* Adjustment: Update Bullet version to 3.24.

Engine/lib/bullet/examples/ExtendedTutorials/SimpleJoint.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 "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 = -35;
+		float yaw = 52;
+		float targetPos[3] = {0, 0.46, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, 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);
+}