https://github.com/bulletphysics/bullet3/pull/618 by Mobeen

Summary of changes:
1) Changed include paths to be relative to the current sources (affected
files: LoadMeshFromObj.cpp, Wavefront2GLInstanceGraphicsShape.h/cpp)
2) Added new tutorials in the ExtendedTutorials folder
3) Modified the main_opengl_single_example.cpp file to enable picking
support in standalone demos

examples/ExampleBrowser/CMakeLists.txt

@@ -7,7 +7,15 @@ INCLUDE_DIRECTORIES(
 
 FILE(GLOB GwenGUISupport_SRCS  "GwenGUISupport/*" )
 FILE(GLOB GwenGUISupport_HDRS  "GwenGUISupport/*" )
-
+SET(ExtendedTutorialsSources 	
+	../ExtendedTutorials/SimpleBox.cpp
+	../ExtendedTutorials/MultipleBoxes.cpp
+	../ExtendedTutorials/SimpleJoint.cpp
+	../ExtendedTutorials/SimpleCloth.cpp
+	../ExtendedTutorials/Chain.cpp 
+	../ExtendedTutorials/Bridge.cpp 
+	../ExtendedTutorials/RigidBodyFromObj.cpp 
+)
 
 SET(BulletExampleBrowser_SRCS
 	OpenGLExampleBrowser.cpp
@@ -178,6 +186,7 @@ SET(BulletExampleBrowser_SRCS
 	../Utils/b3ResourcePath.h
 	${GwenGUISupport_SRCS}
 	${GwenGUISupport_HDRS}
+	${ExtendedTutorialsSources}
 	${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
 )
 

examples/ExampleBrowser/ExampleEntries.cpp

@@ -54,7 +54,14 @@
 #endif
 #endif //B3_USE_CLEW
 
-
+//Extended Tutorial Includes Added by Mobeen
+#include "../ExtendedTutorials/SimpleBox.h"
+#include "../ExtendedTutorials/MultipleBoxes.h"
+#include "../ExtendedTutorials/SimpleJoint.h"
+#include "../ExtendedTutorials/SimpleCloth.h"
+#include "../ExtendedTutorials/Chain.h"
+#include "../ExtendedTutorials/Bridge.h"
+#include "../ExtendedTutorials/RigidBodyFromObj.h" 
 
 struct ExampleEntry
 {
@@ -78,11 +85,12 @@ struct ExampleEntry
 
 static ExampleEntry gDefaultExamples[]=
 {
-	
-	
-	
-	
+	 
 	ExampleEntry(0,"API"),
+	ExampleEntry(1,"Obj2RigidBody (Show Obj)", "Load a triangle mesh from Wavefront .obj and turn it in a convex hull collision shape, connected to a rigid body. We can use the original .obj mesh data to visualize the rigid body. In 'debug' wireframe mode (press 'w' to toggle) we still see the convex hull data.", ET_RigidBodyFromObjCreateFunc,ObjUseConvexHullForRendering),
+	ExampleEntry(1,"Obj2RigidBody (Show Hull)", "Load a triangle mesh from Wavefront .obj and turn it in a convex hull collision shape, connected to a rigid body", ET_RigidBodyFromObjCreateFunc),
+	ExampleEntry(1,"Obj2RigidBody Optimize", "Load a triangle mesh from Wavefront .obj, remove the vertices that are not on the convex hull", ET_RigidBodyFromObjCreateFunc,OptimizeConvexObj),
+	ExampleEntry(1,"Obj2RigidBody Add Features", "Load a triangle mesh from Wavefront .obj and create polyhedral features to perform the separating axis test (instead of GJK/MPR). It is best to combine optimization and polyhedral feature generation.", ET_RigidBodyFromObjCreateFunc,OptimizeConvexObj+ComputePolyhedralFeatures),
 
 	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),
 
@@ -252,8 +260,18 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(0,"Rendering"),
 	ExampleEntry(1,"Instanced Rendering", "Simple example of fast instanced rendering, only active when using OpenGL3+.",RenderInstancingCreateFunc),
 	ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc),
-	ExampleEntry(1,"Time Series", "Render some value(s) in a 2D graph window, shifting to the left", TimeSeriesCreateFunc)
+	ExampleEntry(1,"Time Series", "Render some value(s) in a 2D graph window, shifting to the left", TimeSeriesCreateFunc),
 	
