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

examples/ExampleBrowser/ExampleEntries.cpp
476 строк33 KB
WenlongLu
Add kinematic multibody base example
30 окт 2020, 09:34
30 окт 2020, 09:34b95f9d3
#include "ExampleEntries.h"

#include "LinearMath/btAlignedObjectArray.h"
#include "EmptyExample.h"
#include "../Heightfield/HeightfieldExample.h"
#include "../RenderingExamples/RenderInstancingDemo.h"
#include "../RenderingExamples/CoordinateSystemDemo.h"
#include "../RenderingExamples/RaytracerSetup.h"
#include "../RenderingExamples/TinyRendererSetup.h"
#include "../RenderingExamples/DynamicTexturedCubeDemo.h"
#include "../SharedMemory/GraphicsServerExample.h"
#include "../SharedMemory/GraphicsClientExample.h"

#include "../ForkLift/ForkLiftDemo.h"
#include "../MultiThreadedDemo/MultiThreadedDemo.h"
#include "../BasicDemo/BasicExample.h"
#include "../Planar2D/Planar2D.h"
#include "../Benchmarks/BenchmarkDemo.h"
#include "../Importers/ImportObjDemo/ImportObjExample.h"
#include "../Importers/ImportBsp/ImportBspExample.h"
#include "../Importers/ImportColladaDemo/ImportColladaSetup.h"
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
#include "../Importers/ImportMJCFDemo/ImportMJCFSetup.h"
#include "../Collision/CollisionTutorialBullet2.h"
#include "../GyroscopicDemo/GyroscopicSetup.h"
#include "../Constraints/Dof6Spring2Setup.h"
#include "../Constraints/ConstraintPhysicsSetup.h"
#include "../MultiBody/TestJointTorqueSetup.h"
#include "../MultiBody/Pendulum.h"
#include "../MultiBody/MultiBodySoftContact.h"
#include "../MultiBody/MultiBodyConstraintFeedback.h"
#include "../MultiBody/MultiDofDemo.h"
#include "../MultiBody/InvertedPendulumPDControl.h"
#include "../MultiBody/KinematicMultiBodyExample.h"

#include "../RigidBody/RigidBodySoftContact.h"
#include "../RigidBody/KinematicRigidBodyExample.h"
#include "../VoronoiFracture/VoronoiFractureDemo.h"
#include "../SoftDemo/SoftDemo.h"
#include "../Constraints/ConstraintDemo.h"
#include "../Vehicles/Hinge2Vehicle.h"
#include "../Importers/ImportBullet/SerializeSetup.h"
#include "../Raycast/RaytestDemo.h"
#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/LargeDeformation.h"
#include "../DeformableDemo/Collide.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"
#include "../Constraints/TestHingeTorque.h"
#include "../RenderingExamples/TimeSeriesExample.h"
#include "../Tutorial/Tutorial.h"
#include "../Tutorial/Dof6ConstraintTutorial.h"
#include "../MultiThreading/MultiThreadingExample.h"
#include "../InverseDynamics/InverseDynamicsExample.h"
#include "../RoboticsLearning/R2D2GraspExample.h"
#include "../RoboticsLearning/KukaGraspExample.h"
#include "../RoboticsLearning/GripperGraspExample.h"
#include "../InverseKinematics/InverseKinematicsExample.h"

#ifdef B3_ENABLE_TINY_AUDIO
#include "../TinyAudio/TinyAudioExample.h"
#endif  //B3_ENABLE_TINY_AUDIO

#ifdef ENABLE_LUA
#include "../LuaDemo/LuaPhysicsSetup.h"
#endif

#ifdef B3_USE_CLEW
#ifndef NO_OPENGL3
#include "../OpenCL/broadphase/PairBench.h"
#include "../OpenCL/rigidbody/GpuConvexScene.h"
#endif
#endif  //B3_USE_CLEW

//Extended Tutorial Includes Added by Mobeen and Benelot
#include "../ExtendedTutorials/SimpleBox.h"
#include "../ExtendedTutorials/MultipleBoxes.h"
#include "../ExtendedTutorials/CompoundBoxes.h"
#include "../ExtendedTutorials/SimpleJoint.h"
#include "../ExtendedTutorials/SimpleCloth.h"
#include "../ExtendedTutorials/Chain.h"
#include "../ExtendedTutorials/Bridge.h"
#include "../ExtendedTutorials/RigidBodyFromObj.h"
#include "../ExtendedTutorials/InclinedPlane.h"
#include "../ExtendedTutorials/NewtonsCradle.h"
#include "../ExtendedTutorials/NewtonsRopeCradle.h"
#include "../ExtendedTutorials/MultiPendulum.h"
#include "../Evolution/NN3DWalkers.h"

struct ExampleEntry
{
	int m_menuLevel;
	const char* m_name;
	const char* m_description;
	CommonExampleInterface::CreateFunc* m_createFunc;
	int m_option;

