ../DeformableDemo/Pinch.h
+  ../DeformableDemo/DeformableSelfCollision.cpp
+  ../DeformableDemo/DeformableSelfCollision.h
+  ../DeformableDemo/PinchFriction.cpp
+  ../DeformableDemo/PinchFriction.h
+  ../DeformableDemo/ClothFriction.cpp
+  ../DeformableDemo/ClothFriction.h
+  ../DeformableDemo/DeformableMultibody.cpp
+  ../DeformableDemo/DeformableMultibody.h
+  ../DeformableDemo/DeformableRigid.cpp
+  ../DeformableDemo/DeformableRigid.h
+  ../DeformableDemo/SplitImpulse.cpp
+  ../DeformableDemo/SplitImpulse.h
+  ../DeformableDemo/VolumetricDeformable.cpp
+  ../DeformableDemo/VolumetricDeformable.h
+  ../DeformableDemo/DeformableClothAnchor.cpp
+  ../DeformableDemo/DeformableClothAnchor.h
+  ../DeformableDemo/MultibodyClothAnchor.cpp
+  ../DeformableDemo/MultibodyClothAnchor.h
   ../MultiBody/MultiDofDemo.cpp
   ../MultiBody/MultiDofDemo.h
   ../RigidBody/RigidBodySoftContact.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -1,8 +1,5 @@
 #include "ExampleEntries.h"
 
-#include "../BlockSolver/btBlockSolver.h"
-#include "../BlockSolver/BlockSolverExample.h"
-#include "../BlockSolver/RigidBodyBoxes.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "EmptyExample.h"
 #include "../Heightfield/HeightfieldExample.h"
@@ -47,6 +44,18 @@
 #include "../FractureDemo/FractureDemo.h"
 #include "../DynamicControlDemo/MotorDemo.h"
 #include "../RollingFrictionDemo/RollingFrictionDemo.h"
+#include "../DeformableDemo/DeformableRigid.h"
+#include "../DeformableDemo/SplitImpulse.h"
+#include "../DeformableDemo/ClothFriction.h"
+#include "../DeformableDemo/Pinch.h"
+#include "../DeformableDemo/DeformableSelfCollision.h"
+#include "../DeformableDemo/PinchFriction.h"
+#include "../DeformableDemo/DeformableMultibody.h"
+#include "../DeformableDemo/VolumetricDeformable.h"
+#include "../DeformableDemo/GraspDeformable.h"
+#include "../DeformableDemo/DeformableContact.h"
+#include "../DeformableDemo/DeformableClothAnchor.h"
+#include "../DeformableDemo/MultibodyClothAnchor.h"
 #include "../SharedMemory/PhysicsServerExampleBullet2.h"
 #include "../SharedMemory/PhysicsServerExample.h"
 #include "../SharedMemory/PhysicsClientExample.h"
@@ -117,7 +126,7 @@ static ExampleEntry gDefaultExamples[] =
 		ExampleEntry(1, "Basic Example", "Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc),
 
 		ExampleEntry(1, "Rolling Friction", "Damping is often not good enough to keep rounded objects from rolling down a sloped surface. Instead, you can set the rolling friction of a rigid body. Generally it is best to leave the rolling friction to zero, to avoid artifacts.", RollingFrictionCreateFunc),
-
+        
 		ExampleEntry(1, "Constraints", "Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.",
 					 AllConstraintCreateFunc),
 
@@ -159,13 +168,6 @@ static ExampleEntry gDefaultExamples[] =
 					 //
 		//	ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
 
-		ExampleEntry(0, "BlockSolver"),
-		ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_SI),
-		ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_PGS),
-		ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_DANTZIG),
-		ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_BLOCK),
-		//ExampleEntry(1, "Stack RigidBody SI", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_SI),
-		//ExampleEntry(1, "Stack RigidBody Block", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_BLOCK),
 
 		ExampleEntry(0, "Inverse Dynamics"),
 		ExampleEntry(1, "Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc, BT_ID_LOAD_URDF),
@@ -190,6 +192,21 @@ static ExampleEntry gDefaultExamples[] =
 		ExampleEntry(1, "Spheres & Plane C-API (Bullet2)", "Collision C-API using Bullet 2.x backend", CollisionTutorialBullet2CreateFunc, TUT_SPHERE_PLANE_BULLET2),
 //ExampleEntry(1, "Spheres & Plane C-API (Bullet3)", "Collision C-API using Bullet 3.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_RTB3),
 
+        ExampleEntry(0, "Deformabe Body"),
+        ExampleEntry(1, "Deformable Self Collision", "Deformable Self Collision", DeformableSelfCollisionCreateFunc),
+        ExampleEntry(1, "Deformable-Deformable Contact", "Deformable contact", DeformableContactCreateFunc),
+        ExampleEntry(1, "Cloth Friction", "Cloth friction contact", ClothFrictionCreateFunc),
+        ExampleEntry(1, "Deformable-Deformable Friction Contact", "Deformable friction contact", PinchFrictionCreateFunc),
+        ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableRigidCreateFunc),
+        ExampleEntry(1, "Split Impulse Contact", "Split impulse test", SplitImpulseCreateFunc),
+        ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc),
+        ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc),
+        ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc),
+        ExampleEntry(1, "Rigid Cloth Anchor", "Deformable Rigid body Anchor test", DeformableClothAnchorCreateFunc),
+        ExampleEntry(1, "Multibody Cloth Anchor", "Deformable Multibody Anchor test", MultibodyClothAnchorCreateFunc),
+        ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc),
+        // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc),
+        
 #ifdef INCLUDE_CLOTH_DEMOS
 		ExampleEntry(0, "Soft Body"),
 		ExampleEntry(1, "Cloth", "Simulate a patch of cloth.", SoftDemoCreateFunc, 0),
@@ -286,6 +303,7 @@ static ExampleEntry gDefaultExamples[] =
 		ExampleEntry(1, "Rolling friction", "Experiment on multibody rolling friction", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_ROLLING_FRICTION),
 		ExampleEntry(1, "Gripper Grasp", "Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc, eGRIPPER_GRASP),
 		ExampleEntry(1, "Two Point Grasp", "Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
+		ExampleEntry(1, "Grasp Deformable Cloth", "Grasp experiment with deformable cloth", GripperGraspExampleCreateFunc, eGRASP_DEFORMABLE_CLOTH),
 		ExampleEntry(1, "One Motor Gripper Grasp", "Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 		ExampleEntry(1, "Grasp Soft Body", "Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),

examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp

@@ -290,7 +290,7 @@ void GwenUserInterface::init(int width, int height, Gwen::Renderer::Base* render
 
 	//tab->SetHeight(300);
 	tab->SetWidth(240);
-	tab->SetHeight(1250);
+	tab->SetHeight(13250);
 	//tab->Dock(Gwen::Pos::Left);
 	tab->Dock(Gwen::Pos::Fill);
 	//tab->SetMargin( Gwen::Margin( 2, 2, 2, 2 ) );

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -921,6 +921,13 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	m_internalData->m_app = s_app;
 	char* gVideoFileName = 0;
 	args.GetCmdLineArgument("mp4", gVideoFileName);
+	int gVideoFps = 0;
+	args.GetCmdLineArgument("mp4fps", gVideoFps);
+	if (gVideoFps)
+	{
+		simpleApp->setMp4Fps(gVideoFps);
+	}
+
 #ifndef NO_OPENGL3
 	if (gVideoFileName)
 		simpleApp->dumpFramesToVideo(gVideoFileName);

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -380,6 +380,14 @@ void OpenGLGuiHelper::replaceTexture(int shapeIndex, int textureUid)
 		m_data->m_glApp->m_renderer->replaceTexture(shapeIndex, textureUid);
 	};
 }
+void OpenGLGuiHelper::changeInstanceFlags(int instanceUid, int flags)
+{
+	if (instanceUid >= 0)
+	{
+		//careful, flags/instanceUid is swapped
+		m_data->m_glApp->m_renderer->writeSingleInstanceFlagsToCPU(  flags, instanceUid);
+	}
+}
 void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
 {
 	if (instanceUid >= 0)
@@ -1433,6 +1441,11 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
 			color.setValue(1, 1, 1, 1);
 		}
 		createCollisionObjectGraphicsObject(colObj, color);
+		if (sb)
+		{
+			int graphicsInstanceId = colObj->getUserIndex();
+			changeInstanceFlags(graphicsInstanceId, B3_INSTANCE_DOUBLE_SIDED);
+		}
 	}
 }
 
@@ -1496,3 +1509,8 @@ void OpenGLGuiHelper::computeSoftBodyVertices(btCollisionShape* collisionShape,
 		}
 	}
 }
+
+void OpenGLGuiHelper::updateShape(int shapeIndex, float* vertices)
+{
+	m_data->m_glApp->m_renderer->updateShape(shapeIndex, vertices);
+}

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -27,12 +27,14 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
 	virtual void removeAllGraphicsInstances();
 	virtual void removeGraphicsInstance(int graphicsUid);
+	virtual void changeInstanceFlags(int instanceUid, int flags);
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
 	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
 	virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height);
 	virtual void removeTexture(int textureUid);
 	virtual int getShapeIndexFromInstance(int instanceUid);
 	virtual void replaceTexture(int shapeIndex, int textureUid);
+	virtual void updateShape(int shapeIndex, float* vertices);
 
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 

examples/ExampleBrowser/premake4.lua

@@ -168,7 +168,6 @@ project "App_BulletExampleBrowser"
 		"../Evolution/NN3DWalkers.h",
 		"../Collision/*",
 		"../RoboticsLearning/*",
-		"../BlockSolver/*",
 		"../Collision/Internal/*",
 		"../Benchmarks/*",
 		"../MultiThreadedDemo/*",
@@ -182,6 +181,7 @@ project "App_BulletExampleBrowser"
 		"../RenderingExamples/*",
 		"../VoronoiFracture/*",
 		"../SoftDemo/*",
+		"../DeformableDemo/*",
 		"../RollingFrictionDemo/*",
 		"../rbdl/*",
 		"../FractureDemo/*",
@@ -199,7 +199,6 @@ project "App_BulletExampleBrowser"
 		"../RigidBody/RigidBodySoftContact.cpp",
 		"../ThirdPartyLibs/stb_image/stb_image.cpp",
 		"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
-		"../ThirdPartyLibs/BussIK/*",
 		"../GyroscopicDemo/GyroscopicSetup.cpp",
 		"../GyroscopicDemo/GyroscopicSetup.h",
     "../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -2265,7 +2265,7 @@ int BulletMJCFImporter::getBodyUniqueId() const
 	return m_data->m_activeBodyUniqueId;
 }
 
-static btCollisionShape* MjcfCreateConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin)
+static btCollisionShape* MjcfCreateConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin)
 {
 	btCompoundShape* compound = new btCompoundShape();
 	compound->setMargin(collisionMargin);
@@ -2278,25 +2278,26 @@ static btCollisionShape* MjcfCreateConvexHullFromShapes(std::vector<tinyobj::sha
 		btConvexHullShape* convexHull = new btConvexHullShape();
 		convexHull->setMargin(collisionMargin);
 		tinyobj::shape_t& shape = shapes[s];
+
 		int faceCount = shape.mesh.indices.size();
 
 		for (int f = 0; f < faceCount; f += 3)
 		{
 			btVector3 pt;
-			pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
-						shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
-						shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
+			pt.setValue(attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 0],
+						attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 1],
+						attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 2]);
 
 			convexHull->addPoint(pt * geomScale, false);
 
-			pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
-						shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
-						shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
+			pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0],
+						attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
+						attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
 			convexHull->addPoint(pt * geomScale, false);
 
-			pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
-						shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
-						shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
+			pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0],
+						attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
+						attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
 			convexHull->addPoint(pt * geomScale, false);
 		}
 
@@ -2391,10 +2392,11 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 							else
 							{
 								std::vector<tinyobj::shape_t> shapes;
-								std::string err = tinyobj::LoadObj(shapes, col->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO);
+								tinyobj::attrib_t attribute;
+								std::string err = tinyobj::LoadObj(attribute, shapes, col->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
 								//create a convex hull for each shape, and store it in a btCompoundShape
 
