redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/ExampleBrowser/OpenGLExampleBrowser.cpp
925 строк22 KB
Erwin Coumans
allow to compile and run the ExampleBrowser on older Mac OSX versions (without OpenGL3)
06 май 2015, 20:35
06 май 2015, 20:350da584a
#include "OpenGLExampleBrowser.h"
#include "LinearMath/btQuickprof.h"
#include "../OpenGLWindow/OpenGLInclude.h"
#include "../OpenGLWindow/SimpleOpenGL2App.h"
#ifndef NO_OPENGL3
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#endif
#include "../CommonInterfaces/CommonRenderInterface.h"
#ifdef __APPLE__
#include "../OpenGLWindow/MacOpenGLWindow.h"
#else
#ifdef _WIN32
#include "../OpenGLWindow/Win32OpenGLWindow.h"
#else
//let's cross the fingers it is Linux/X11
#include "../OpenGLWindow/X11OpenGLWindow.h"
#endif //_WIN32
#endif//__APPLE__
#include "../ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.h"

#include "Bullet3Common/b3Vector3.h"
#include "assert.h"
#include <stdio.h>
#include "GwenGUISupport/gwenInternalData.h"
#include "GwenGUISupport/gwenUserInterface.h"
#include "../Utils/b3Clock.h"
#include "GwenGUISupport/GwenParameterInterface.h"
#include "GwenGUISupport/GwenProfileWindow.h"
#include "GwenGUISupport/GwenTextureWindow.h"
#include "GwenGUISupport/GraphingTexture.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "../OpenGLWindow/SimpleCamera.h"
#include "../OpenGLWindow/SimpleOpenGL2Renderer.h"
#include "ExampleEntries.h"
#include "OpenGLGuiHelper.h"
#include "Bullet3Common/b3FileUtils.h"

#include "LinearMath/btIDebugDraw.h"
//quick test for file import, @todo(erwincoumans) make it more general and add other file formats
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportBullet/SerializeSetup.h"

static CommonGraphicsApp* s_app=0;

static CommonWindowInterface* s_window = 0;
static CommonParameterInterface*	s_parameterInterface=0;
static CommonRenderInterface*	s_instancingRenderer=0;
static OpenGLGuiHelper*	s_guiHelper=0;
static MyProfileWindow* s_profWindow =0;

#define DEMO_SELECTION_COMBOBOX 13
const char* startFileName = "bulletDemo.txt";

static GwenUserInterface* gui  = 0;
static int sCurrentDemoIndex = -1;
static int sCurrentHightlighted = 0;
static CommonExampleInterface* sCurrentDemo = 0;
static b3AlignedObjectArray<const char*> allNames;

static class ExampleEntries* gAllExamples=0;
bool sUseOpenGL2 = false;
bool drawGUI=true;
#ifndef USE_OPENGL3
extern bool useShadowMap;
#endif

static bool visualWireframe=false;
static bool renderVisualGeometry=true;
static bool renderGrid = true;
int gDebugDrawFlags = 0;
static bool pauseSimulation=false;
int midiBaseIndex = 176;
extern bool gDisableDeactivation;

///some quick test variable for the OpenCL examples

int gPreferredOpenCLDeviceIndex=-1;
int gPreferredOpenCLPlatformIndex=-1;
int gGpuArraySizeX=15;
int gGpuArraySizeY=15;
int gGpuArraySizeZ=15;

//#include <float.h>
//unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM);







b3KeyboardCallback prevKeyboardCallback = 0;

void MyKeyboardCallback(int key, int state)
{

	//b3Printf("key=%d, state=%d", key, state);
	bool handled = false;
	
	if (gui && !handled )
	{
		handled = gui->keyboardCallback(key, state);
	}
	
	if (!handled && sCurrentDemo)
	{
		handled = sCurrentDemo->keyboardCallback(key,state);
	}

	
	