	ExampleEntry(int menuLevel, const char* name)
		: m_menuLevel(menuLevel), m_name(name), m_description(0), m_createFunc(0), m_option(0)
	{
	}

	ExampleEntry(int menuLevel, const char* name, const char* description, CommonExampleInterface::CreateFunc* createFunc, int option = 0)
		: m_menuLevel(menuLevel), m_name(name), m_description(description), m_createFunc(createFunc), m_option(option)
	{
	}
};

static ExampleEntry gDefaultExamples[] =
	{
		ExampleEntry(0, "API"),

		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),

		ExampleEntry(1, "Motorized Hinge", "Use of a btHingeConstraint. You can adjust the first slider to change the target velocity, and the second slider to adjust the maximum impulse applied to reach the target velocity. Note that the hinge angle can reach beyond -360 and 360 degrees.", ConstraintCreateFunc),
		ExampleEntry(1, "TestHingeTorque", "Apply a torque in the hinge axis. This example uses a btHingeConstraint and btRigidBody. The setup is similar to the multi body example TestJointTorque.",
					 TestHingeTorqueCreateFunc),
		//	ExampleEntry(0,"What's new in 2.83"),

		ExampleEntry(1, "6DofSpring2", "Show the use of the btGeneric6DofSpring2Constraint. This is a replacement of the btGeneric6DofSpringConstraint, it has various improvements. This includes improved spring implementation and better control over the restitution (bounce) when the constraint hits its limits.",
					 Dof6Spring2CreateFunc),

		ExampleEntry(1, "Motor Demo", "Dynamic control the target velocity of a motor of a btHingeConstraint. This demo makes use of the 'internal tick callback'. You can press W for wireframe, C and L to visualize constraint frame and limits.", MotorControlCreateFunc),

		ExampleEntry(1, "Gyroscopic", "Show the Dzhanibekov effect using various settings of the gyroscopic term. You can select the gyroscopic term computation using btRigidBody::setFlags, with arguments BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT (using explicit integration, which adds energy and can lead to explosions), BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD, BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY. If you don't set any of these flags, there is no gyroscopic term used.", GyroscopicCreateFunc),

		ExampleEntry(1, "Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", RigidBodySoftContactCreateFunc),
    ExampleEntry(1, "Kinematic Body", "Let the user set the transform, the physics engine computes the velocity for one-way contact and friction interaction.", KinematicRigidBodyExampleCreateFunc),

		ExampleEntry(0, "MultiBody"),
		ExampleEntry(1, "MultiDof", "Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
		ExampleEntry(1, "TestJointTorque", "Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
		ExampleEntry(1, "TestPendulum", "Simulate a pendulum using btMultiBody with a constant joint torque applied. The same code is also used as a unit test comparing Bullet with the numerical solution of second-order non-linear differential equation stored in pendulum_gold.h", TestPendulumCreateFunc),

		ExampleEntry(1, "Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
		ExampleEntry(1, "Inverted Pendulum PD", "Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
		ExampleEntry(1, "MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", MultiBodySoftContactCreateFunc, 0),
    ExampleEntry(1, "Kinematic MultiBody", "Let the user set the transform, the physics engine computes the velocity for one-way contact and friction interaction.", KinematicMultiBodyExampleCreateFunc),

		ExampleEntry(0, "Physics Client-Server"),
		ExampleEntry(1, "Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.",
					 PhysicsServerCreateFuncBullet2),
		ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),

		ExampleEntry(1, "Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
					 PhysicsServerCreateFuncBullet2, PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
		ExampleEntry(1, "Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
					 PhysicsServerCreateFuncBullet2, PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
		ExampleEntry(1, "Graphics Server", "Create a graphics server.",GraphicsServerCreateFuncBullet),
		ExampleEntry(1, "Graphics Client", "Create a graphics client.", GraphicsClientCreateFunc),
		