-								childShape = MjcfCreateConvexHullFromShapes(shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin);
+								childShape = MjcfCreateConvexHullFromShapes(attribute, shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin);
 							}
 							break;
 						}

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -65,13 +65,14 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		btVector3 shift(0, 0, 0);
 
 		std::vector<tinyobj::shape_t> shapes;
+		tinyobj::attrib_t attribute;
 		{
 			B3_PROFILE("tinyobj::LoadObj");
-			std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, pathPrefix,fileIO);
+			std::string err = LoadFromCachedOrFromObj(attribute, shapes, relativeFileName, pathPrefix, fileIO);
 			//std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
 		}
 
-		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
+		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(attribute, shapes);
 		{
 			B3_PROFILE("Load Texture");
 			//int textureIndex = -1;
@@ -84,7 +85,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 				meshData.m_rgbaColor[2] = shape.material.diffuse[2];
 				meshData.m_rgbaColor[3] = shape.material.transparency;
 				meshData.m_flags |= B3_IMPORT_MESH_HAS_RGBA_COLOR;
-				
+
 				meshData.m_specularColor[0] = shape.material.specular[0];
 				meshData.m_specularColor[1] = shape.material.specular[1];
 				meshData.m_specularColor[2] = shape.material.specular[2];

examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp

@@ -12,6 +12,7 @@ struct CachedObjResult
 {
 	std::string m_msg;
 	std::vector<tinyobj::shape_t> m_shapes;
+	tinyobj::attrib_t m_attribute;
 };
 
 static b3HashMap<b3HashString, CachedObjResult> gCachedObjResults;
@@ -31,24 +32,26 @@ void b3EnableFileCaching(int enable)
 }
 
 std::string LoadFromCachedOrFromObj(
+	tinyobj::attrib_t& attribute,
 	std::vector<tinyobj::shape_t>& shapes,  // [output]
 	const char* filename,
 	const char* mtl_basepath,
-	struct CommonFileIOInterface* fileIO
-	)
+	struct CommonFileIOInterface* fileIO)
 {
 	CachedObjResult* resultPtr = gCachedObjResults[filename];
 	if (resultPtr)
 	{
 		const CachedObjResult& result = *resultPtr;
 		shapes = result.m_shapes;
+		attribute = result.m_attribute;
 		return result.m_msg;
 	}
 
-	std::string err = tinyobj::LoadObj(shapes, filename, mtl_basepath,fileIO);
+	std::string err = tinyobj::LoadObj(attribute, shapes, filename, mtl_basepath, fileIO);
 	CachedObjResult result;
 	result.m_msg = err;
 	result.m_shapes = shapes;
+	result.m_attribute = attribute;
 	if (gEnableFileCaching)
 	{
 		gCachedObjResults.insert(filename, result);
@@ -60,14 +63,15 @@ GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const cha
 {
 	B3_PROFILE("LoadMeshFromObj");
 	std::vector<tinyobj::shape_t> shapes;
+	tinyobj::attrib_t attribute;
 	{
 		B3_PROFILE("tinyobj::LoadObj2");
-		std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, materialPrefixPath,fileIO);
+		std::string err = LoadFromCachedOrFromObj(attribute, shapes, relativeFileName, materialPrefixPath, fileIO);
 	}
 
 	{
 		B3_PROFILE("btgCreateGraphicsShapeFromWavefrontObj");
-		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
+		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(attribute, shapes);
 		return gfxShape;
 	}
 }

examples/Importers/ImportObjDemo/LoadMeshFromObj.h

@@ -8,8 +8,8 @@ struct GLInstanceGraphicsShape;
 int b3IsFileCachingEnabled();
 void b3EnableFileCaching(int enable);
 
-
 std::string LoadFromCachedOrFromObj(
+	tinyobj::attrib_t& attribute,
 	std::vector<tinyobj::shape_t>& shapes,  // [output]
 	const char* filename,
 	const char* mtl_basepath,

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

@@ -9,7 +9,7 @@
 #include "../../OpenGLWindow/GLInstancingRenderer.h"
 #include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
 
-GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes, bool flatShading)
+GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, bool flatShading)
 {
 	b3AlignedObjectArray<GLInstanceVertex>* vertices = new b3AlignedObjectArray<GLInstanceVertex>;
 	{
@@ -36,19 +36,20 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
 					}
 
 					GLInstanceVertex vtx0;
-					vtx0.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f] * 3 + 0];
-					vtx0.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f] * 3 + 1];
-					vtx0.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f] * 3 + 2];
+					tinyobj::index_t v_0 = shape.mesh.indices[f];
+					vtx0.xyzw[0] = attribute.vertices[3 * v_0.vertex_index];
+					vtx0.xyzw[1] = attribute.vertices[3 * v_0.vertex_index + 1];
+					vtx0.xyzw[2] = attribute.vertices[3 * v_0.vertex_index + 2];
 					vtx0.xyzw[3] = 0.f;
 
-					if (shape.mesh.texcoords.size())
+					if (attribute.texcoords.size())
 					{
-						int uv0Index = shape.mesh.indices[f] * 2 + 0;
-						int uv1Index = shape.mesh.indices[f] * 2 + 1;
-						if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < int(shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size())))
+						int uv0Index = 2 * v_0.texcoord_index;
+						int uv1Index = 2 * v_0.texcoord_index + 1;
+						if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < int(attribute.texcoords.size()) && (uv1Index < attribute.texcoords.size())))
 						{
-							vtx0.uv[0] = shape.mesh.texcoords[uv0Index];
-							vtx0.uv[1] = shape.mesh.texcoords[uv1Index];
+							vtx0.uv[0] = attribute.texcoords[uv0Index];
+							vtx0.uv[1] = attribute.texcoords[uv1Index];
 						}
 						else
 						{
@@ -64,19 +65,20 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
 					}
 
 					GLInstanceVertex vtx1;
-					vtx1.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0];
-					vtx1.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1];
-					vtx1.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2];
+					tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
+					vtx1.xyzw[0] = attribute.vertices[3 * v_1.vertex_index];
+					vtx1.xyzw[1] = attribute.vertices[3 * v_1.vertex_index + 1];
+					vtx1.xyzw[2] = attribute.vertices[3 * v_1.vertex_index + 2];
 					vtx1.xyzw[3] = 0.f;
 
-					if (shape.mesh.texcoords.size())
+					if (attribute.texcoords.size())
 					{
-						int uv0Index = shape.mesh.indices[f + 1] * 2 + 0;
-						int uv1Index = shape.mesh.indices[f + 1] * 2 + 1;
-						if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size()))
+						int uv0Index = 2 * v_1.texcoord_index;
+						int uv1Index = 2 * v_1.texcoord_index + 1;
+						if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < attribute.texcoords.size()) && (uv1Index < attribute.texcoords.size()))
 						{
-							vtx1.uv[0] = shape.mesh.texcoords[uv0Index];
-							vtx1.uv[1] = shape.mesh.texcoords[uv1Index];
+							vtx1.uv[0] = attribute.texcoords[uv0Index];
+							vtx1.uv[1] = attribute.texcoords[uv1Index];
 						}
 						else
 						{
@@ -92,22 +94,24 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
 					}
 
 					GLInstanceVertex vtx2;
-					vtx2.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0];
-					vtx2.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1];
-					vtx2.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2];
+					tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
+					vtx2.xyzw[0] = attribute.vertices[3 * v_2.vertex_index];
+					vtx2.xyzw[1] = attribute.vertices[3 * v_2.vertex_index + 1];
+					vtx2.xyzw[2] = attribute.vertices[3 * v_2.vertex_index + 2];
 					vtx2.xyzw[3] = 0.f;
-					if (shape.mesh.texcoords.size())
+					if (attribute.texcoords.size())
 					{
-						int uv0Index = shape.mesh.indices[f + 2] * 2 + 0;
-						int uv1Index = shape.mesh.indices[f + 2] * 2 + 1;
-						if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size()))
+						int uv0Index = 2 * v_2.texcoord_index;
+						int uv1Index = 2 * v_2.texcoord_index + 1;
+
+						if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < attribute.texcoords.size()) && (uv1Index < attribute.texcoords.size()))
 						{
-							vtx2.uv[0] = shape.mesh.texcoords[uv0Index];
-							vtx2.uv[1] = shape.mesh.texcoords[uv1Index];
+							vtx2.uv[0] = attribute.texcoords[uv0Index];
+							vtx2.uv[1] = attribute.texcoords[uv1Index];
 						}
 						else
 						{
-							b3Warning("obj texture coordinate out-of-range!");
+							//b3Warning("obj texture coordinate out-of-range!");
 							vtx2.uv[0] = 0;
 							vtx2.uv[1] = 0;
 						}
@@ -123,16 +127,21 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
 					btVector3 v2(vtx2.xyzw[0], vtx2.xyzw[1], vtx2.xyzw[2]);
 
 					unsigned int maxIndex = 0;
-					maxIndex = b3Max(maxIndex, shape.mesh.indices[f] * 3 + 0);
-					maxIndex = b3Max(maxIndex, shape.mesh.indices[f] * 3 + 1);
-					maxIndex = b3Max(maxIndex, shape.mesh.indices[f] * 3 + 2);
-					maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 1] * 3 + 0);
-					maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 1] * 3 + 1);
-					maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 1] * 3 + 2);
-					maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 2] * 3 + 0);
-					maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 2] * 3 + 1);
-					maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 2] * 3 + 2);
-					bool hasNormals = (shape.mesh.normals.size() && maxIndex < shape.mesh.normals.size());
+					unsigned n0Index = shape.mesh.indices[f].normal_index;
+					unsigned n1Index = shape.mesh.indices[f + 1].normal_index;
+					unsigned n2Index = shape.mesh.indices[f + 2].normal_index;
+
+					maxIndex = b3Max(maxIndex, 3 * n0Index + 0);
+					maxIndex = b3Max(maxIndex, 3 * n0Index + 1);
+					maxIndex = b3Max(maxIndex, 3 * n0Index + 2);
+					maxIndex = b3Max(maxIndex, 3 * n1Index + 0);
+					maxIndex = b3Max(maxIndex, 3 * n1Index + 1);
+					maxIndex = b3Max(maxIndex, 3 * n1Index + 2);
+					maxIndex = b3Max(maxIndex, 3 * n2Index + 0);
+					maxIndex = b3Max(maxIndex, 3 * n2Index + 1);
+					maxIndex = b3Max(maxIndex, 3 * n2Index + 2);
+
+					bool hasNormals = (attribute.normals.size() && maxIndex < attribute.normals.size());
 
 					if (flatShading || !hasNormals)
 					{
@@ -159,15 +168,15 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
 					}
 					else
 					{
-						vtx0.normal[0] = shape.mesh.normals[shape.mesh.indices[f] * 3 + 0];
-						vtx0.normal[1] = shape.mesh.normals[shape.mesh.indices[f] * 3 + 1];
-						vtx0.normal[2] = shape.mesh.normals[shape.mesh.indices[f] * 3 + 2];  //shape.mesh.indices[f+1]*3+0
-						vtx1.normal[0] = shape.mesh.normals[shape.mesh.indices[f + 1] * 3 + 0];
-						vtx1.normal[1] = shape.mesh.normals[shape.mesh.indices[f + 1] * 3 + 1];
-						vtx1.normal[2] = shape.mesh.normals[shape.mesh.indices[f + 1] * 3 + 2];
-						vtx2.normal[0] = shape.mesh.normals[shape.mesh.indices[f + 2] * 3 + 0];
-						vtx2.normal[1] = shape.mesh.normals[shape.mesh.indices[f + 2] * 3 + 1];
-						vtx2.normal[2] = shape.mesh.normals[shape.mesh.indices[f + 2] * 3 + 2];
+						vtx0.normal[0] = attribute.normals[3 * n0Index+ 0];
+						vtx0.normal[1] = attribute.normals[3 * n0Index+ 1];
+						vtx0.normal[2] = attribute.normals[3 * n0Index+ 2];
+						vtx1.normal[0] = attribute.normals[3 * n1Index+ 0];
+						vtx1.normal[1] = attribute.normals[3 * n1Index+ 1];
+						vtx1.normal[2] = attribute.normals[3 * n1Index+ 2];
+						vtx2.normal[0] = attribute.normals[3 * n2Index+ 0];
+						vtx2.normal[1] = attribute.normals[3 * n2Index+ 1];
+						vtx2.normal[2] = attribute.normals[3 * n2Index+ 2];
 					}
 					vertices->push_back(vtx0);
 					vertices->push_back(vtx1);