	//checkout: is it desired to ignore keys, if the demo already handles them?
	//if (handled)
	//	return;

	if (key=='a' && state)
	{
		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawAabb;
	}
	if (key=='c' && state)
	{
		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraints;
		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawContactPoints;
	}
	if (key == 'd' && state)
	{
		gDebugDrawFlags ^= btIDebugDraw::DBG_NoDeactivation;
		gDisableDeactivation = ((gDebugDrawFlags & btIDebugDraw::DBG_NoDeactivation) != 0);
	}
	if (key=='l' && state)
	{
		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraintLimits;
	}
	if (key=='w' && state)
	{
		visualWireframe=!visualWireframe;
		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawWireframe;
	}


	if (key=='v' && state)
	{
		renderVisualGeometry = !renderVisualGeometry;
	}
	if (key=='g' && state)
	{
		renderGrid = !renderGrid;
	}


	if (key=='i' && state)
	{
		pauseSimulation = !pauseSimulation;
	}
#ifndef NO_OPENGL3
	if (key=='s' && state)
	{
		useShadowMap=!useShadowMap;
	}
#endif
	if (key==B3G_ESCAPE && s_window)
	{
		s_window->setRequestExit();
	}

	if (prevKeyboardCallback)
		prevKeyboardCallback(key,state);
}

b3MouseMoveCallback prevMouseMoveCallback = 0;
static void MyMouseMoveCallback( float x, float y)
{
	bool handled = false;
	if (sCurrentDemo)
		handled = sCurrentDemo->mouseMoveCallback(x,y);
	if (!handled && gui)
		handled = gui->mouseMoveCallback(x,y);
	if (!handled)
	{
		if (prevMouseMoveCallback)
			prevMouseMoveCallback(x,y);
	}
}

b3MouseButtonCallback prevMouseButtonCallback  = 0;

static void MyMouseButtonCallback(int button, int state, float x, float y)
{
	bool handled = false;
	//try picking first
	if (sCurrentDemo)
		handled = sCurrentDemo->mouseButtonCallback(button,state,x,y);

	if (!handled && gui)
		handled = gui->mouseButtonCallback(button,state,x,y);

	if (!handled)
	{
		if (prevMouseButtonCallback )
			prevMouseButtonCallback (button,state,x,y);
	}
	//	b3DefaultMouseButtonCallback(button,state,x,y);
}

#include <string.h>

void openFileDemo(const char* filename)
{

    if (sCurrentDemo)
    {
		sCurrentDemo->exitPhysics();
		s_instancingRenderer->removeAllInstances();
		delete sCurrentDemo;
		sCurrentDemo=0;
		delete s_guiHelper;
		s_guiHelper = 0;
    }
   
	s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
    s_parameterInterface->removeAllParameters();
   

	CommonExampleOptions options(s_guiHelper,0);
	options.m_fileName = filename;

	char fullPath[1024];
	int fileType = 0;
	sprintf(fullPath, "%s", filename);
	b3FileUtils::toLower(fullPath);
	if (strstr(fullPath, ".urdf"))
	{
		sCurrentDemo = ImportURDFCreateFunc(options);
	} else
	{
		if (strstr(fullPath, ".bullet"))
		{
			sCurrentDemo = SerializeBulletCreateFunc(options);
		}
	}
    

	//physicsSetup->setFileName(filename);

	
    if (sCurrentDemo)
    {
        sCurrentDemo->initPhysics();
		sCurrentDemo->resetCamera();
    }


}



void selectDemo(int demoIndex)
{
	bool resetCamera = (sCurrentDemoIndex != demoIndex);
	sCurrentDemoIndex = demoIndex;
	sCurrentHightlighted = demoIndex;
	int numDemos = gAllExamples->getNumRegisteredExamples();
	
	

	if (demoIndex>numDemos)
	{
		demoIndex = 0;
	}
	if (sCurrentDemo)
	{
		sCurrentDemo->exitPhysics();
		s_instancingRenderer->removeAllInstances();
		delete sCurrentDemo;
		sCurrentDemo=0;
		delete s_guiHelper;
		s_guiHelper = 0;
	}
	CommonExampleInterface::CreateFunc* func = gAllExamples->getExampleCreateFunc(demoIndex);
	if (func)
	{
		s_parameterInterface->removeAllParameters();
		int option = gAllExamples->getExampleOption(demoIndex);
		s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
		CommonExampleOptions options(s_guiHelper, option);
		sCurrentDemo = (*func)(options);
		if (sCurrentDemo)
		{
			if (gui)
			{
				bool isLeft = true;
				gui->setStatusBarMessage("Status: OK", false);
			}
			b3Printf("Selected demo: %s",gAllExamples->getExampleName(demoIndex));
			gui->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
			
			sCurrentDemo->initPhysics();
			if(resetCamera)
			{
				sCurrentDemo->resetCamera();
			}
		}
	}