					 //
		//	ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),


		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),
		ExampleEntry(1, "Inverse Dynamics Prog", "Create a btMultiBody programatically. 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_PROGRAMMATICALLY),

		ExampleEntry(0, "Inverse Kinematics"),
		ExampleEntry(1, "SDLS", "Selectively Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_SDLS),
		ExampleEntry(1, "DLS", "Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS),
		ExampleEntry(1, "DLS-SVD", "Damped Least Squares with Singular Value Decomposition by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS_SVD),

		ExampleEntry(1, "Jacobi Transpose", "Jacobi Transpose by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_JACOB_TRANS),
		ExampleEntry(1, "Jacobi Pseudo Inv", "Jacobi Pseudo Inverse Method by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_PURE_PSEUDO),

		ExampleEntry(0, "Tutorial"),
		ExampleEntry(1, "Constant Velocity", "Free moving rigid body, without external or constraint forces", TutorialCreateFunc, TUT_VELOCITY),
		ExampleEntry(1, "Gravity Acceleration", "Motion of a free falling rigid body under constant gravitational acceleration", TutorialCreateFunc, TUT_ACCELERATION),
		ExampleEntry(1, "Contact Computation", "Discrete Collision Detection for sphere-sphere", TutorialCreateFunc, TUT_COLLISION),
		ExampleEntry(1, "Solve Contact Constraint", "Compute and apply the impulses needed to satisfy non-penetrating contact constraints", TutorialCreateFunc, TUT_SOLVE_CONTACT_CONSTRAINT),
		ExampleEntry(1, "Spring constraint", "A rigid body with a spring constraint attached", Dof6ConstraintTutorialCreateFunc, 0),

		ExampleEntry(0, "Collision"),
		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, "Extreme Deformation", "Recovery from extreme deformation", LargeDeformationCreateFunc),
		ExampleEntry(1, "Colliding Test", "Volumetric deformable collide with rigid box", CollideCreateFunc),
        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),

		ExampleEntry(1, "Pressure", "Simulate 3d soft body using a pressure constraint.", SoftDemoCreateFunc, 1),
		ExampleEntry(1, "Volume", "Simulate 3d soft body using a volume constraint.", SoftDemoCreateFunc, 2),
		ExampleEntry(1, "Ropes", "Simulate ropes", SoftDemoCreateFunc, 3),
		ExampleEntry(1, "Rope Attach", "Simulate a rigid body connected to a rope.", SoftDemoCreateFunc, 4),
		ExampleEntry(1, "Cloth Attach", "A rigid body attached to a cloth.", SoftDemoCreateFunc, 5),
		ExampleEntry(1, "Sticks", "Show simulation of ropes fixed to the ground.", SoftDemoCreateFunc, 6),
		ExampleEntry(1, "Capsule Collision", "Collision detection between a capsule shape and cloth.", SoftDemoCreateFunc, 7),