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h

@@ -4,6 +4,6 @@
 #include "../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
 #include <vector>
 
-struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes, bool flatShading = false);
+struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, bool flatShading = false);
 
 #endif  //WAVEFRONT2GRAPHICS_H

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -509,7 +509,7 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
 	return true;
 }
 
-static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags)
+static btCollisionShape* createConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags)
 {
 	B3_PROFILE("createConvexHullFromShapes");
 	btCompoundShape* compound = new btCompoundShape();
@@ -528,20 +528,20 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
 		for (int f = 0; f < faceCount; f += 3)
 		{
 			btVector3 pt;
-			pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
-						shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
-						shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
+			pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 0],
+						attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 1],
+						attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 2]);
 
 			convexHull->addPoint(pt * geomScale, false);
 
-			pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
-						shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
-						shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
+			pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0],
+						attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
+						attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
 			convexHull->addPoint(pt * geomScale, false);
 
-			pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
-						shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
-						shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
+			pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0],
+						attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
+						attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
 			convexHull->addPoint(pt * geomScale, false);
 		}
 
@@ -558,8 +558,6 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
 	return compound;
 }
 
-
-
 int BulletURDFImporter::getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) const
 {
 	UrdfCollision* col = m_data->m_bulletCollisionShape2UrdfCollision.find(collisionShape);
@@ -718,10 +716,10 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 					else
 					{
 						std::vector<tinyobj::shape_t> shapes;
-						std::string err = tinyobj::LoadObj(shapes, collision->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO);
+						tinyobj::attrib_t attribute;
+						std::string err = tinyobj::LoadObj(attribute, shapes, collision->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
 						//create a convex hull for each shape, and store it in a btCompoundShape
-
-						shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale, m_data->m_flags);
+						shape = createConvexHullFromShapes(attribute, shapes, collision->m_geometry.m_meshScale, m_data->m_flags);
 						m_data->m_bulletCollisionShape2UrdfCollision.insert(shape, *collision);
 						return shape;
 					}

examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h

@@ -45,6 +45,10 @@ static bool UrdfFindMeshFile(
 	{
 		*out_type = UrdfGeometry::FILE_CDF;
 	}
+	else if (ext == ".vtk")
+	{
+		*out_type = UrdfGeometry::FILE_VTK;
+	}
 	else
 	{
 		b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str());
@@ -115,4 +119,4 @@ static bool UrdfFindMeshFile(
 	}
 }
 
-#endif //URDF_FIND_MESH_FILE_H
+#endif //URDF_FIND_MESH_FILE_H

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -82,6 +82,7 @@ struct UrdfGeometry
 		FILE_OBJ = 3,
 		FILE_CDF = 4,
 		MEMORY_VERTICES = 5,
+	        FILE_VTK = 6,
 
 	};
 	int m_meshFileType;

examples/InverseKinematics/InverseKinematicsExample.cpp

@@ -100,7 +100,7 @@ void DoUpdateStep(double Tstep, Tree& treeY, Jacobian* jacob, int ikMethod)
 		jacob->SetJendActive();
 	}
 	jacob->ComputeJacobian(targetaa);  // Set up Jacobian and deltaS vectors
-
+	MatrixRmn AugMat;
 	// Calculate the change in theta values
 	switch (ikMethod)
 	{
@@ -108,7 +108,7 @@ void DoUpdateStep(double Tstep, Tree& treeY, Jacobian* jacob, int ikMethod)
 			jacob->CalcDeltaThetasTranspose();  // Jacobian transpose method
 			break;
 		case IK_DLS:
-			jacob->CalcDeltaThetasDLS();  // Damped least squares method
+			jacob->CalcDeltaThetasDLS(AugMat);  // Damped least squares method
 			break;
 		case IK_DLS_SVD:
 			jacob->CalcDeltaThetasDLSwithSVD();

examples/MultiBodyBaseline/MultiBodyBaseline.cpp

@@ -0,0 +1,358 @@
+/*
+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.
+*/
+
+///create 125 (5x5x5) dynamic object
+#define ARRAY_SIZE_X 5
+#define ARRAY_SIZE_Y 5
+#define ARRAY_SIZE_Z 5
+
+//maximum number of objects (and allow user to shoot additional boxes)
+#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
+
+///scaling of the objects (0.1 = 20 centimeter boxes )
+#define SCALING 1.
+#define START_POS_X -5
+#define START_POS_Y -5
+#define START_POS_Z -3
+
+#include "MultiBodyBaseline.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+#include "../SoftDemo/BunnyMesh.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
+
+#include "../CommonInterfaces/CommonMultiBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+///The MultiBodyBaseline demo deformable bodies self-collision
+static bool g_floatingBase = true;
+static float friction = 1.;
+class MultiBodyBaseline : public CommonMultiBodyBase
+{
+    btMultiBody* m_multiBody;
+    btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
+public:
+	MultiBodyBaseline(struct GUIHelperInterface* helper)
+		: CommonMultiBodyBase(helper)
+	{
+	}
+    
+	virtual ~MultiBodyBaseline()
+	{
+	}
+    
+	void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+        float dist = 30;
+        float pitch = -30;
+        float yaw = 100;
+        float targetPos[3] = {0, -10, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+    
+    virtual void stepSimulation(float deltaTime);
+    
+    btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
+    
+    void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
+
+};
+
+void MultiBodyBaseline::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+    btMultiBodyConstraintSolver* sol;
+    sol = new btMultiBodyConstraintSolver;
+	m_solver = sol;
+    
+    btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration);
+    m_dynamicsWorld = world;
+    //    m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+
+    {
+        ///create a ground
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -40, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+        //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);
+        body->setFriction(0.5);
+
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body,1,1+2);
+    }
+
+    
+    {
+        bool damping = true;
+        bool gyro = false;
+        int numLinks = 4;
+        bool spherical = false;  //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
+        bool canSleep = false;
+        bool selfCollide = true;
+        btVector3 linkHalfExtents(1, 1, 1);
+        btVector3 baseHalfExtents(1, 1, 1);
+        
+        btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 10.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
+        
+        mbC->setCanSleep(canSleep);
+        mbC->setHasSelfCollision(selfCollide);
+        mbC->setUseGyroTerm(gyro);
+        //
+        if (!damping)
+        {
+            mbC->setLinearDamping(0.0f);
+            mbC->setAngularDamping(0.0f);
+        }
+        else
+        {
+            mbC->setLinearDamping(0.04f);
+            mbC->setAngularDamping(0.04f);
+        }
+
+        if (numLinks > 0)
+        {
+            btScalar q0 = 0.f * SIMD_PI / 180.f;
+            if (!spherical)
+            {
+                mbC->setJointPosMultiDof(0, &q0);
+            }
+            else
+            {
+                btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
+                quat0.normalize();
+                mbC->setJointPosMultiDof(0, quat0);
+            }
+        }
+        ///
+        addColliders_testMultiDof(mbC, m_dynamicsWorld, baseHalfExtents, linkHalfExtents);
+    }
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void MultiBodyBaseline::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+void MultiBodyBaseline::stepSimulation(float deltaTime)
+{
+//    getDeformableDynamicsWorld()->getMultiBodyDynamicsWorld()->stepSimulation(deltaTime);
+    m_dynamicsWorld->stepSimulation(deltaTime, 5, 1./250.);
+}
+
+
+btMultiBody* MultiBodyBaseline::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
+{
+    //init the base
+    btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
+    float baseMass = .1f;
+    
+    if (baseMass)
+    {
+        btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
+        pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
+        delete pTempBox;
+    }
+    
+    bool canSleep = false;
+    
+    btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
+    
+    btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
+    pMultiBody->setBasePos(basePosition);
+    pMultiBody->setWorldToBaseRot(baseOriQuat);
+    btVector3 vel(0, 0, 0);
+    //    pMultiBody->setBaseVel(vel);
+    
+    //init the links
+    btVector3 hingeJointAxis(1, 0, 0);
+    float linkMass = .1f;
+    btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
+    
+    btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
+    pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
+    delete pTempBox;
+    
+    //y-axis assumed up
+    btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0);                      //par body's COM to cur body's COM offset
+    btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0);                         //cur body's COM to cur body's PIV offset
+    btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;  //par body's COM to cur body's PIV offset
+    
+    //////
+    btScalar q0 = 0.f * SIMD_PI / 180.f;
+    btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
+    quat0.normalize();
+    /////
+    
+    for (int i = 0; i < numLinks; ++i)
+    {
+        if (!spherical)
+            pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
+        else
+            //pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
+            pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
+    }
+    
+    pMultiBody->finalizeMultiDof();
+    
+    ///
+    pWorld->addMultiBody(pMultiBody);
+    ///
+    return pMultiBody;
+}
+
+void MultiBodyBaseline::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
+{
+    btAlignedObjectArray<btQuaternion> world_to_local;
+    world_to_local.resize(pMultiBody->getNumLinks() + 1);
+    
+    btAlignedObjectArray<btVector3> local_origin;
+    local_origin.resize(pMultiBody->getNumLinks() + 1);
+    world_to_local[0] = pMultiBody->getWorldToBaseRot();
+    local_origin[0] = pMultiBody->getBasePos();
+    
+    {
+        //    float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
+        btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
+        
+        if (1)
+        {
+            btCollisionShape* box = new btBoxShape(baseHalfExtents);
+            btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
+            col->setCollisionShape(box);
+            
+            btTransform tr;
+            tr.setIdentity();
+            tr.setOrigin(local_origin[0]);
+            tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+            col->setWorldTransform(tr);
+            
+            pWorld->addCollisionObject(col, 2, 1 + 2);
+            
+            col->setFriction(friction);
+            pMultiBody->setBaseCollider(col);
+        }
+    }
+    
+    for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+    {
+        const int parent = pMultiBody->getParent(i);
+        world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
+        local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
+    }
+    
+    for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+    {
+        btVector3 posr = local_origin[i + 1];
+        //    float pos[4]={posr.x(),posr.y(),posr.z(),1};
+        
+        btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
+        
+        btCollisionShape* box = new btBoxShape(linkHalfExtents);
+        btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
+        
+        col->setCollisionShape(box);
+        btTransform tr;
+        tr.setIdentity();
+        tr.setOrigin(posr);
+        tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+        col->setWorldTransform(tr);
+        col->setFriction(friction);
+        pWorld->addCollisionObject(col, 2, 1 + 2);
+        
+        pMultiBody->getLink(i).m_collider = col;
+    }
+}
+class CommonExampleInterface* MultiBodyBaselineCreateFunc(struct CommonExampleOptions& options)
+{
+	return new MultiBodyBaseline(options.m_guiHelper);
+}
+
+

examples/MultiBodyBaseline/MultiBodyBaseline.h

@@ -0,0 +1,20 @@
+/*
+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.
+*/
+#ifndef _MULTIBODY_BASELINE_H
+#define _MULTIBODY_BASELINE_H
+
+class CommonExampleInterface*  MultiBodyBaselineCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_MULTIBODY_BASELINE_H

examples/MultiThreading/MultiThreadingExample.cpp

@@ -29,13 +29,14 @@ void SamplelsMemoryReleaseFunc(void* ptr);
 #ifndef _WIN32
 #include "b3PosixThreadSupport.h"
 