}

#include <stdio.h>


static void saveCurrentDemoEntry(int currentEntry,const char* startFileName)
{
	FILE* f = fopen(startFileName,"w");
	if (f)
	{
		fprintf(f,"%d\n",currentEntry);
		fclose(f);
	}
};

static int loadCurrentDemoEntry(const char* startFileName)
{
	int currentEntry= 0;
	FILE* f = fopen(startFileName,"r");
	if (f)
	{
		int result;
		result = fscanf(f,"%d",&currentEntry);
		if (result)
		{
			return currentEntry;
		}
		fclose(f);
	}
	return 0;
};

void	MyComboBoxCallback(int comboId, const char* item)
{
	//printf("comboId = %d, item = %s\n",comboId, item);
	if (comboId==DEMO_SELECTION_COMBOBOX)
	{
		//find selected item
		for (int i=0;i<allNames.size();i++)
		{
			if (strcmp(item,allNames[i])==0)
			{
				selectDemo(i);
				saveCurrentDemoEntry(sCurrentDemoIndex,startFileName);
				break;
			}
		}
	}

}


void MyGuiPrintf(const char* msg)
{
	printf("b3Printf: %s\n",msg);
	if (gui)
	{
		gui->textOutput(msg);
		gui->forceUpdateScrollBars();
	}
}



void MyStatusBarPrintf(const char* msg)
{
	printf("b3Printf: %s\n", msg);
	if (gui)
	{
		bool isLeft = true;
		gui->setStatusBarMessage(msg,isLeft);
	}
}


void MyStatusBarError(const char* msg)
{
	printf("Warning: %s\n", msg);
	if (gui)
	{
		bool isLeft = false;
		gui->setStatusBarMessage(msg,isLeft);
		gui->textOutput(msg);
		gui->forceUpdateScrollBars();
	}
}

struct MyMenuItemHander :public Gwen::Event::Handler
{
	int					m_buttonId;

	MyMenuItemHander( int buttonId)
		:m_buttonId(buttonId)
	{
	}

	void onButtonA(Gwen::Controls::Base* pControl)
	{
		//const Gwen::String& name = pControl->GetName();
		Gwen::Controls::TreeNode* node = (Gwen::Controls::TreeNode*)pControl;
	//	Gwen::Controls::Label* l = node->GetButton();

		Gwen::UnicodeString la = node->GetButton()->GetText();// node->GetButton()->GetName();// GetText();
		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
	//	const char* ha = laa.c_str();

		//printf("selected %s\n", ha);
		//int dep = but->IsDepressed();
		//int tog = but->GetToggleState();
//		if (m_data->m_toggleButtonCallback)
	//		(*m_data->m_toggleButtonCallback)(m_buttonId, tog);
	}
	void onButtonB(Gwen::Controls::Base* pControl)
	{
		Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
		Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
		//const char* ha = laa.c_str();

		bool handled = false;
		
		selectDemo(sCurrentHightlighted);
		saveCurrentDemoEntry(sCurrentDemoIndex, startFileName);
	}
	void onButtonC(Gwen::Controls::Base* pControl)
	{
		/*Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
		Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
		const char* ha = laa.c_str();


		printf("onButtonC ! %s\n", ha);
		*/
	}
	void onButtonD(Gwen::Controls::Base* pControl)
	{
/*		Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
		Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
		const char* ha = laa.c_str();
		*/

	//	printf("onKeyReturn ! \n");
		selectDemo(sCurrentHightlighted);
		saveCurrentDemoEntry(sCurrentDemoIndex, startFileName);

	}

	void onButtonE(Gwen::Controls::Base* pControl)
	{
	//	printf("select %d\n",m_buttonId);
		sCurrentHightlighted = m_buttonId;
		gui->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted));
	}

	void onButtonF(Gwen::Controls::Base* pControl)
	{
		//printf("selection changed!\n");
	}

	void onButtonG(Gwen::Controls::Base* pControl)
	{
		//printf("onButtonG !\n");
	}