		ExampleEntry(1, "Collide", "Soft body collision", SoftDemoCreateFunc, 8),
		ExampleEntry(1, "Collide 2", "Soft body collision", SoftDemoCreateFunc, 9),
		ExampleEntry(1, "Collide 3", "Soft body collision", SoftDemoCreateFunc, 10),
		ExampleEntry(1, "Impact", "Soft body impact", SoftDemoCreateFunc, 11),
		ExampleEntry(1, "Aero", "Rudimentary aero dynamics simulation", SoftDemoCreateFunc, 12),
		ExampleEntry(1, "Aero 2", "Rudimentary aero dynamics simulation", SoftDemoCreateFunc, 13),
		ExampleEntry(1, "Friction", "Simulate soft body friction with friction coefficients ranging from 0 to 1.", SoftDemoCreateFunc, 14),
		ExampleEntry(1, "Torus", "Simulate a soft body torus.", SoftDemoCreateFunc, 15),
		ExampleEntry(1, "Torus (Shape Match)", "Simulate a soft body torus using shape matching.", SoftDemoCreateFunc, 16),
		ExampleEntry(1, "Bunny", "Simulate the Stanford bunny as deformable object.", SoftDemoCreateFunc, 17),
		ExampleEntry(1, "Bunny (Shape Match)", "Simulate the Stanford bunny as deformable object including shape matching.", SoftDemoCreateFunc, 18),
		ExampleEntry(1, "Cutting", "Allow cutting of the soft body, by clicking on the cloth", SoftDemoCreateFunc, 19),
		ExampleEntry(1, "Cluster Deform", "Soft body collision detection using convex collision clusters.", SoftDemoCreateFunc, 20),
		ExampleEntry(1, "Cluster Collide1", "Collision detection between soft bodies using convex collision clusters.", SoftDemoCreateFunc, 21),
		ExampleEntry(1, "Cluster Collide2", "Collision detection between soft bodies using convex collision clusters.", SoftDemoCreateFunc, 22),
		ExampleEntry(1, "Cluster Socket", "Soft bodies connected by a point to point (ball-socket) constraints. This requires collision clusters, in order to define a frame of reference for the constraint.", SoftDemoCreateFunc, 23),
		ExampleEntry(1, "Cluster Hinge", "Soft bodies connected by a hinge constraints. This requires collision clusters, in order to define a frame of reference for the constraint.", SoftDemoCreateFunc, 24),
		ExampleEntry(1, "Cluster Combine", "Simulate soft bodies using collision clusters.", SoftDemoCreateFunc, 25),
		ExampleEntry(1, "Cluster Car", "Simulate the Stanford bunny by multiple soft bodies connected by constraints.", SoftDemoCreateFunc, 26),
		ExampleEntry(1, "Cluster Robot", "A rigid body base connected by soft body wheels, connected by constraints.", SoftDemoCreateFunc, 27),
		ExampleEntry(1, "Cluster Stack Soft", "Stacking of soft bodies.", SoftDemoCreateFunc, 28),
		ExampleEntry(1, "Cluster Stack Mixed", "Stacking of soft bodies and rigid bodies.", SoftDemoCreateFunc, 29),
		ExampleEntry(1, "Tetra Cube", "Simulate a volumetric soft body cube defined by tetrahedra.", SoftDemoCreateFunc, 30),
		ExampleEntry(1, "Tetra Bunny", "Simulate a volumetric soft body Stanford bunny defined by tetrahedra.", SoftDemoCreateFunc, 31),

#endif  //INCLUDE_CLOTH_DEMOS

		///we disable the benchmarks in debug mode, they are way too slow and benchmarking in debug mode is not recommended
		//#ifndef _DEBUG
		ExampleEntry(0, "Benchmarks"),
		ExampleEntry(1, "3000 boxes", "Benchmark a stack of 3000 boxes. It will stress the collision detection, a specialized box-box implementation based on the separating axis test, and the constraint solver. ", BenchmarkCreateFunc, 1),
		ExampleEntry(1, "1000 stack", "Benchmark a stack of 3000 boxes. It will stress the collision detection, a specialized box-box implementation based on the separating axis test, and the constraint solver. ",
					 BenchmarkCreateFunc, 2),
		ExampleEntry(1, "Ragdolls", "Benchmark the performance of the ragdoll constraints, btHingeConstraint and btConeTwistConstraint, in addition to capsule collision detection.", BenchmarkCreateFunc, 3),
		ExampleEntry(1, "Convex stack", "Benchmark the performance and stability of rigid bodies using btConvexHullShape.", BenchmarkCreateFunc, 4),
		ExampleEntry(1, "Prim vs Mesh", "Benchmark the performance and stability of rigid bodies using primitive collision shapes (btSphereShape, btBoxShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 5),
		ExampleEntry(1, "Convex vs Mesh", "Benchmark the performance and stability of rigid bodies using convex hull collision shapes (btConvexHullShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 6),
		ExampleEntry(1, "Raycast", "Benchmark the performance of the btCollisionWorld::rayTest. Note that currently the rays are not rendered.", BenchmarkCreateFunc, 7),
		ExampleEntry(1, "Convex Pack", "Benchmark the performance of the convex hull primitive.", BenchmarkCreateFunc, 8),
		ExampleEntry(1, "Heightfield", "Raycast against a btHeightfieldTerrainShape", HeightfieldExampleCreateFunc),
		//#endif