+
 b3ThreadSupportInterface* createThreadSupport(int numThreads)
 {
 	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
-																  SampleThreadFunc,
-																  SamplelsMemoryFunc,
-																  SamplelsMemoryReleaseFunc,
-																  numThreads);
+	SampleThreadFunc,
+	SamplelsMemoryFunc,
+	SamplelsMemoryReleaseFunc,
+	  numThreads);
 	b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
 
 	return threadSupport;

examples/MultiThreading/main.cpp

@@ -22,7 +22,7 @@ subject to the following restrictions:
 
 void SampleThreadFunc(void* userPtr, void* lsMemory);
 void* SamplelsMemoryFunc();
-
+void SamplelsMemoryReleaseFunc(void* ptr);
 #include <stdio.h>
 //#include "BulletMultiThreaded/PlatformDefinitions.h"
 
@@ -34,6 +34,7 @@ b3ThreadSupportInterface* createThreadSupport(int numThreads)
 	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
 																  SampleThreadFunc,
 																  SamplelsMemoryFunc,
+SamplelsMemoryReleaseFunc,
 																  numThreads);
 	b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
 
@@ -99,6 +100,13 @@ void* SamplelsMemoryFunc()
 	return new SampleThreadLocalStorage;
 }
 
+void SamplelsMemoryReleaseFunc(void* ptr)
+{
+        SampleThreadLocalStorage* p = (SampleThreadLocalStorage*)ptr;
+        delete p;
+}
+
+
 int main(int argc, char** argv)
 {
 	int numThreads = 8;

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -139,11 +139,7 @@ static InternalDataRenderer* sData2;
 
 GLint lineWidthRange[2] = {1, 1};
 
-enum
-{
-	eGfxTransparency = 1,
-	eGfxHasTexture = 2,
-};
+
 
 struct b3GraphicsInstance
 {
@@ -492,6 +488,26 @@ void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex2, flo
 	orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex * 4 + 2];
 	orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex * 4 + 3];
 }
+
+void GLInstancingRenderer::writeSingleInstanceFlagsToCPU(int flags, int srcIndex2)
+{
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
+	b3Assert(pg);
+	int srcIndex = pg->m_internalInstanceIndex;
+
+	int shapeIndex = pg->m_shapeIndex;
+	b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
+	if (flags & B3_INSTANCE_DOUBLE_SIDED)
+	{
+		gfxObj->m_flags |= B3_INSTANCE_DOUBLE_SIDED;
+	}
+	else
+	{
+		gfxObj->m_flags &= ~B3_INSTANCE_DOUBLE_SIDED;
+	}
+}
+
+
 void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, int srcIndex2)
 {
 	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
@@ -502,11 +518,11 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, in
 	b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
 	if (color[3] < 1)
 	{
-		gfxObj->m_flags |= eGfxTransparency;
+		gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY;
 	}
 	else
 	{
-		gfxObj->m_flags &= ~eGfxTransparency;
+		gfxObj->m_flags &= ~B3_INSTANCE_TRANSPARANCY;
 	}
 
 	m_data->m_instance_colors_ptr[srcIndex * 4 + 0] = float(color[0]);
@@ -525,11 +541,11 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int
 
 	if (color[3] < 1)
 	{
-		gfxObj->m_flags |= eGfxTransparency;
+		gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY;
 	}
 	else
 	{
-		gfxObj->m_flags &= ~eGfxTransparency;
+		gfxObj->m_flags &= ~B3_INSTANCE_TRANSPARANCY;
 	}
 
 	m_data->m_instance_colors_ptr[srcIndex * 4 + 0] = color[0];
@@ -916,7 +932,7 @@ int GLInstancingRenderer::registerGraphicsInstanceInternal(int newUid, const flo
 
 		if (color[3] < 1 && color[3] > 0)
 		{
-			gfxObj->m_flags |= eGfxTransparency;
+			gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY;
 		}
 		gfxObj->m_numGraphicsInstances++;
 		m_data->m_totalNumInstances++;
@@ -1018,11 +1034,11 @@ void GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
 		if (textureId >= 0 && textureId < m_data->m_textureHandles.size())
 		{
 			gfxObj->m_textureIndex = textureId;
-			gfxObj->m_flags |= eGfxHasTexture;
+			gfxObj->m_flags |= B3_INSTANCE_TEXTURE;
 		} else
 		{
 			gfxObj->m_textureIndex = -1;
-			gfxObj->m_flags &= ~eGfxHasTexture;
+			gfxObj->m_flags &= ~B3_INSTANCE_TEXTURE;
 		}
 	}
 }
@@ -1110,7 +1126,7 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
 	if (textureId >= 0)
 	{
 		gfxObj->m_textureIndex = textureId;
-		gfxObj->m_flags |= eGfxHasTexture;
+		gfxObj->m_flags |= B3_INSTANCE_TEXTURE;
 	}
 
 	gfxObj->m_primitiveType = primitiveType;
@@ -1754,6 +1770,7 @@ static void b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center, const
 	result[3 * 4 + 3] = 1.f;
 }
 
+
 void GLInstancingRenderer::drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float colorRGBA[4], int textureIndex, int vertexLayout)
 {
 	int sz = sizeof(GfxVertexFormat0);
@@ -2263,7 +2280,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 
 				inst.m_shapeIndex = obj;
 
-				if ((gfxObj->m_flags & eGfxTransparency) == 0)
+				if ((gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) == 0)
 				{
 					inst.m_instanceId = curOffset;
 					b3Vector3 centerPosition;
@@ -2313,10 +2330,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 			b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
 
 			//only draw stuff (opaque/transparent) if it is the right pass
-			int drawThisPass = (pass == 0) == ((gfxObj->m_flags & eGfxTransparency) == 0);
+			int drawThisPass = (pass == 0) == ((gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) == 0);
 
 			//transparent objects don't cast shadows (to simplify things)
-			if (gfxObj->m_flags & eGfxTransparency)
+			if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
 			{
 				if (renderMode == B3_CREATE_SHADOWMAP_RENDERMODE)
 					drawThisPass = 0;
@@ -2326,7 +2343,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 			{
 				glActiveTexture(GL_TEXTURE0);
 				GLuint curBindTexture = 0;
-				if (gfxObj->m_flags & eGfxHasTexture)
+				if (gfxObj->m_flags & B3_INSTANCE_TEXTURE)
 				{
 					curBindTexture = m_data->m_textureHandles[gfxObj->m_textureIndex].m_glTexture;
 
@@ -2432,6 +2449,11 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 					}
 					else
 					{
+						if (gfxObj->m_flags & B3_INSTANCE_DOUBLE_SIDED)
+						{
+							glDisable(GL_CULL_FACE);
+						}
+
 						switch (renderMode)
 						{
 							case B3_SEGMENTATION_MASK_RENDERMODE:
@@ -2445,7 +2467,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 							}
 							case B3_DEFAULT_RENDERMODE:
 							{
-								if (gfxObj->m_flags & eGfxTransparency)
+								if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
 								{
 									glDepthMask(false);
 									glEnable(GL_BLEND);
@@ -2462,7 +2484,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 
 								glUniform1i(uniform_texture_diffuse, 0);
 
-								if (gfxObj->m_flags & eGfxTransparency)
+								if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
 								{
 									int instanceId = transparentInstances[i].m_instanceId;
 									glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes));
@@ -2477,7 +2499,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 									glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
 								}
 
-								if (gfxObj->m_flags & eGfxTransparency)
+								if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
 								{
 									glDisable(GL_BLEND);
 									glDepthMask(true);
@@ -2495,7 +2517,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 
 							case B3_USE_SHADOWMAP_RENDERMODE:
 							{
-								if (gfxObj->m_flags & eGfxTransparency)
+								if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
 								{
 									glDepthMask(false);
 									glEnable(GL_BLEND);
@@ -2549,7 +2571,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 
 								//gfxObj->m_instanceOffset
 
-								if (gfxObj->m_flags & eGfxTransparency)
+								if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
 								{
 									int instanceId = transparentInstances[i].m_instanceId;
 									glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes));
@@ -2563,7 +2585,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 									glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
 								}
 
-								if (gfxObj->m_flags & eGfxTransparency)
+								if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
 								{
 									glDisable(GL_BLEND);
 									glDepthMask(true);
@@ -2577,7 +2599,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 							}
 							case B3_USE_PROJECTIVE_TEXTURE_RENDERMODE:
 							{
-								if (gfxObj->m_flags & eGfxTransparency)
+								if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
 								{
 									glDepthMask(false);
 									glEnable(GL_BLEND);
@@ -2617,7 +2639,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 								glUniformMatrix4fv(projectiveTexture_TextureMVP, 1, false, &textureMVP[0]);
 
 								//sort transparent objects
-								if (gfxObj->m_flags & eGfxTransparency)
+								if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
 								{
 									int instanceId = transparentInstances[i].m_instanceId;
 									glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes));
@@ -2631,7 +2653,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 									glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
 								}
 
-								if (gfxObj->m_flags & eGfxTransparency)
+								if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
 								{
 									glDisable(GL_BLEND);
 									glDepthMask(true);
@@ -2646,6 +2668,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 								//	b3Assert(0);
 							}
 						};
+						if (gfxObj->m_flags & B3_INSTANCE_DOUBLE_SIDED)
+						{
+							glEnable(GL_CULL_FACE);
+						}
 					}
 
 					//glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances);

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -95,6 +95,7 @@ public:
 
 	virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
 	virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
+	virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex2);
 
 	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex2);
 	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex2);

examples/OpenGLWindow/MacOpenGLWindowObjC.m

@@ -1,8 +1,11 @@
 #ifndef B3_USE_GLFW
+#define __OBJC2__ 1
+#include <Foundation/NSExtensionContext.h>
 
 #include "MacOpenGLWindowObjC.h"
 
 #define GL_DO_NOT_WARN_IF_MULTI_GL_VERSION_HEADERS_INCLUDED
+
 #import <Cocoa/Cocoa.h>
 #include "OpenGLInclude.h"
 

examples/OpenGLWindow/SimpleOpenGL2Renderer.h

@@ -40,7 +40,7 @@ public:
 	virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
 	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex) {}
 	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex) {}
-
+	virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex) {}
 	virtual void getCameraViewMatrix(float viewMat[16]) const;
 	virtual void getCameraProjectionMatrix(float projMat[16]) const;
 	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex = -1, int vertexLayout = 0)

examples/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -66,6 +66,8 @@ struct SimpleInternalData
 	int m_upAxis;  //y=1 or z=2 is supported
 	int m_customViewPortWidth;
 	int m_customViewPortHeight;
+	int m_mp4Fps;
+
 	SimpleInternalData()
 		: m_fontTextureId(0),
 		  m_largeFontTextureId(0),
@@ -82,7 +84,8 @@ struct SimpleInternalData
 		  m_userPointer(0),
 		  m_upAxis(1),
 		  m_customViewPortWidth(-1),
-		  m_customViewPortHeight(-1)
+		  m_customViewPortHeight(-1),
+		  m_mp4Fps(60)
 	{
 	}
 };
@@ -1089,6 +1092,11 @@ void SimpleOpenGL3App::swapBuffer()
 	m_window->startRendering();
 }
 
+void SimpleOpenGL3App::setMp4Fps(int fps)
+{
+	m_data->m_mp4Fps = fps;
+}
+
 // see also http://blog.mmacklin.com/2013/06/11/real-time-video-capture-with-ffmpeg/
 void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
 {
@@ -1098,27 +1106,11 @@ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
 		int height = (int)m_window->getRetinaScale() * m_instancingRenderer->getScreenHeight();
 		char cmd[8192];
 
-#ifdef _WIN32
 		sprintf(cmd,
-				"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
+				"ffmpeg -r %d -f rawvideo -pix_fmt rgba -s %dx%d -i - "
 				"-threads 0 -y -b:v 50000k   -c:v libx264 -preset slow -crf 22 -an   -pix_fmt yuv420p -vf vflip %s",
-				width, height, mp4FileName);
+			m_data->m_mp4Fps, width, height, mp4FileName);
 