};
#include "Bullet3Common/b3HashMap.h"

struct GL3TexLoader : public MyTextureLoader
{
	b3HashMap<b3HashString,GLint> m_hashMap;
	
	virtual void LoadTexture( Gwen::Texture* pTexture )
	{
		Gwen::String namestr = pTexture->name.Get();
		const char* n = namestr.c_str();
		GLint* texIdPtr = m_hashMap[n];
		if (texIdPtr)
		{
			pTexture->m_intData = *texIdPtr;
		}
	}
	virtual void FreeTexture( Gwen::Texture* pTexture )
	{
	}
};

void fileOpenCallback()
{

 char filename[1024];
 int len = s_window->fileOpenDialog(filename,1024);
 if (len)
 {
     //todo(erwincoumans) check if it is actually URDF
     //printf("file open:%s\n", filename);
     openFileDemo(filename);
 }
}

#define MAX_GRAPH_WINDOWS 5

struct QuickCanvas : public Common2dCanvasInterface
{
	GL3TexLoader* m_myTexLoader;

	MyGraphWindow* m_gw[MAX_GRAPH_WINDOWS];
	GraphingTexture* m_gt[MAX_GRAPH_WINDOWS];
	int m_curNumGraphWindows;

	QuickCanvas(GL3TexLoader* myTexLoader)
		:m_myTexLoader(myTexLoader),
		m_curNumGraphWindows(0)
	{
		for (int i=0;i<MAX_GRAPH_WINDOWS;i++)
		{
			m_gw[i] = 0;
			m_gt[i] = 0;
		}
	}
	virtual ~QuickCanvas() {}
	virtual int createCanvas(const char* canvasName, int width, int height)
	{
		if (m_curNumGraphWindows<MAX_GRAPH_WINDOWS)
		{
			//find a slot
			int slot = 0;//hardcoded for now
			m_curNumGraphWindows++;

			MyGraphInput input(gui->getInternalData());
			input.m_width=width;
			input.m_height=height;
			input.m_xPos = 300;
			input.m_yPos = height-input.m_height;
			input.m_name=canvasName;
			input.m_texName = canvasName;
			m_gt[slot] = new GraphingTexture;
			m_gt[slot]->create(width,height);
			int texId = m_gt[slot]->getTextureId();
			m_myTexLoader->m_hashMap.insert(canvasName, texId);
			m_gw[slot] = setupTextureWindow(input);
			
			return slot;
		}
		return -1;
	}
	virtual void destroyCanvas(int canvasId)
	{
		btAssert(canvasId==0);//hardcoded to zero for now, only a single canvas
		btAssert(m_curNumGraphWindows==1);
		destroyTextureWindow(m_gw[canvasId]);
		m_curNumGraphWindows--;
	}
	virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
	{
		btAssert(canvasId==0);//hardcoded
		btAssert(m_curNumGraphWindows==1);
		m_gt[canvasId]->setPixel(x,y,red,green,blue,alpha);
	}
	virtual void refreshImageData(int canvasId)
	{
		m_gt[canvasId]->uploadImageData();
	}
};


OpenGLExampleBrowser::OpenGLExampleBrowser(class ExampleEntries* examples)
{
	gAllExamples = examples;
}

OpenGLExampleBrowser::~OpenGLExampleBrowser()
{
	gAllExamples = 0;
}

#include "EmptyExample.h"

bool OpenGLExampleBrowser::init(int argc, char* argv[])
{
    b3CommandLineArgs args(argc,argv);
    
	
	///The OpenCL rigid body pipeline is experimental and 
	///most OpenCL drivers and OpenCL compilers have issues with our kernels.
	///If you have a high-end desktop GPU such as AMD 7970 or better, or NVIDIA GTX 680 with up-to-date drivers
	///you could give it a try
	if (args.CheckCmdLineFlag("enable_experimental_opencl"))
	{
		gAllExamples->initOpenCLExampleEntries();
	}

	
	int width = 1024;
    int height=768;
#ifndef NO_OPENGL3
    SimpleOpenGL3App* simpleApp=0;
	sUseOpenGL2 =args.CheckCmdLineFlag("opengl2");
#else
	sUseOpenGL2 = true;
#endif
	const char* appTitle = "Bullet Physics ExampleBrowser";
#if defined (_DEBUG) || defined (DEBUG)
	const char* optMode = "Debug build (slow)";
#else
	const char* optMode = "Release build";
#endif