+	//Extended Tutorials Added by Mobeen
+	ExampleEntry(0,"Extended Tutorials"),
+	ExampleEntry(1,"Simple Box", "Simplest possible demo creating a single box rigid body that falls under gravity", ET_SimpleBoxCreateFunc),
+	ExampleEntry(1,"Multiple Boxes", "Adding multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc),
+	ExampleEntry(1,"Simple Joint", "Creating a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc),
+	ExampleEntry(1,"Simple Cloth", "Creating a simple piece of cloth", ET_SimpleClothCreateFunc),
+	ExampleEntry(1,"Simple Chain", "Creating a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),
+	ExampleEntry(1,"Simple Bridge", "Creating a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc),
+	
+
 };
 
 #ifdef B3_USE_CLEW

examples/ExampleBrowser/premake4.lua

@@ -136,6 +136,7 @@ project "BulletExampleBrowserLib"
 		"../InverseDynamics/InverseDynamicsExample.h",
 		"../BasicDemo/BasicExample.*",
 		"../Tutorial/*",
+		"../ExtendedTutorials/*",
 		"../Collision/*",
 		"../Collision/Internal/*",
 		"../Benchmarks/*",

examples/ExtendedTutorials/Bridge.cpp

@@ -0,0 +1,150 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 "Bridge.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+const int TOTAL_PLANKS = 10;
+struct BridgeExample : public CommonRigidBodyBase
+{
+	BridgeExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~BridgeExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void BridgeExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+	//create two fixed boxes to hold the planks
+
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+		btScalar plankWidth = 0.4;
+		btScalar plankHeight = 0.2;
+		btScalar plankBreadth = 1;
+		btScalar plankOffset = plankWidth; //distance between two planks
+		btScalar bridgeWidth = plankWidth*TOTAL_PLANKS + plankOffset*(TOTAL_PLANKS-1);
+		btScalar bridgeHeight = 5;
+		btScalar halfBridgeWidth = bridgeWidth*0.5f;
+
+        btBoxShape* colShape = createBoxShape(btVector3(plankWidth,plankHeight,plankBreadth));
+		 
+		m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//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)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+		//create a set of boxes to represent bridge 
+		btAlignedObjectArray<btRigidBody*> boxes;
+		int lastBoxIndex = TOTAL_PLANKS-1;
+		for(int i=0;i<TOTAL_PLANKS;++i) {
+			float t =   float(i)/lastBoxIndex;
+			t = -(t*2-1.0f) * halfBridgeWidth;
+			startTransform.setOrigin(btVector3(									 
+									 btScalar(t),
+									 bridgeHeight,
+									 btScalar(0)
+									 )
+									 );
+			boxes.push_back(createRigidBody((i==0 || i==lastBoxIndex)?0:mass,startTransform,colShape));		  
+		} 
+		 
+		
+		//add N-1 spring constraints
+		for(int i=0;i<TOTAL_PLANKS-1;++i) {
+			btRigidBody* b1 = boxes[i];
+			btRigidBody* b2 = boxes[i+1];
+			 
+			btPoint2PointConstraint* leftSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5,0,-0.5), btVector3(0.5,0,-0.5));
+			m_dynamicsWorld->addConstraint(leftSpring);
+			 
+			btPoint2PointConstraint* rightSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5,0,0.5), btVector3(0.5,0,0.5));
+			m_dynamicsWorld->addConstraint(rightSpring);
+		}
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void BridgeExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_BridgeCreateFunc(CommonExampleOptions& options)
+{
+	return new BridgeExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/Bridge.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 ET_BRIDGE_EXAMPLE_H
+#define ET_BRIDGE_EXAMPLE_H
+
+class CommonExampleInterface*    ET_BridgeCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_BRIDGE_EXAMPLE_H