-		//sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba   -s %dx%d -i - "
-		//		"-y -crf 0  -b:v 1500000 -an -vcodec h264 -vf vflip  %s", width, height, mp4FileName);
-#else
-
-		sprintf(cmd,
-				"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
-				"-threads 0 -y -b 50000k   -c:v libx264 -preset slow -crf 22 -an   -pix_fmt yuv420p -vf vflip %s",
-				width, height, mp4FileName);
-#endif
-
-		//sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
-		//            "-threads 0 -y -crf 0 -b 50000k -vf vflip %s",width,height,mp4FileName);
-
-		//              sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
-		//              "-threads 0 -preset fast -y -crf 21 -vf vflip %s",width,height,mp4FileName);
 
 		if (m_data->m_ffmpegFile)
 		{

examples/OpenGLWindow/SimpleOpenGL3App.h

@@ -14,6 +14,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
 	class GLPrimitiveRenderer* m_primRenderer;
 	class GLInstancingRenderer* m_instancingRenderer;
 	virtual void setBackgroundColor(float red, float green, float blue);
+	virtual void setMp4Fps(int fps);
 
 	SimpleOpenGL3App(const char* title, int width, int height, bool allowRetina = true, int windowType = 0, int renderDevice = -1, int maxNumObjectCapacity = 128 * 1024, int maxShapeCapacityInBytes = 128 * 1024 * 1024);
 

examples/RoboticsLearning/GripperGraspExample.cpp

@@ -294,6 +294,102 @@ public:
 				slider.m_maxVal = 1;
 				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 			}
+			{
+				b3RobotSimulatorLoadFileResults results;
+				m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results);
+
+				if (results.m_uniqueObjectIds.size() == 1)
+				{
+					m_gripperIndex = results.m_uniqueObjectIds[0];
+					int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
+					b3Printf("numJoints = %d", numJoints);
+
+					for (int i = 0; i < numJoints; i++)
+					{
+						b3JointInfo jointInfo;
+						m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
+						b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
+					}
+
+					for (int i = 0; i < 8; i++)
+					{
+					b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+					controlArgs.m_maxTorqueValue = 0.0;
+					m_robotSim.setJointMotorControl(m_gripperIndex, i, controlArgs);
+					}
+				}
+			}
+			{
+				b3RobotSimulatorLoadUrdfFileArgs args;
+				args.m_startPosition.setValue(0, 0, -0.2);
+				args.m_startOrientation.setEulerZYX(0, 0, 0);
+				m_robotSim.loadURDF("plane.urdf", args);
+				}
+				m_robotSim.setGravity(btVector3(0, 0, -10));
+				b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02);
+				args.m_startPosition.setValue(0, 0, 5);
+				args.m_startOrientation.setValue(1, 0, 0, 1);
+				m_robotSim.loadSoftBody("bunny.obj", args);
+
+				b3JointInfo revoluteJoint1;
+				revoluteJoint1.m_parentFrame[0] = -0.055;
+				revoluteJoint1.m_parentFrame[1] = 0;
+				revoluteJoint1.m_parentFrame[2] = 0.02;
+				revoluteJoint1.m_parentFrame[3] = 0;
+				revoluteJoint1.m_parentFrame[4] = 0;
+				revoluteJoint1.m_parentFrame[5] = 0;
+				revoluteJoint1.m_parentFrame[6] = 1.0;
+				revoluteJoint1.m_childFrame[0] = 0;
+				revoluteJoint1.m_childFrame[1] = 0;
+				revoluteJoint1.m_childFrame[2] = 0;
+				revoluteJoint1.m_childFrame[3] = 0;
+				revoluteJoint1.m_childFrame[4] = 0;
+				revoluteJoint1.m_childFrame[5] = 0;
+				revoluteJoint1.m_childFrame[6] = 1.0;
+				revoluteJoint1.m_jointAxis[0] = 1.0;
+				revoluteJoint1.m_jointAxis[1] = 0.0;
+				revoluteJoint1.m_jointAxis[2] = 0.0;
+				revoluteJoint1.m_jointType = ePoint2PointType;
+				b3JointInfo revoluteJoint2;
+				revoluteJoint2.m_parentFrame[0] = 0.055;
+				revoluteJoint2.m_parentFrame[1] = 0;
+				revoluteJoint2.m_parentFrame[2] = 0.02;
+				revoluteJoint2.m_parentFrame[3] = 0;
+				revoluteJoint2.m_parentFrame[4] = 0;
+				revoluteJoint2.m_parentFrame[5] = 0;
+				revoluteJoint2.m_parentFrame[6] = 1.0;
+				revoluteJoint2.m_childFrame[0] = 0;
+				revoluteJoint2.m_childFrame[1] = 0;
+				revoluteJoint2.m_childFrame[2] = 0;
+				revoluteJoint2.m_childFrame[3] = 0;
+				revoluteJoint2.m_childFrame[4] = 0;
+				revoluteJoint2.m_childFrame[5] = 0;
+				revoluteJoint2.m_childFrame[6] = 1.0;
+				revoluteJoint2.m_jointAxis[0] = 1.0;
+				revoluteJoint2.m_jointAxis[1] = 0.0;
+				revoluteJoint2.m_jointAxis[2] = 0.0;
+				revoluteJoint2.m_jointType = ePoint2PointType;
+				m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
+				m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
+			}
+
+			if ((m_options & eGRASP_DEFORMABLE_CLOTH) != 0)
+			{
+				m_robotSim.resetSimulation(RESET_USE_DEFORMABLE_WORLD);
+			{
+				SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
+				slider.m_minVal = -2;
+				slider.m_maxVal = 2;
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+			}
+
+			{
+				SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
+				slider.m_minVal = -1;
+				slider.m_maxVal = 1;
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+			}
+
 			{
 				b3RobotSimulatorLoadFileResults results;
 				m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results);
@@ -326,10 +422,19 @@ public:
 				m_robotSim.loadURDF("plane.urdf", args);
 			}
 			m_robotSim.setGravity(btVector3(0, 0, -10));
-			b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02);
-			args.m_startPosition.setValue(0, 0, 5);
-			args.m_startOrientation.setValue(1, 0, 0, 1);
-			m_robotSim.loadSoftBody("bunny.obj", args);
+
+			m_robotSim.setGravity(btVector3(0, 0, -10));
+			b3RobotSimulatorLoadDeformableBodyArgs args(2, .01, 0.006);
+			args.m_springElasticStiffness = 1;
+			args.m_springDampingStiffness = .01;
+			args.m_springBendingStiffness = .1;
+			args.m_frictionCoeff = 10;
+			args.m_useSelfCollision = false;
+			args.m_useFaceContact = true;
+			args.m_useBendingSprings = true;
+			args.m_startPosition.setValue(0, 0, 0);
+			args.m_startOrientation.setValue(0, 0, 1, 1);
+			m_robotSim.loadDeformableBody("flat_napkin.obj", args);
 
 			b3JointInfo revoluteJoint1;
 			revoluteJoint1.m_parentFrame[0] = -0.055;
@@ -371,7 +476,8 @@ public:
 			revoluteJoint2.m_jointType = ePoint2PointType;
 			m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
 			m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
-		}
+			m_robotSim.setNumSimulationSubSteps(2);
+        }
 
 		if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)
 		{
@@ -462,6 +568,21 @@ public:
 				m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
 			}
 		}
+        
+		if ((m_options & eGRASP_DEFORMABLE_CLOTH) != 0)
+		{
+			int fingerJointIndices[2] = {0, 1};
+			double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
+			double maxTorqueValues[2] = {250.0, 50.0};
+			for (int i = 0; i < 2; i++)
+			{
+				b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+				controlArgs.m_targetVelocity = fingerTargetVelocities[i];
+				controlArgs.m_maxTorqueValue = maxTorqueValues[i];
+				controlArgs.m_kd = 1.;
+				m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
+			}
+		}
 
 		if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)
 		{

examples/RoboticsLearning/GripperGraspExample.h

@@ -23,6 +23,7 @@ enum GripperGraspExampleOptions
 	eONE_MOTOR_GRASP = 4,
 	eGRASP_SOFT_BODY = 8,
 	eSOFTBODY_MULTIBODY_COUPLING = 16,
+	eGRASP_DEFORMABLE_CLOTH = 32,
 };
 
 class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options);

examples/SharedMemory/IKTrajectoryHelper.cpp

@@ -44,6 +44,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
 								   const double* q_current, int numQ, int endEffectorIndex,
 								   double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6])
 {
+	MatrixRmn AugMat;
 	bool useAngularPart = (ikMethod == IK2_VEL_DLS_WITH_ORIENTATION || ikMethod == IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE || ikMethod == IK2_VEL_SDLS_WITH_ORIENTATION) ? true : false;
 
 	Jacobian ikJacobian(useAngularPart, numQ, 1);
@@ -142,12 +143,12 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
 		case IK2_VEL_DLS:
 			//ikJacobian.CalcDeltaThetasDLS();			// Damped least squares method
 			assert(m_data->m_dampingCoeff.GetLength() == numQ);
-			ikJacobian.CalcDeltaThetasDLS2(m_data->m_dampingCoeff);
+			ikJacobian.CalcDeltaThetasDLS2(m_data->m_dampingCoeff, AugMat);
 			break;
 		case IK2_VEL_DLS_WITH_NULLSPACE:
 		case IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE:
 			assert(m_data->m_nullSpaceVelocity.GetLength() == numQ);
-			ikJacobian.CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity);
+			ikJacobian.CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity, AugMat);
 			break;
 		case IK2_DLS_SVD:
 			ikJacobian.CalcDeltaThetasDLSwithSVD();
@@ -193,6 +194,7 @@ bool IKTrajectoryHelper::computeIK2(
 	const double* q_current, int numQ,
 	double* q_new, int ikMethod, const double* linear_jacobians, const double dampIk[6])
 {
+	MatrixRmn AugMat;
 	bool useAngularPart = false;//for now (ikMethod == IK2_VEL_DLS_WITH_ORIENTATION || ikMethod == IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE || ikMethod == IK2_VEL_SDLS_WITH_ORIENTATION) ? true : false;
 
 	Jacobian ikJacobian(useAngularPart, numQ, numEndEffectors);
@@ -250,12 +252,12 @@ bool IKTrajectoryHelper::computeIK2(
 	case IK2_VEL_DLS:
 		//ikJacobian.CalcDeltaThetasDLS();			// Damped least squares method
 		assert(m_data->m_dampingCoeff.GetLength() == numQ);
-		ikJacobian.CalcDeltaThetasDLS2(m_data->m_dampingCoeff);
+		ikJacobian.CalcDeltaThetasDLS2(m_data->m_dampingCoeff, AugMat);
 		break;
 	case IK2_VEL_DLS_WITH_NULLSPACE:
 	case IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE:
 		assert(m_data->m_nullSpaceVelocity.GetLength() == numQ);
-		ikJacobian.CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity);
+		ikJacobian.CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity, AugMat);
 		break;
 	case IK2_DLS_SVD:
 		ikJacobian.CalcDeltaThetasDLSwithSVD();

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -338,6 +338,109 @@ B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle
 	return 0;
 }
 