    if (sUseOpenGL2 )
    {
		char title[1024];
		sprintf(title,"%s using limited OpenGL2 fallback. %s", appTitle,optMode);
        s_app = new SimpleOpenGL2App(title,width,height);
        s_app->m_renderer = new SimpleOpenGL2Renderer(width,height);
    } 
#ifndef NO_OPENGL3
	else
    {
		char title[1024];
		sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode);
        simpleApp = new SimpleOpenGL3App(title,width,height);
        s_app = simpleApp;
    }
#endif
    char* gVideoFileName = 0;
    args.GetCmdLineArgument("mp4",gVideoFileName);
   #ifndef NO_OPENGL3 
    if (gVideoFileName)
        simpleApp->dumpFramesToVideo(gVideoFileName);
   #endif 
   
    s_instancingRenderer = s_app->m_renderer;
	s_window  = s_app->m_window;
	prevMouseMoveCallback  = s_window->getMouseMoveCallback();
	s_window->setMouseMoveCallback(MyMouseMoveCallback);
	
	prevMouseButtonCallback = s_window->getMouseButtonCallback();
	s_window->setMouseButtonCallback(MyMouseButtonCallback);
	prevKeyboardCallback = s_window->getKeyboardCallback();
	s_window->setKeyboardCallback(MyKeyboardCallback);

	s_app->m_renderer->getActiveCamera()->setCameraDistance(13);
	s_app->m_renderer->getActiveCamera()->setCameraPitch(0);
	s_app->m_renderer->getActiveCamera()->setCameraTargetPosition(0,0,0);

	b3SetCustomWarningMessageFunc(MyGuiPrintf);
	b3SetCustomPrintfFunc(MyGuiPrintf);
	b3SetCustomErrorMessageFunc(MyStatusBarError);
	

    assert(glGetError()==GL_NO_ERROR);
	

	gui = new GwenUserInterface;
	GL3TexLoader* myTexLoader = new GL3TexLoader;
    
    Gwen::Renderer::Base* gwenRenderer = 0;
    if (sUseOpenGL2 )
    {
        gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
    } 
#ifndef NO_OPENGL3
	else
    {
        sth_stash* fontstash=simpleApp->getFontStash();
        gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer,fontstash,width,height,s_window->getRetinaScale(),myTexLoader);
    }
#endif
	//

	gui->init(width,height,gwenRenderer,s_window->getRetinaScale());
	
	
	
	
//	gui->getInternalData()->m_explorerPage
	Gwen::Controls::TreeControl* tree = gui->getInternalData()->m_explorerTreeCtrl;

	
	//gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);

	
	s_profWindow= setupProfileWindow(gui->getInternalData());
	profileWindowSetVisible(s_profWindow,false);
	gui->setFocus();

	s_parameterInterface  = s_app->m_parameterInterface = new GwenParameterInterface(gui->getInternalData());
	s_app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);


	///add some demos to the gAllExamples

	
	

	int numDemos = gAllExamples->getNumRegisteredExamples();

	//char nodeText[1024];
	//int curDemo = 0;
	int selectedDemo = loadCurrentDemoEntry(startFileName);
	Gwen::Controls::TreeNode* curNode = tree;
	MyMenuItemHander* handler2 = new MyMenuItemHander(-1);

	tree->onReturnKeyDown.Add(handler2, &MyMenuItemHander::onButtonD);
	int firstAvailableDemoIndex=-1;
	Gwen::Controls::TreeNode* firstNode=0;

	for (int d = 0; d<numDemos; d++)
	{
//		sprintf(nodeText, "Node %d", i);
		Gwen::UnicodeString nodeUText = Gwen::Utility::StringToUnicode(gAllExamples->getExampleName(d));
		if (gAllExamples->getExampleCreateFunc(d))//was test for gAllExamples[d].m_menuLevel==1
		{
			Gwen::Controls::TreeNode* pNode = curNode->AddNode(nodeUText);
			
			if (firstAvailableDemoIndex<0)
			{
				firstAvailableDemoIndex = d;
				firstNode = pNode;
			}
			
			if (d == selectedDemo)
			{
				firstAvailableDemoIndex = d;
				firstNode = pNode;
				//pNode->SetSelected(true);
				//tree->ExpandAll();
			//	tree->ForceUpdateScrollBars();
			//tree->OnKeyLeft(true);
		//	tree->OnKeyRight(true);
			
			
			//tree->ExpandAll();

			//	selectDemo(d);


