* Adjustment: Initial CMake reworking.

Engine/lib/bullet/examples/MultiBody/MultiBodySoftContact.cpp

@@ -0,0 +1,173 @@
+
+#include "MultiBodySoftContact.h"
+
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
+							
+#include "../CommonInterfaces/CommonMultiBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+static btScalar radius(0.2);
+
+struct MultiBodySoftContact : public CommonMultiBodyBase
+{
+    btMultiBody* m_multiBody;
+	btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
+
+    bool m_once;
+public:
+
+    MultiBodySoftContact(struct GUIHelperInterface* helper);
+    virtual ~MultiBodySoftContact();
+
+    virtual void initPhysics();
+
+    virtual void stepSimulation(float deltaTime);
+
+	virtual void resetCamera()
+	{
+		float dist = 5;
+		float pitch = 270;
+		float yaw = 21;
+		float targetPos[3]={0,0,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
+
+};
+
+
+
+MultiBodySoftContact::MultiBodySoftContact(struct GUIHelperInterface* helper)
+:CommonMultiBodyBase(helper),
+m_once(true)
+{
+}
+
+MultiBodySoftContact::~MultiBodySoftContact()
+{
+    
+}
+
+
+
+
+void MultiBodySoftContact::initPhysics()
+{
+	  
+    int upAxis = 2;
+
+	m_guiHelper->setUpAxis(upAxis);
+
+    btVector4 colors[4] =
+    {
+        btVector4(1,0,0,1),
+        btVector4(0,1,0,1),
+        btVector4(0,1,1,1),
+        btVector4(1,1,0,1),
+    };
+    int curColor = 0;
+
+
+    
+
+	this->createEmptyDynamicsWorld();
+		m_dynamicsWorld->setGravity(btVector3(0,0,-10));
+
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    m_dynamicsWorld->getDebugDrawer()->setDebugMode(
+        //btIDebugDraw::DBG_DrawConstraints
+        +btIDebugDraw::DBG_DrawWireframe
+        +btIDebugDraw::DBG_DrawContactPoints
+        +btIDebugDraw::DBG_DrawAabb
+        );//+btIDebugDraw::DBG_DrawConstraintLimits);
+
+	
+
+    //create a static ground object
+    if (1)
+        {
+            btVector3 groundHalfExtents(50,50,50);
+            btBoxShape* box = new btBoxShape(groundHalfExtents);
+            box->initializePolyhedralFeatures();
+
+            m_guiHelper->createCollisionShapeGraphicsObject(box);
+            btTransform start; start.setIdentity();
+            btVector3 groundOrigin(0,0,-50.5);
+			start.setOrigin(groundOrigin);
+		//	start.setRotation(groundOrn);
+            btRigidBody* body =  createRigidBody(0,start,box);
+            
+            //setContactStiffnessAndDamping will enable compliant rigid body contact
+            body->setContactStiffnessAndDamping(300,10);
+            btVector4 color = colors[curColor];
+			curColor++;
+			curColor&=3;
+            m_guiHelper->createRigidBodyGraphicsObject(body,color);
+
+        }
+
+	{
+		btCollisionShape* childShape = new btSphereShape(btScalar(0.5));
+		m_guiHelper->createCollisionShapeGraphicsObject(childShape);
+
+		btScalar mass = 1;
+		btVector3 baseInertiaDiag;
+		bool isFixed = (mass == 0);
+		childShape->calculateLocalInertia(mass,baseInertiaDiag);
+	  btMultiBody *pMultiBody = new btMultiBody(0, 1, baseInertiaDiag, false, false);
+	  btTransform startTrans;
+	  startTrans.setIdentity();
+	  startTrans.setOrigin(btVector3(0,0,3));
+
+	  pMultiBody->setBaseWorldTransform(startTrans);
+
+	   btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(pMultiBody, -1);
+		col->setCollisionShape(childShape);
+		pMultiBody->setBaseCollider(col);
+			bool isDynamic = (mass > 0 && !isFixed);
+		short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+		short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+
+        m_dynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
+
+
+		pMultiBody->finalizeMultiDof();
+	
+		m_dynamicsWorld->addMultiBody(pMultiBody);
+	
+		btAlignedObjectArray<btQuaternion> scratch_q;
+		btAlignedObjectArray<btVector3> scratch_m;
+		pMultiBody->forwardKinematics(scratch_q,scratch_m);
+		btAlignedObjectArray<btQuaternion> world_to_local;
+		btAlignedObjectArray<btVector3> local_origin;
+		pMultiBody->updateCollisionObjectWorldTransforms(world_to_local,local_origin);
+	}
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+
+
+}
+
+void MultiBodySoftContact::stepSimulation(float deltaTime)
+{
+	
+    if (0)//m_once)
+    {
+       m_once=false;
+        m_multiBody->addJointTorque(0, 10.0);
+    
+        btScalar torque = m_multiBody->getJointTorque(0);
+        b3Printf("t = %f,%f,%f\n",torque,torque,torque);//[0],torque[1],torque[2]);
+    }
+    
+    m_dynamicsWorld->stepSimulation(deltaTime);
+
+	
+    
+}
+
+
+class CommonExampleInterface*    MultiBodySoftContactCreateFunc(struct CommonExampleOptions& options)
+{
+	return new MultiBodySoftContact(options.m_guiHelper);
+}