+B3_SHARED_API int b3LoadSoftBodyUpdateSimMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename)
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+    b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+    int len = strlen(filename);
+    if (len < MAX_FILENAME_LENGTH)
+    {
+        strcpy(command->m_loadSoftBodyArguments.m_simFileName, filename);
+    }
+    else
+    {
+        command->m_loadSoftBodyArguments.m_simFileName[0] = 0;
+    }
+    command->m_updateFlags |= LOAD_SOFT_BODY_SIM_MESH;
+    return 0;
+
+}
+
+B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+        command->m_loadSoftBodyArguments.m_corotatedMu = corotatedMu;
+        command->m_loadSoftBodyArguments.m_corotatedLambda = corotatedLambda;
+	command->m_updateFlags |= LOAD_SOFT_BODY_ADD_COROTATED_FORCE;
+	return 0;
+}
+
+B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+        command->m_loadSoftBodyArguments.m_NeoHookeanMu = NeoHookeanMu;
+        command->m_loadSoftBodyArguments.m_NeoHookeanLambda = NeoHookeanLambda;
+        command->m_loadSoftBodyArguments.m_NeoHookeanDamping = NeoHookeanDamping;
+	command->m_updateFlags |= LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE;
+	return 0;
+}
+
+B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+        command->m_loadSoftBodyArguments.m_springElasticStiffness = springElasticStiffness;
+        command->m_loadSoftBodyArguments.m_springDampingStiffness = springDampingStiffness;
+	command->m_updateFlags |= LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE;
+	return 0;
+}
+
+B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+	command->m_updateFlags |= LOAD_SOFT_BODY_ADD_GRAVITY_FORCE;
+	return 0;
+}
+
+B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+        command->m_loadSoftBodyArguments.m_collisionHardness = collisionHardness;
+	command->m_updateFlags |= LOAD_SOFT_BODY_SET_COLLISION_HARDNESS;
+	return 0;
+}
+
+B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+        command->m_loadSoftBodyArguments.m_useSelfCollision = useSelfCollision;
+	command->m_updateFlags |= LOAD_SOFT_BODY_USE_SELF_COLLISION;
+	return 0;
+}
+
+B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+        command->m_loadSoftBodyArguments.m_frictionCoeff = frictionCoefficient;
+	command->m_updateFlags |= LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT;
+	return 0;
+}
+
+B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings, double bendingStiffness)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+    command->m_loadSoftBodyArguments.m_useBendingSprings = useBendingSprings;
+    command->m_loadSoftBodyArguments.m_springBendingStiffness = bendingStiffness;
+	command->m_updateFlags |= LOAD_SOFT_BODY_ADD_BENDING_SPRINGS;
+	return 0;
+}
+
+B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact)
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+    b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+    command->m_loadSoftBodyArguments.m_useFaceContact = useFaceContact;
+    command->m_updateFlags |= LOAD_SOFT_BODY_USE_FACE_CONTACT;
+    return 0;
+}
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -677,6 +780,14 @@ B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandl
 	return 0;
 }
 
+B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_physSimParamArgs.m_articulatedWarmStartingFactor = warmStartingFactor;
+	command->m_updateFlags |= SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR;
+	return 0;
+}
 B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
@@ -803,6 +914,15 @@ B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandl
 	return 0;
 }
 
+B3_SHARED_API int b3PhysicsParameterSetSparseSdfVoxelSize(b3SharedMemoryCommandHandle commandHandle, double sparseSdfVoxelSize)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_updateFlags |= SIM_PARAM_UPDATE_SPARSE_SDF;
+	command->m_physSimParamArgs.m_sparseSdfVoxelSize = sparseSdfVoxelSize;
+	return 0;
+}
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -840,6 +960,19 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3Shared
 	return (b3SharedMemoryCommandHandle)command;
 }
 
+B3_SHARED_API int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	btAssert(command->m_type == CMD_RESET_SIMULATION);
+	if (command->m_type == CMD_RESET_SIMULATION)
+	{
+		command->m_updateFlags = flags;
+	}
+	return 0;
+}
+
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode)
 {
 	return b3JointControlCommandInit2(physClient, 0, controlMode);
@@ -1340,6 +1473,8 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHand
 			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling;
 			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = -1;
 			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = -1;
+			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_replaceHeightfieldIndex = -1;
+
 			command->m_createUserShapeArgs.m_numUserShapes++;
 			return shapeIndex;
 		}
@@ -1347,7 +1482,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHand
 	return -1;
 }
 
-B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns)
+B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns, int replaceHeightfieldIndex)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
 	b3Assert(cl);
@@ -1370,6 +1505,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle ph
 			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling;
 			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = numHeightfieldRows;
 			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = numHeightfieldColumns;
+			command->m_createUserShapeArgs.m_shapes[shapeIndex].m_replaceHeightfieldIndex = replaceHeightfieldIndex;
 			cl->uploadBulletFileToSharedMemory((const char*)heightfieldData, numHeightfieldRows*numHeightfieldColumns* sizeof(float));
 			command->m_createUserShapeArgs.m_numUserShapes++;
 			return shapeIndex;
@@ -3035,6 +3171,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHand
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
 	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
 	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = -1;
 	command->m_changeDynamicsInfoArgs.m_linearDamping = linearDamping;
 	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING;
 	return 0;
@@ -3045,6 +3182,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHan
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
 	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
 	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = -1;
 	command->m_changeDynamicsInfoArgs.m_angularDamping = angularDamping;
 	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING;
 	return 0;
@@ -3131,6 +3269,30 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHa
 	return 0;
 }
 
+B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, const double bodyFramePosition[3])
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+	command->m_type = CMD_USER_CONSTRAINT;
+	command->m_updateFlags = USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR;
+	command->m_userConstraintArguments.m_parentBodyIndex = softBodyUniqueId;
+	command->m_userConstraintArguments.m_parentJointIndex = nodeIndex;
+	command->m_userConstraintArguments.m_childBodyIndex = bodyUniqueId;
+	command->m_userConstraintArguments.m_childJointIndex = linkIndex;
+	command->m_userConstraintArguments.m_childFrame[0] = bodyFramePosition[0];
+	command->m_userConstraintArguments.m_childFrame[1] = bodyFramePosition[1];
+	command->m_userConstraintArguments.m_childFrame[2] = bodyFramePosition[2];
+	command->m_userConstraintArguments.m_childFrame[3] = 0.;
+	command->m_userConstraintArguments.m_childFrame[4] = 0.;
+	command->m_userConstraintArguments.m_childFrame[5] = 0.;
+	command->m_userConstraintArguments.m_childFrame[6] = 1.;
+
+	return (b3SharedMemoryCommandHandle)command;
+}
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -5319,18 +5481,16 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3ProfileTimingCommandInit(b3PhysicsCl
 	b3Assert(command);
 
 	int len = name ? strlen(name) : 0;
+	command->m_type = CMD_PROFILE_TIMING;
 	if (len > 0 && len < (MAX_FILENAME_LENGTH + 1))
 	{
-		command->m_type = CMD_PROFILE_TIMING;
+		
 		strcpy(command->m_profile.m_name, name);
 		command->m_profile.m_name[len] = 0;
 	}
 	else
 	{
-		const char* invalid = "InvalidProfileTimingName";
-		int len = strlen(invalid);
-		strcpy(command->m_profile.m_name, invalid);
-		command->m_profile.m_name[len] = 0;
+		command->m_profile.m_name[0] = 0;
 	}
 	command->m_profile.m_type = -1;
 	command->m_profile.m_durationInMicroSeconds = 0;

examples/SharedMemory/PhysicsClientC_API.h

@@ -339,6 +339,7 @@ extern "C"
 	B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
 	B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
 	B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
+	B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
 	B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
 	B3_SHARED_API int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
 	B3_SHARED_API int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
@@ -356,7 +357,8 @@ extern "C"
 	B3_SHARED_API int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCommandHandle commandHandle, int constraintSolverType);
 	B3_SHARED_API int b3PhysicsParameterSetMinimumSolverIslandSize(b3SharedMemoryCommandHandle commandHandle, int minimumSolverIslandSize);
 	B3_SHARED_API int b3PhysicsParamSetSolverAnalytics(b3SharedMemoryCommandHandle commandHandle, int reportSolverAnalytics);
-	
+	B3_SHARED_API int b3PhysicsParameterSetSparseSdfVoxelSize(b3SharedMemoryCommandHandle commandHandle, double sparseSdfVoxelSize);
+	                  
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);
 	B3_SHARED_API int b3GetStatusPhysicsSimulationParameters(b3SharedMemoryStatusHandle statusHandle, struct b3PhysicsSimulationParameters* params);
 
@@ -372,7 +374,7 @@ extern "C"
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
-
+	B3_SHARED_API int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
 	///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
 	///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
 	B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
@@ -490,7 +492,7 @@ extern "C"
 	B3_SHARED_API int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
 	B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
 	B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/], double textureScaling);
-	B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns);
+	B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns, int replaceHeightfieldIndex);
 	
 	B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant);
 	B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]);
@@ -631,6 +633,19 @@ extern "C"
 	B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
 	B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
 	B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
+    B3_SHARED_API int b3LoadSoftBodyUpdateSimMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename);
+	B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
+    B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
+	B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping);
+	B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
+	B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
+	B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
+	B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
+    B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact);
+	B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
+	B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings, double bendingStiffness);
+	
+	B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, const double bodyFramePosition[3]);
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);
 	B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -1458,7 +1458,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
                                BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
                                m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints);
                                bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
-                               bodyJoints->m_baseName = "baseLink";
+                               bodyJoints->m_baseName = serverCmd.m_dataStreamArguments.m_bodyName;
                                         
                                if (bf.ok())
                                {
@@ -1529,19 +1529,45 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
 		{
 			B3_PROFILE("CMD_LOADING_COMPLETED");
 			int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
-			for (int i = 0; i < numConstraints; i++)
-			{
-				int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
-				m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
-			}
 			int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
+			if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
+			{
+				int* ids = (int*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
+				int* constraintUids = ids + numBodies;
+				for (int i = 0; i < numConstraints; i++)
+				{
+					int constraintUid = constraintUids[i];
+					m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
+				}
+			}
+			else
+			{
+				for (int i = 0; i < numConstraints; i++)
+				{
+					int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
+					m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
+				}
+			}
+			
 			if (numBodies > 0)
 			{
 				m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus;
 
-				for (int i = 0; i < numBodies; i++)
+				if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
 				{
-					m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]);
+					int* bodyIds = (int*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
+
+					for (int i = 0; i < numBodies; i++)
+					{
+						m_data->m_bodyIdsRequestInfo.push_back(bodyIds[i]);
+					}
+				}
+				else
+				{
+					for (int i = 0; i < numBodies; i++)
+					{
+						m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]);
+					}
 				}
 
 				int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size() - 1];

examples/SharedMemory/PhysicsDirect.cpp

@@ -688,7 +688,10 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
 	{
 		bf.setFileDNAisMemoryDNA();
 	}
-	bf.parse(false);
+	{
+		BT_PROFILE("bf.parse");
+		bf.parse(false);
+	}
 
 	BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
 	m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints);
@@ -718,7 +721,8 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
 				bodyJoints->m_baseName = mb->m_baseName;
 			}
 			addJointInfoFromMultiBodyData(mb, bodyJoints, m_data->m_verboseOutput);
-		}
+	
+	}
 	}
 	if (bf.ok())
 	{
@@ -919,17 +923,57 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 			break;
 		}
 		case CMD_SYNC_BODY_INFO_COMPLETED:
-			clearCachedBodies();
 		case CMD_MJCF_LOADING_COMPLETED:
 		case CMD_SDF_LOADING_COMPLETED:
 		{
 			//we'll stream further info from the physics server
 			//so serverCmd will be invalid, make a copy
 
+			btAlignedObjectArray<int> bodyIdArray;
+			btAlignedObjectArray<int> constraintIdArray;
+
 			int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
+			int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
+			
+			bodyIdArray.reserve(numBodies);
+			constraintIdArray.reserve(numConstraints);
+
+			if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
+			{
+				clearCachedBodies();
+				const int* bodyIds = (int*)m_data->m_bulletStreamDataServerToClient;
+				const int* constaintIds = bodyIds + numBodies;
+
+				for (int i = 0; i < numConstraints; i++)
+				{
+					int constraintUid = constaintIds[i];
+					constraintIdArray.push_back(constraintUid);
+				}
+				for (int i = 0; i < numBodies; i++)
+				{
+					int bodyUid = bodyIds[i];
+					bodyIdArray.push_back(bodyUid);
+				}
+			}
+			else
+			{
+				for (int i = 0; i < numConstraints; i++)
+				{
+					int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
+					constraintIdArray.push_back(constraintUid);
+				}
+				for (int i = 0; i < numBodies; i++)
+				{
+					int bodyUid = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
+					bodyIdArray.push_back(bodyUid);
+				}
+
+			}
+			
+			
 			for (int i = 0; i < numConstraints; i++)
 			{
-				int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
+				int constraintUid = constraintIdArray[i];
 
 				m_data->m_tmpInfoRequestCommand.m_type = CMD_USER_CONSTRAINT;
 				m_data->m_tmpInfoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
@@ -953,10 +997,10 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 				}
 			}
 