		ExampleEntry(0, "Importers"),
		ExampleEntry(1, "Import .bullet", "Load a binary .bullet file. The serialization mechanism can deal with versioning, differences in endianess, 32 and 64bit, double/single precision. It is easy to save a .bullet file, see the examples/Importers/ImportBullet/SerializeDemo.cpp for a code example how to export a .bullet file.", SerializeBulletCreateFunc),
		ExampleEntry(1, "Wavefront Obj", "Import a Wavefront .obj file", ImportObjCreateFunc, 0),
		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),
		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, ObjUseConvexHullForRendering),
		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, "Quake BSP", "Import a Quake .bsp file", ImportBspCreateFunc, 0),
		ExampleEntry(1, "COLLADA dae", "Import the geometric mesh data from a COLLADA file. This is used as part of the URDF importer. This loader can also be used to import collision geometry in general. ",
					 ImportColladaCreateFunc, 0),
		ExampleEntry(1, "STL", "Import the geometric mesh data from a STL file. This is used as part of the URDF importer. This loader can also be used to import collision geometry in general. ", ImportSTLCreateFunc, 0),
		ExampleEntry(1, "URDF (RigidBody)", "Import a URDF file, and create rigid bodies (btRigidBody) connected by constraints.", ImportURDFCreateFunc, 0),
		ExampleEntry(1, "URDF (MultiBody)", "Import a URDF file and create a single multibody (btMultiBody) with tree hierarchy of links (mobilizers).",
					 ImportURDFCreateFunc, 1),
		ExampleEntry(1, "MJCF (MultiBody)", "Import a MJCF xml file, create multiple multibodies etc", ImportMJCFCreateFunc),

		ExampleEntry(1, "SDF (MultiBody)", "Import an SDF file, create multiple multibodies etc", ImportSDFCreateFunc),

		ExampleEntry(0, "Vehicles"),
		ExampleEntry(1, "Hinge2 Vehicle", "A rigid body chassis with 4 rigid body wheels attached by a btHinge2Constraint", Hinge2VehicleCreateFunc),
		ExampleEntry(1, "ForkLift",
					 "Simulate a fork lift vehicle with a working fork lift that can be moved using the cursor keys. The wheels collision is simplified using ray tests."
					 "There are currently some issues with the wheel rendering, the wheels rotate when picking up the object."
					 "The demo implementation allows to choose various MLCP constraint solvers.",
					 ForkLiftCreateFunc),

		ExampleEntry(0, "Raycast"),
		ExampleEntry(1, "Raytest", "Cast rays using the btCollisionWorld::rayTest method. The example shows how to receive the hit position and normal along the ray against the first object. Also it shows how to receive all the hits along a ray.", RaytestCreateFunc),
		ExampleEntry(1, "Raytracer", "Implement an extremely simple ray tracer using the ray trace functionality in btCollisionWorld.",
					 RayTracerCreateFunc),

		ExampleEntry(0, "Experiments"),

		ExampleEntry(1, "Robot Control", "Create a physics client and server to create and control robots.",
					 PhysicsClientCreateFunc, eCLIENTEXAMPLE_SERVER),

		ExampleEntry(1, "R2D2 Grasp", "Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP),
		ExampleEntry(1, "Kuka IK", "Control a Kuka IIWA robot to follow a target using IK. This IK is not setup properly yet.", KukaGraspExampleCreateFunc, 0),
		ExampleEntry(1, "URDF Compliant Contact", "Work-in-progress, experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_COMPLIANT_CONTACT),
		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),
		ExampleEntry(1, "Softbody Multibody Coupling", "Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
#endif  //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD

#ifdef ENABLE_LUA
		ExampleEntry(1, "Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",
					 LuaDemoCreateFunc),
#endif
		ExampleEntry(1, "MultiThreading (submitJob)", "Simple example of executing jobs across multiple threads.",
					 MultiThreadingExampleCreateFunc, SINGLE_SIM_THREAD),

		ExampleEntry(1, "Voronoi Fracture", "Automatically create a compound rigid body using voronoi tesselation. Individual parts are modeled as rigid bodies using a btConvexHullShape.",
					 VoronoiFractureCreateFunc),

		ExampleEntry(1, "Fracture demo", "Create a basic custom implementation to model fracturing objects, based on a btCompoundShape. It explicitly propagates the collision impulses and breaks the rigid body into multiple rigid bodies. Press F to toggle fracture and glue mode.", FractureDemoCreateFunc),

		ExampleEntry(1, "Planar 2D", "Show the use of 2D collision shapes and rigid body simulation. The collision shape is wrapped into a btConvex2dShape. The rigid bodies are restricted in a plane using the 'setAngularFactor' and 'setLinearFactor' API call.", Planar2DCreateFunc),
#if BT_THREADSAFE
		// only enable MultiThreaded demo if a task scheduler is available
		ExampleEntry(1, "Multithreaded Demo",
					 "Stacks of boxes that do not sleep. Good for testing performance with large numbers of bodies and contacts. Sliders can be used to change the number of stacks (restart needed after each change).",
					 MultiThreadedDemoCreateFunc),
#endif