			}
			

			MyMenuItemHander* handler = new MyMenuItemHander(d);
			pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonA);
			pNode->GetButton()->onDoubleClick.Add(handler, &MyMenuItemHander::onButtonB);
			pNode->GetButton()->onDown.Add(handler, &MyMenuItemHander::onButtonC);
			pNode->onSelect.Add(handler, &MyMenuItemHander::onButtonE);
			pNode->onReturnKeyDown.Add(handler, &MyMenuItemHander::onButtonG);
			pNode->onSelectChange.Add(handler, &MyMenuItemHander::onButtonF);
//			pNode->onKeyReturn.Add(handler, &MyMenuItemHander::onButtonD);
//			pNode->GetButton()->onKeyboardReturn.Add(handler, &MyMenuItemHander::onButtonD);
	//		pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonD);
//			pNode->onKeyboardPressed.Add(handler, &MyMenuItemHander::onButtonD);
//			pNode->OnKeyPress
		}
		 else
		 {
			 curNode = tree->AddNode(nodeUText);
		 }
	}

	if (sCurrentDemo==0)
	{
		if (firstAvailableDemoIndex>=0)
		{
			firstNode->SetSelected(true);
			while (firstNode != tree)
			{
				firstNode->ExpandAll();
				firstNode = (Gwen::Controls::TreeNode*)firstNode->GetParent();
			}
			
			selectDemo(firstAvailableDemoIndex);
		}

	}
	btAssert(sCurrentDemo!=0);
	if (sCurrentDemo==0)
	{
		printf("Error, no demo/example\n");
		exit(0);
	}
	
    gui->registerFileOpenCallback(fileOpenCallback);
	
    
	return true;
}



CommonExampleInterface* OpenGLExampleBrowser::getCurrentExample()
{
	btAssert(sCurrentDemo);
	return sCurrentDemo;
}

bool OpenGLExampleBrowser::requestedExit()
{
	return s_window->requestedExit();
}

void OpenGLExampleBrowser::update(float deltaTime)
{
/*	if (sCurrentDemo)
	{
		sCurrentDemo->stepSimulation(deltaTime);
	}
	*/

			assert(glGetError()==GL_NO_ERROR);
		s_instancingRenderer->init();
        DrawGridData dg;
        dg.upAxis = s_app->getUpAxis();

        {
            BT_PROFILE("Update Camera and Light");

	

            s_instancingRenderer->updateCamera(dg.upAxis);
        }

		if (renderGrid)
        {
            BT_PROFILE("Draw Grid");
			glPolygonOffset(3.0, 3);
			glEnable(GL_POLYGON_OFFSET_FILL);
            s_app->drawGrid(dg);
			
        }
		static int frameCount = 0;
		frameCount++;

		if (0)
		{
            BT_PROFILE("Draw frame counter");
            char bla[1024];
            sprintf(bla,"Frame %d", frameCount);
            s_app->drawText(bla,10,10);
		}

		
		if (sCurrentDemo)
		{
			if (!pauseSimulation)
			{
				//printf("---------------------------------------------------\n");
				//printf("Framecount = %d\n",frameCount);

				sCurrentDemo->stepSimulation(deltaTime);//1./60.f);
			}
			
			if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0))
            {
				if (visualWireframe)
				{
					glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
				}
                BT_PROFILE("Render Scene");
                sCurrentDemo->renderScene();
            }
            {
				
				glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
                sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
            }
		}

		{
			
			if (s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
			{
				char msg[1024];
				float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
				float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
				float yaw = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraYaw();
				float camTarget[3];
				s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
				sprintf(msg,"dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
				gui->setStatusBarMessage(msg, true);	
			}
			
		}

		static int toggle = 1;
		if (1)
		{
            if (!pauseSimulation)
                processProfileData(s_profWindow,false);

            if (sUseOpenGL2)
			{
					
				saveOpenGLState(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
			}
            BT_PROFILE("Draw Gwen GUI");
            gui->draw(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
            if (sUseOpenGL2)
            {
                restoreOpenGLState();
            }

		}
		toggle=1-toggle;
        {
            BT_PROFILE("Sync Parameters");
            s_parameterInterface->syncParameters();
        }
        {
            BT_PROFILE("Swap Buffers");
            s_app->swapBuffer();
        }
	
		gui->forceUpdateScrollBars();

}