-			int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
+			
 			for (int i = 0; i < numBodies; i++)
 			{
-				int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
+				int bodyUniqueId = bodyIdArray[i];
 
 				m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
 				m_data->m_tmpInfoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
@@ -1174,7 +1218,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
                        BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
                        m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints);
                        bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
-                       bodyJoints->m_baseName = "baseLink";
+                       bodyJoints->m_baseName = serverCmd.m_dataStreamArguments.m_bodyName;
                        break;
 		}
 		case CMD_SYNC_USER_DATA_FAILED:

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -17,9 +17,12 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface
 {
 	struct PhysicsServerCommandProcessorInternalData* m_data;
 
-	void resetSimulation();
+	void resetSimulation(int flags=0);
 	void createThreadPool();
 
+	class btDeformableMultiBodyDynamicsWorld* getDeformableWorld();
+	class btSoftMultiBodyDynamicsWorld* getSoftWorld();
+
 protected:
 	bool processStateLoggingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
@@ -114,7 +117,7 @@ public:
 
 	void createJointMotors(class btMultiBody* body);
 
-	virtual void createEmptyDynamicsWorld();
+	virtual void createEmptyDynamicsWorld(int flags=0);
 	virtual void deleteDynamicsWorld();
 
 	virtual bool connect()

examples/SharedMemory/PhysicsServerExample.cpp

@@ -127,6 +127,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIHelperChangeTexture,
 	eGUIHelperRemoveTexture,
 	eGUIHelperSetVisualizerFlagCheckRenderedFrame,
+	eGUIHelperUpdateShape,
 };
 
 #include <stdio.h>
@@ -545,7 +546,7 @@ MultithreadedDebugDrawer : public btIDebugDraw
 	btHashMap<ColorWidth, int> m_hashedLines;
 
 public:
-	void drawDebugDrawerLines()
+	virtual void drawDebugDrawerLines()
 	{
 		if (m_hashedLines.size())
 		{
@@ -627,7 +628,7 @@ public:
 		return m_debugMode;
 	}
 
-	virtual void clearLines()
+	virtual void clearLines() override
 	{
 		m_hashedLines.clear();
 		m_sortedIndices.clear();
@@ -649,13 +650,26 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 
 public:
 	MultithreadedDebugDrawer* m_debugDraw;
-	void drawDebugDrawerLines()
+	virtual void drawDebugDrawerLines()
 	{
 		if (m_debugDraw)
 		{
+			m_csGUI->lock();
+			//draw stuff and flush?
 			m_debugDraw->drawDebugDrawerLines();
+			m_csGUI->unlock();
 		}
 	}
+        virtual void clearLines()
+        {
+			m_csGUI->lock();
+			if (m_debugDraw)
+			{
+				m_debugDraw->clearLines();
+			}
+			m_csGUI->unlock();
+		}
+        
 	GUIHelperInterface* m_childGuiHelper;
 
 	btHashMap<btHashPtr, int> m_cachedTextureIds;
@@ -846,10 +860,8 @@ public:
 			delete m_debugDraw;
 			m_debugDraw = 0;
 		}
-
-		m_debugDraw = new MultithreadedDebugDrawer(this);
-
-		rbWorld->setDebugDrawer(m_debugDraw);
+                m_debugDraw = new MultithreadedDebugDrawer(this);
+                rbWorld->setDebugDrawer(m_debugDraw);
 
 		//m_childGuiHelper->createPhysicsDebugDrawer(rbWorld);
 	}
@@ -865,6 +877,18 @@ public:
 		workerThreadWait();
 	}
 
+	int m_updateShapeIndex;
+	float* m_updateShapeVertices;
+
+	virtual void updateShape(int shapeIndex, float* vertices)
+	{
+		m_updateShapeIndex = shapeIndex;
+		m_updateShapeVertices = vertices;
+		
+		m_cs->lock();
+		m_cs->setSharedParam(1, eGUIHelperUpdateShape);
+		workerThreadWait();
+	}
 	virtual int registerTexture(const unsigned char* texels, int width, int height)
 	{
 		int* cachedTexture = m_cachedTextureIds[texels];
@@ -1916,6 +1940,15 @@ void PhysicsServerExample::updateGraphics()
 			m_multiThreadedHelper->mainThreadRelease();
 			break;
 		}
+
+		case eGUIHelperUpdateShape:
+		{
+			B3_PROFILE("eGUIHelperUpdateShape");
+			m_multiThreadedHelper->m_childGuiHelper->updateShape(m_multiThreadedHelper->m_updateShapeIndex, m_multiThreadedHelper->m_updateShapeVertices);
+			m_multiThreadedHelper->mainThreadRelease();
+			break;
+		}
+
 		case eGUIHelperRegisterGraphicsShape:
 		{
 			B3_PROFILE("eGUIHelperRegisterGraphicsShape");
@@ -2039,6 +2072,7 @@ void PhysicsServerExample::updateGraphics()
 			break;
 		}
 
+
 		case eGUIHelperSetVisualizerFlagCheckRenderedFrame:
 		{
 			if (m_renderedFrames != m_multiThreadedHelper->m_renderedFrames)

examples/SharedMemory/SharedMemoryCommands.h

@@ -483,17 +483,29 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 1 << 25,
 	SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS = 1 << 26,
 	SIM_PARAM_UPDATE_WARM_STARTING_FACTOR = 1 << 27,
+	SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR = 1 << 28,
+	SIM_PARAM_UPDATE_SPARSE_SDF = 1 << 29,
         
 };
 
 enum EnumLoadSoftBodyUpdateFlags
 {
 	LOAD_SOFT_BODY_FILE_NAME = 1,
-	LOAD_SOFT_BODY_UPDATE_SCALE = 2,
-	LOAD_SOFT_BODY_UPDATE_MASS = 4,
-	LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 8,
-	LOAD_SOFT_BODY_INITIAL_POSITION = 16,
-        LOAD_SOFT_BODY_INITIAL_ORIENTATION = 32
+	LOAD_SOFT_BODY_UPDATE_SCALE = 1<<1,
+	LOAD_SOFT_BODY_UPDATE_MASS = 1<<2,
+	LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 1<<3,
+	LOAD_SOFT_BODY_INITIAL_POSITION = 1<<4,
+        LOAD_SOFT_BODY_INITIAL_ORIENTATION = 1<<5,
+        LOAD_SOFT_BODY_ADD_COROTATED_FORCE = 1<<6,
+        LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE = 1<<7,
+        LOAD_SOFT_BODY_ADD_GRAVITY_FORCE = 1<<8,
+        LOAD_SOFT_BODY_SET_COLLISION_HARDNESS = 1<<9,
+        LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
+        LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
+        LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
+        LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
+    LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
+    LOAD_SOFT_BODY_SIM_MESH = 1<<15,
 };
 
 enum EnumSimParamInternalSimFlags
@@ -511,7 +523,21 @@ struct LoadSoftBodyArgs
 	double m_mass;
 	double m_collisionMargin;
 	double m_initialPosition[3];
-        double m_initialOrientation[4];
+    double m_initialOrientation[4];
+    double m_springElasticStiffness;
+    double m_springDampingStiffness;
+    double m_springBendingStiffness;
+    double m_corotatedMu;
+    double m_corotatedLambda;
+    int m_useBendingSprings;
+    double m_collisionHardness;
+    double m_useSelfCollision;
+    double m_frictionCoeff;
+    double m_NeoHookeanMu;
+    double m_NeoHookeanLambda;
+    double m_NeoHookeanDamping;
+    int m_useFaceContact;
+    char m_simFileName[MAX_FILENAME_LENGTH];
 };
 
 struct b3LoadSoftBodyResultArgs
@@ -763,21 +789,6 @@ struct CalculateInverseKinematicsResultArgs
 	double m_jointPositions[MAX_DEGREE_OF_FREEDOM];
 };
 
-enum EnumUserConstraintFlags
-{
-	USER_CONSTRAINT_ADD_CONSTRAINT = 1,
-	USER_CONSTRAINT_REMOVE_CONSTRAINT = 2,
-	USER_CONSTRAINT_CHANGE_CONSTRAINT = 4,
-	USER_CONSTRAINT_CHANGE_PIVOT_IN_B = 8,
-	USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B = 16,
-	USER_CONSTRAINT_CHANGE_MAX_FORCE = 32,
-	USER_CONSTRAINT_REQUEST_INFO = 64,
-	USER_CONSTRAINT_CHANGE_GEAR_RATIO = 128,
-	USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK = 256,
-	USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512,
-	USER_CONSTRAINT_CHANGE_ERP = 1024,
-	USER_CONSTRAINT_REQUEST_STATE = 2048,
-};
 
 enum EnumBodyChangeFlags
 {
@@ -965,6 +976,7 @@ struct b3CreateUserShapeData
 	int m_numHeightfieldColumns;
 	double m_rgbaColor[4];
 	double m_specularColor[3];
+	int m_replaceHeightfieldIndex;
 };
 
 #define MAX_COMPOUND_COLLISION_SHAPES 16

examples/SharedMemory/SharedMemoryPublic.h

@@ -7,7 +7,10 @@
 //Please don't replace an existing magic number:
 //instead, only ADD a new one at the top, comment-out previous one
 
-#define SHARED_MEMORY_MAGIC_NUMBER 201908110
+#define SHARED_MEMORY_MAGIC_NUMBER 201911280
+//#define SHARED_MEMORY_MAGIC_NUMBER 201911180
+//#define SHARED_MEMORY_MAGIC_NUMBER 201909030
+//#define SHARED_MEMORY_MAGIC_NUMBER 201908110
 //#define SHARED_MEMORY_MAGIC_NUMBER 201908050
 //#define SHARED_MEMORY_MAGIC_NUMBER 2019060190
 //#define SHARED_MEMORY_MAGIC_NUMBER 201904030
@@ -306,6 +309,23 @@ struct b3UserDataValue
 	const char* m_data1;
 };
 
+enum EnumUserConstraintFlags
+{
+	USER_CONSTRAINT_ADD_CONSTRAINT = 1,
+	USER_CONSTRAINT_REMOVE_CONSTRAINT = 2,
+	USER_CONSTRAINT_CHANGE_CONSTRAINT = 4,
+	USER_CONSTRAINT_CHANGE_PIVOT_IN_B = 8,
+	USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B = 16,
+	USER_CONSTRAINT_CHANGE_MAX_FORCE = 32,
+	USER_CONSTRAINT_REQUEST_INFO = 64,
+	USER_CONSTRAINT_CHANGE_GEAR_RATIO = 128,
+	USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK = 256,
+	USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512,
+	USER_CONSTRAINT_CHANGE_ERP = 1024,
+	USER_CONSTRAINT_REQUEST_STATE = 2048,
+	USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR = 4096,
+};
+
 struct b3UserConstraint
 {
 	int m_parentBodyIndex;
@@ -340,6 +360,13 @@ enum DynamicsActivationState
 	eActivationStateDisableWakeup = 32,
 };
 
+enum b3BodyType
+{
+	BT_RIGID_BODY = 1,
+	BT_MULTI_BODY = 2,
+	BT_SOFT_BODY = 3,
+};
+
 struct b3DynamicsInfo
 {
 	double m_mass;
@@ -353,6 +380,7 @@ struct b3DynamicsInfo
 	double m_contactStiffness;
 	double m_contactDamping;
 	int m_activationState;
+	int m_bodyType;
 	double m_angularDamping;
 	double m_linearDamping;
 	double m_ccdSweptSphereRadius;
@@ -554,6 +582,13 @@ enum b3NotificationType
 	SOFTBODY_CHANGED = 9,
 };
 