examples/ExtendedTutorials/Chain.cpp

@@ -0,0 +1,137 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 "Chain.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+const int TOTAL_BOXES = 10;
+struct ChainExample : public CommonRigidBodyBase
+{
+	ChainExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~ChainExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void ChainExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+        btBoxShape* colShape = createBoxShape(btVector3(1,1,0.25));
+		 
+		m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//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)
+			colShape->calculateLocalInertia(mass,localInertia);
+		 
+		btAlignedObjectArray<btRigidBody*> boxes;
+		int lastBoxIndex = TOTAL_BOXES-1;
+		for(int i=0;i<TOTAL_BOXES;++i) {
+			startTransform.setOrigin(btVector3(
+									 btScalar(0),
+									 btScalar(5+i*2),
+									 btScalar(0)
+									 )
+									 );
+			boxes.push_back(createRigidBody((i==lastBoxIndex)?0:mass,startTransform,colShape));		 
+		} 
+		 
+		//add N-1 spring constraints
+		for(int i=0;i<TOTAL_BOXES-1;++i) {
+			btRigidBody* b1 = boxes[i];
+			btRigidBody* b2 = boxes[i+1];
+			 
+			btPoint2PointConstraint* leftSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5,1,0), btVector3(-0.5,-1,0));
+			 
+			m_dynamicsWorld->addConstraint(leftSpring);
+			 
+			btPoint2PointConstraint* rightSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(0.5,1,0), btVector3(0.5,-1,0));
+
+			m_dynamicsWorld->addConstraint(rightSpring);
+		}
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void ChainExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_ChainCreateFunc(CommonExampleOptions& options)
+{
+	return new ChainExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/Chain.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 ET_CHAIN_EXAMPLE_H
+#define ET_CHAIN_EXAMPLE_H
+
+class CommonExampleInterface*    ET_ChainCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_CHAIN_EXAMPLE_H

examples/ExtendedTutorials/MultipleBoxes.cpp

@@ -0,0 +1,120 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 "MultipleBoxes.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+const int TOTAL_BOXES = 10;
+struct MultipleBoxesExample : public CommonRigidBodyBase
+{
+	MultipleBoxesExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~MultipleBoxesExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void MultipleBoxesExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+        btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+		 
+		m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//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)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+		
+		for(int i=0;i<TOTAL_BOXES;++i) {
+			startTransform.setOrigin(btVector3(
+									 btScalar(0),
+									 btScalar(20+i*2),
+									 btScalar(0)));
+			createRigidBody(mass,startTransform,colShape);		 
+		}
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void MultipleBoxesExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_MultipleBoxesCreateFunc(CommonExampleOptions& options)
+{
+	return new MultipleBoxesExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/MultipleBoxes.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 ET_MULTIPLE_BOXES_EXAMPLE_H
+#define ET_MULTIPLE_BOXES_EXAMPLE_H
+
+class CommonExampleInterface*    ET_MultipleBoxesCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_MULTIPLE_BOXES_EXAMPLE_H

examples/ExtendedTutorials/RigidBodyFromObj.cpp

@@ -0,0 +1,159 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 "RigidBodyFromObj.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+
+
+struct RigidBodyFromObjExample : public CommonRigidBodyBase
+{
+    int m_options;
+    
+	RigidBodyFromObjExample(struct GUIHelperInterface* helper, int options)
+		:CommonRigidBodyBase(helper),
+		m_options(options)
+	{
+	}
+	virtual ~RigidBodyFromObjExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void RigidBodyFromObjExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	//if (m_dynamicsWorld->getDebugDrawer())
+	//	m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+	//load our obj mesh
+	const char* fileName = "teddy.obj";//sphere8.obj";//sponza_closed.obj";//sphere8.obj";
+    char relativeFileName[1024];
+    if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+    {
+		char pathPrefix[1024];
+		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+	}
+	
+	GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, "");
+	printf("[INFO] Obj loaded: Extracted %d verticed from obj file [%s]\n", glmesh->m_numvertices, fileName);
+
+	const GLInstanceVertex& v = glmesh->m_vertices->at(0);
+	btConvexHullShape* shape = new btConvexHullShape((const btScalar*)(&(v.xyzw[0])), glmesh->m_numvertices, sizeof(GLInstanceVertex));
+	
+	shape->setLocalScaling(btVector3(0.1,0.1,0.1));
+	    
+    if (m_options & OptimizeConvexObj)
+    {
+        shape->optimizeConvexHull();
+    }
+
+    if (m_options & ComputePolyhedralFeatures)
+    {
+        shape->initializePolyhedralFeatures();    
+    }
+	
+	
+	
+	//shape->setMargin(0.001);
+	m_collisionShapes.push_back(shape);
+
+	btTransform startTransform;
+	startTransform.setIdentity();
+
+	btScalar	mass(1.f);
+	bool isDynamic = (mass != 0.f);
+	btVector3 localInertia(0,0,0);
+	if (isDynamic)
+		shape->calculateLocalInertia(mass,localInertia);
+
+	btVector3 position(0,20,0);
+	startTransform.setOrigin(position);
+	btRigidBody* body = createRigidBody(mass,startTransform,shape);	
+	 
+	btVector3 color(1,1,1);
+	btVector3 scaling(0.1,0.1,0.1);
+	bool useObjForRendering = ((m_options & ObjUseConvexHullForRendering)!=0);
+    
+	    
+	if (useObjForRendering)
+    {
+        int shapeId = m_guiHelper->getRenderInterface()->registerShape(&glmesh->m_vertices->at(0).xyzw[0], 
+                                                                        glmesh->m_numvertices, 
+                                                                        &glmesh->m_indices->at(0), 
+                                                                        glmesh->m_numIndices,
+                                                                    B3_GL_TRIANGLES,-1);
+        shape->setUserIndex(shapeId);
+        int renderInstance = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,startTransform.getRotation(),color,scaling);
+        body->setUserIndex(renderInstance);
+    }
+    
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void RigidBodyFromObjExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_RigidBodyFromObjCreateFunc(CommonExampleOptions& options)
+{
+	return new RigidBodyFromObjExample(options.m_guiHelper,options.m_option);
+}
+
+
+

examples/ExtendedTutorials/RigidBodyFromObj.h

@@ -0,0 +1,28 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 ET_RIGIDBODYFROMOBJ_EXAMPLE_H
+#define ET_RIGIDBODYFROMOBJ_EXAMPLE_H
+
+enum ObjToRigidBodyOptionsEnum
+{
+        ObjUseConvexHullForRendering=1,
+        OptimizeConvexObj=2,
+        ComputePolyhedralFeatures=4,
+};
+class CommonExampleInterface*    ET_RigidBodyFromObjCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_RIGIDBODYFROMOBJ_EXAMPLE_H

examples/ExtendedTutorials/SimpleBox.cpp

@@ -0,0 +1,118 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 "SimpleBox.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+
+struct SimpleBoxExample : public CommonRigidBodyBase
+{
+	SimpleBoxExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~SimpleBoxExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void SimpleBoxExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+        btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+		 
+		m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//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)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+
+		startTransform.setOrigin(btVector3(
+								 btScalar(0),
+								 btScalar(20),
+								 btScalar(0)));
+		createRigidBody(mass,startTransform,colShape);		 
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void SimpleBoxExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_SimpleBoxCreateFunc(CommonExampleOptions& options)
+{
+	return new SimpleBoxExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/SimpleBox.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 ET_SIMPLE_BOX_EXAMPLE_H
+#define ET_SIMPLE_BOX_EXAMPLE_H
+
+class CommonExampleInterface*    ET_SimpleBoxCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_SIMPLE_BOX_EXAMPLE_H

examples/ExtendedTutorials/SimpleCloth.cpp

@@ -0,0 +1,162 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 "SimpleCloth.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+
+struct SimpleClothExample : public CommonRigidBodyBase
+{
+	SimpleClothExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~SimpleClothExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void createEmptyDynamicsWorld()
+	{
+		m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); 
+        m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration); 
+		 
+		m_broadphase = new btDbvtBroadphase();
+	 
+		m_solver = new btSequentialImpulseConstraintSolver; 
+		
+		m_dynamicsWorld = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+		m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+
+		softBodyWorldInfo.m_broadphase = m_broadphase;
+		softBodyWorldInfo.m_dispatcher = m_dispatcher;
+		softBodyWorldInfo.m_gravity = m_dynamicsWorld->getGravity();
+		softBodyWorldInfo.m_sparsesdf.Initialize();
+	}
+	virtual btSoftRigidDynamicsWorld*	getSoftDynamicsWorld()
+	{
+		///just make it a btSoftRigidDynamicsWorld please
+		///or we will add type checking
+		return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
+	}
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
+	void createSoftBody(const btScalar size, const int num_x, const int num_z, const int fixed=1+2);
+	btSoftBodyWorldInfo softBodyWorldInfo;
+};
+
+void SimpleClothExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		const btScalar s=4; //size of cloth patch
+		const int NUM_X=31; //vertices on X axis
+		const int NUM_Z=31; //vertices on Z axis
+		createSoftBody(s,NUM_X, NUM_Z);
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void SimpleClothExample::createSoftBody(const btScalar s,
+										const int numX,
+										const int numY, 
+										const int fixed) {
+	
+	
+	 
+	btSoftBody* cloth=btSoftBodyHelpers::CreatePatch(softBodyWorldInfo,
+		btVector3(-s/2,s+1,0),
+		btVector3(+s/2,s+1,0),
+		btVector3(-s/2,s+1,+s),
+		btVector3(+s/2,s+1,+s),
+		numX,numY, 
+		fixed,true);
+	
+	cloth->getCollisionShape()->setMargin(0.001f);
+	cloth->generateBendingConstraints(2,cloth->appendMaterial());
+	cloth->setTotalMass(10); 
+	//cloth->m_cfg.citerations = 10;
+//	cloth->m_cfg.diterations = 10;
+	cloth->m_cfg.piterations = 5;
+	cloth->m_cfg.kDP = 0.005f;
+	getSoftDynamicsWorld()->addSoftBody(cloth);
+
+}
+
+void SimpleClothExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+	btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
+
+		for (  int i=0;i<softWorld->getSoftBodyArray().size();i++)
+		{
+			btSoftBody*	psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
+			//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+			{
+				btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
+			}
+		}
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_SimpleClothCreateFunc(CommonExampleOptions& options)
+{
+	return new SimpleClothExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/SimpleCloth.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 ET_SIMPLE_CLOTH_EXAMPLE_H
+#define ET_SIMPLE_CLOTH_EXAMPLE_H
+
+class CommonExampleInterface*    ET_SimpleClothCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_SIMPLE_CLOTH_EXAMPLE_H