+enum b3ResetSimulationFlags
+{
+	RESET_USE_DEFORMABLE_WORLD=1,
+	RESET_USE_DISCRETE_DYNAMICS_WORLD=2,
+	RESET_USE_SIMPLE_BROADPHASE=4,
+};
+
 struct b3BodyNotificationArgs
 {
 	int m_bodyUniqueId;
@@ -938,6 +973,7 @@ struct b3PhysicsSimulationParameters
 	int m_numSimulationSubSteps;
 	int m_numSolverIterations;
 	double m_warmStartingFactor;
+	double m_articulatedWarmStartingFactor;
 	int m_useRealTimeSimulation;
 	int m_useSplitImpulse;
 	double m_splitImpulsePenetrationThreshold;
@@ -961,6 +997,7 @@ struct b3PhysicsSimulationParameters
 	int m_constraintSolverType;
 	int m_minimumSolverIslandSize;
 	int m_reportSolverAnalytics;
+	double m_sparseSdfVoxelSize;
 };
 
 

examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp

@@ -89,6 +89,19 @@ void b3RobotSimulatorClientAPI_NoDirect::resetSimulation()
 		m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle));
 }
 
+void b3RobotSimulatorClientAPI_NoDirect::resetSimulation(int flag)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+	b3SharedMemoryStatusHandle statusHandle;
+	b3SharedMemoryCommandHandle command = b3InitResetSimulationCommand(m_data->m_physicsClientHandle);
+	b3InitResetSimulationSetFlags(command, flag);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+}
+
 bool b3RobotSimulatorClientAPI_NoDirect::canSubmitCommand() const
 {
 	if (!isConnected())
@@ -607,7 +620,7 @@ int b3RobotSimulatorClientAPI_NoDirect::createConstraint(int parentBodyIndex, in
 	return -1;
 }
 
-int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3JointInfo* jointInfo)
+int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3RobotUserConstraint* jointInfo)
 {
 	if (!isConnected())
 	{
@@ -616,16 +629,35 @@ int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3Joi
 	}
 	b3SharedMemoryCommandHandle commandHandle = b3InitChangeUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
 
-	if (jointInfo->m_flags & eJointChangeMaxForce)
+	if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
 	{
-		b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_jointMaxForce);
+		b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_maxAppliedForce);
 	}
 
-	if (jointInfo->m_flags & eJointChangeChildFramePosition)
+	if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
+	{
+		b3InitChangeUserConstraintSetGearRatio(commandHandle, jointInfo->m_gearRatio);
+	}
+
+	if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_ERP)
+	{
+		b3InitChangeUserConstraintSetERP(commandHandle, jointInfo->m_erp);
+	}
+	if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
+	{
+		b3InitChangeUserConstraintSetGearAuxLink(commandHandle, jointInfo->m_gearAuxLink);
+	}
+
+	if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET)
+	{
+		b3InitChangeUserConstraintSetRelativePositionTarget(commandHandle, jointInfo->m_relativePositionTarget);
+	}
+	
+	if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_PIVOT_IN_B)
 	{
 		b3InitChangeUserConstraintSetPivotInB(commandHandle, &jointInfo->m_childFrame[0]);
 	}
-	if (jointInfo->m_flags & eJointChangeChildFrameOrientation)
+	if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B)
 	{
 		b3InitChangeUserConstraintSetFrameInB(commandHandle, &jointInfo->m_childFrame[3]);
 	}
@@ -1118,7 +1150,7 @@ void b3RobotSimulatorClientAPI_NoDirect::resetDebugVisualizerCamera(double camer
 	}
 }
 
-void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string& profileName, int durationInMicroSeconds)
+void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string& profileName)
 {
 	if (!isConnected())
 	{
@@ -1127,10 +1159,16 @@ void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string&
 	}
 
 	b3SharedMemoryCommandHandle commandHandle = b3ProfileTimingCommandInit(m_data->m_physicsClientHandle, profileName.c_str());
-	if (durationInMicroSeconds >= 0)
+
+	if (profileName.length())
 	{
-		b3SetProfileTimingDuractionInMicroSeconds(commandHandle, durationInMicroSeconds);
+		b3SetProfileTimingType(commandHandle, 0);
 	}
+	else
+	{
+		b3SetProfileTimingType(commandHandle, 1);
+	}
+
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
 }
 
@@ -1151,6 +1189,35 @@ void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileNam
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
 }
 
+void b3RobotSimulatorClientAPI_NoDirect::loadDeformableBody(const std::string& fileName, const struct b3RobotSimulatorLoadDeformableBodyArgs& args)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
+	b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
+	b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]);
+	b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]);
+	b3LoadSoftBodySetScale(command, args.m_scale);
+	b3LoadSoftBodySetMass(command, args.m_mass);
+	b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin);
+	if (args.m_NeoHookeanMu > 0)
+	{
+		b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping);
+	}
+	if (args.m_springElasticStiffness > 0)
+	{
+		b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness);
+	}
+	b3LoadSoftBodySetSelfCollision(command, args.m_useSelfCollision);
+	b3LoadSoftBodyUseFaceContact(command, args.m_useFaceContact);
+	b3LoadSoftBodySetFrictionCoefficient(command, args.m_frictionCoeff);
+	b3LoadSoftBodyUseBendingSprings(command, args.m_useBendingSprings, args.m_springBendingStiffness);
+	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+}
+
 void b3RobotSimulatorClientAPI_NoDirect::getMouseEvents(b3MouseEventsData* mouseEventsData)
 {
 	mouseEventsData->m_numMouseEvents = 0;

examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h

@@ -89,6 +89,64 @@ struct b3RobotSimulatorLoadSoftBodyArgs
 	}
 };
 
+
+struct b3RobotSimulatorLoadDeformableBodyArgs
+{
+	btVector3 m_startPosition;
+	btQuaternion m_startOrientation;
+	double m_scale;
+	double m_mass;
+	double m_collisionMargin;
+	double m_springElasticStiffness;
+	double m_springDampingStiffness;
+	double m_springBendingStiffness;
+	double m_NeoHookeanMu;
+	double m_NeoHookeanLambda;
+	double m_NeoHookeanDamping;
+	bool m_useSelfCollision;
+	bool m_useFaceContact;
+	bool m_useBendingSprings;
+	double m_frictionCoeff;
+
+	b3RobotSimulatorLoadDeformableBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double &scale, const double &mass, const double &collisionMargin)
+	: m_startPosition(startPos),
+	m_startOrientation(startOrn),
+	m_scale(scale),
+	m_mass(mass),
+	m_collisionMargin(collisionMargin),
+	m_springElasticStiffness(-1),
+	m_springDampingStiffness(-1),
+	m_springBendingStiffness(-1),
+	m_NeoHookeanMu(-1),
+	m_NeoHookeanDamping(-1),
+	m_useSelfCollision(false),
+	m_useFaceContact(false),
+	m_useBendingSprings(false),
+	m_frictionCoeff(0)
+	{
+	}
+
+	b3RobotSimulatorLoadDeformableBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
+	{
+		b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02);
+	}
+
+	b3RobotSimulatorLoadDeformableBodyArgs()
+	{
+		b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1));
+	}
+
+	b3RobotSimulatorLoadDeformableBodyArgs(double scale, double mass, double collisionMargin)
+	: m_startPosition(btVector3(0, 0, 0)),
+	m_startOrientation(btQuaternion(0, 0, 0, 1)),
+	m_scale(scale),
+	m_mass(mass),
+	m_collisionMargin(collisionMargin)
+	{
+	}
+};
+
+
 struct b3RobotSimulatorLoadFileResults
 {
 	btAlignedObjectArray<int> m_uniqueObjectIds;
@@ -468,6 +526,100 @@ struct b3RobotSimulatorCreateMultiBodyArgs
 	}
 };
 
+
+struct b3RobotUserConstraint : public b3UserConstraint
+{
+	int m_userUpdateFlags;//see EnumUserConstraintFlags
+
+	void setErp(double erp)
+	{
+		m_erp = erp;
+		m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_ERP;
+	}
+	
+	void setMaxAppliedForce(double maxForce)
+	{
+		m_maxAppliedForce = maxForce;
+		m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_MAX_FORCE;
+	}
+	
+	void setGearRatio(double gearRatio)
+	{
+		m_gearRatio = gearRatio;
+		m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_GEAR_RATIO;
+	}
+
+	void setGearAuxLink(int link)
+	{
+		m_gearAuxLink = link;
+		m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK;
+	}
+
+	void setRelativePositionTarget(double target)
+	{
+		m_relativePositionTarget = target;
+		m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET;
+	}
+
+	void setChildPivot(double pivot[3])
+	{
+		m_childFrame[0] = pivot[0];
+		m_childFrame[1] = pivot[1];
+		m_childFrame[2] = pivot[2];
+		m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_PIVOT_IN_B;
+	}
+
+	void setChildFrameOrientation(double orn[4])
+	{
+		m_childFrame[3] = orn[0];
+		m_childFrame[4] = orn[1];
+		m_childFrame[5] = orn[2];
+		m_childFrame[6] = orn[3];
+		m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B;
+	}
+
+	b3RobotUserConstraint()
+		:m_userUpdateFlags(0)
+	{
+		m_parentBodyIndex = -1;
+		m_parentJointIndex = -1;
+		m_childBodyIndex = -1;
+		m_childJointIndex = -1;
+		//position
+		m_parentFrame[0] = 0;
+		m_parentFrame[1] = 0;
+		m_parentFrame[2] = 0;
+		//orientation quaternion [x,y,z,w]
+		m_parentFrame[3] = 0;
+		m_parentFrame[4] = 0;
+		m_parentFrame[5] = 0;
+		m_parentFrame[6] = 1;
+
+		//position
+		m_childFrame[0] = 0;
+		m_childFrame[1] = 0;
+		m_childFrame[2] = 0;
+		//orientation quaternion [x,y,z,w]
+		m_childFrame[3] = 0;
+		m_childFrame[4] = 0;
+		m_childFrame[5] = 0;
+		m_childFrame[6] = 1;
+
+		m_jointAxis[0] = 0;
+		m_jointAxis[1] = 0;
+		m_jointAxis[2] = 1;
+
+		m_jointType = eFixedType;
+
+		m_maxAppliedForce = 500;
+		m_userConstraintUniqueId = -1;
+		m_gearRatio = -1;
+		m_gearAuxLink = -1;
+		m_relativePositionTarget = 0;
+		m_erp = 0;
+	}
+};
+
 struct b3RobotJointInfo : public b3JointInfo
 {
 	b3RobotJointInfo()
@@ -534,6 +686,8 @@ public:
 	void syncBodies();
 
 	void resetSimulation();
+    
+	void resetSimulation(int flag);
 
 	btQuaternion getQuaternionFromEuler(const btVector3 &rollPitchYaw);
 	btVector3 getEulerFromQuaternion(const btQuaternion &quat);
@@ -564,7 +718,7 @@ public:
 
 	int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo *jointInfo);
 
-	int changeConstraint(int constraintId, b3JointInfo *jointInfo);
+	int changeConstraint(int constraintId, b3RobotUserConstraint*jointInfo);
 
 	void removeConstraint(int constraintId);
 
@@ -610,7 +764,7 @@ public:
 	void getVREvents(b3VREventsData *vrEventsData, int deviceTypeFilter);
 	void getKeyboardEvents(b3KeyboardEventsData *keyboardEventsData);
 
-	void submitProfileTiming(const std::string &profileName, int durationInMicroSeconds = 1);
+	void submitProfileTiming(const std::string &profileName);
 
 	// JFC: added these 24 methods
 
@@ -685,6 +839,8 @@ public:
 	int getConstraintUniqueId(int serialIndex);
 
 	void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs &args);
+    
+	void loadDeformableBody(const std::string &fileName, const struct b3RobotSimulatorLoadDeformableBodyArgs &args);
 
 	virtual void setGuiHelper(struct GUIHelperInterface *guiHelper);
 	virtual struct GUIHelperInterface *getGuiHelper();