examples/ExtendedTutorials/SimpleJoint.cpp

@@ -0,0 +1,133 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 "SimpleJoint.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+
+struct SimpleJointExample : public CommonRigidBodyBase
+{
+	SimpleJointExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~SimpleJointExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void SimpleJointExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+        btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+		 
+		m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//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)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+
+		startTransform.setOrigin(btVector3(
+								 btScalar(0),
+								 btScalar(10),
+								 btScalar(0)));
+		btRigidBody* dynamicBox = createRigidBody(mass,startTransform,colShape);	
+
+		//create a static rigid body
+		mass = 0;
+		startTransform.setOrigin(btVector3(
+								 btScalar(0),
+								 btScalar(20),
+								 btScalar(0)));
+		
+		btRigidBody* staticBox = createRigidBody(mass,startTransform,colShape);	
+
+		//create a simple p2pjoint constraint
+		btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*dynamicBox, *staticBox, btVector3(0,3,0), btVector3(0,0,0));
+		p2p->m_setting.m_damping = 0.0625;
+		p2p->m_setting.m_impulseClamp = 0.95;
+		m_dynamicsWorld->addConstraint(p2p);
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void SimpleJointExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	 
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_SimpleJointCreateFunc(CommonExampleOptions& options)
+{
+	return new SimpleJointExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/SimpleJoint.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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 ET_SIMPLE_JOINT_EXAMPLE_H
+#define ET_SIMPLE_JOINT_EXAMPLE_H
+
+class CommonExampleInterface*    ET_SimpleJointCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_SIMPLE_JOINT_EXAMPLE_H

examples/StandaloneMain/main_opengl_single_example.cpp

@@ -31,16 +31,47 @@ subject to the following restrictions:
 #include <stdio.h>
 #include "../ExampleBrowser/OpenGLGuiHelper.h"
 
+CommonExampleInterface*    example;
+
+b3MouseMoveCallback prevMouseMoveCallback = 0;
+static void OnMouseMove( float x, float y)
+{
+	bool handled = false; 
+	handled = example->mouseMoveCallback(x,y); 	 
+	if (!handled)
+	{
+		if (prevMouseMoveCallback)
+			prevMouseMoveCallback (x,y);
+	}
+}
+
+b3MouseButtonCallback prevMouseButtonCallback  = 0;
+static void OnMouseDown(int button, int state, float x, float y) {
+	bool handled = false;
+
+	handled = example->mouseButtonCallback(button, state, x,y); 
+	if (!handled)
+	{
+		if (prevMouseButtonCallback )
+			prevMouseButtonCallback (button,state,x,y);
+	}
+}
 
 int main(int argc, char* argv[])
 {
 
 	SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet Standalone Example",1024,768,true);
 	
+	prevMouseButtonCallback = app->m_window->getMouseButtonCallback();
+	prevMouseMoveCallback = app->m_window->getMouseMoveCallback();
+
+	app->m_window->setMouseButtonCallback((b3MouseButtonCallback)OnMouseDown);
+	app->m_window->setMouseMoveCallback((b3MouseMoveCallback)OnMouseMove);
+	
 	OpenGLGuiHelper gui(app,false);
     
 	CommonExampleOptions options(&gui);
-	CommonExampleInterface*    example = StandaloneExampleCreateFunc(options);
+	example = StandaloneExampleCreateFunc(options);
         
 	example->initPhysics();