		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, "TinyRenderer", "Very small software renderer.", TinyRendererCreateFunc),
		ExampleEntry(1, "Dynamic Texture", "Dynamic updated textured applied to a cube.", DynamicTexturedCubeDemoCreateFunc),

#ifdef B3_ENABLE_TINY_AUDIO
		ExampleEntry(0, "Audio"),
		ExampleEntry(1, "Simple Audio", "Play some sound", TinyAudioExampleCreateFunc),
#endif

		//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", "Add multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc),
		ExampleEntry(1, "Compound Boxes", "Add multiple boxes to a single CompoundShape to form a simple rigid L-beam, that falls under gravity", ET_CompoundBoxesCreateFunc),
		ExampleEntry(1, "Simple Joint", "Create a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc),
		ExampleEntry(1, "Simple Cloth", "Create a simple piece of cloth", ET_SimpleClothCreateFunc),
		ExampleEntry(1, "Simple Chain", "Create 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", "Create a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc),
		ExampleEntry(1, "Inclined Plane", "Create an inclined plane to show restitution and different types of friction. Use the sliders to vary restitution and friction and press space to reset the scene.", ET_InclinedPlaneCreateFunc),
		ExampleEntry(1, "Newton's Cradle", "Create a Newton's Cradle using a pair of point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula, the number of displaced pendula and apply the displacement force.", ET_NewtonsCradleCreateFunc),
		ExampleEntry(1, "Newton's Rope Cradle", "Create a Newton's Cradle using ropes. Press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula and the number of displaced pendula and apply the displacement force.", ET_NewtonsRopeCradleCreateFunc),
		ExampleEntry(1, "Multi-Pendulum", "Create a Multi-Pendulum using point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula, the number of displaced pendula and apply the displacement force.", ET_MultiPendulumCreateFunc),

		ExampleEntry(9, "Evolution"),
		ExampleEntry(1, "Neural Network 3D Walkers", "A simple example of using evolution to make a creature walk.", ET_NN3DWalkersCreateFunc),

		//todo: create a category/tutorial about advanced topics, such as optimizations, using different collision detection algorithm, different constraint solvers etc.
		//ExampleEntry(0,"Advanced"),
		//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),

};

#ifdef B3_USE_CLEW
#ifndef NO_OPENGL3
static ExampleEntry gOpenCLExamples[] =
	{
		ExampleEntry(0, "OpenCL (experimental)"),
		ExampleEntry(1, "Box-Box", "Full OpenCL implementation of the entire physics and collision detection pipeline, showing box-box rigid body",
					 OpenCLBoxBoxCreateFunc),
		ExampleEntry(1, "Pair Bench", "Benchmark of overlapping pair search using OpenCL.", PairBenchOpenCLCreateFunc),

};
#endif
#endif  //
static btAlignedObjectArray<ExampleEntry> gAdditionalRegisteredExamples;

struct ExampleEntriesInternalData
{
	btAlignedObjectArray<ExampleEntry> m_allExamples;
};

ExampleEntriesAll::ExampleEntriesAll()
{
	m_data = new ExampleEntriesInternalData;
}

ExampleEntriesAll::~ExampleEntriesAll()
{
	delete m_data;
}

void ExampleEntriesAll::initOpenCLExampleEntries()
{
#ifdef B3_USE_CLEW
#ifndef NO_OPENGL3
	int numDefaultEntries = sizeof(gOpenCLExamples) / sizeof(ExampleEntry);
	for (int i = 0; i < numDefaultEntries; i++)
	{
		m_data->m_allExamples.push_back(gOpenCLExamples[i]);
	}
#endif
#endif  //B3_USE_CLEW
}

void ExampleEntriesAll::initExampleEntries()
{
	m_data->m_allExamples.clear();

	for (int i = 0; i < gAdditionalRegisteredExamples.size(); i++)
	{
		m_data->m_allExamples.push_back(gAdditionalRegisteredExamples[i]);
	}

	int numDefaultEntries = sizeof(gDefaultExamples) / sizeof(ExampleEntry);
	for (int i = 0; i < numDefaultEntries; i++)
	{
		m_data->m_allExamples.push_back(gDefaultExamples[i]);
	}

	if (m_data->m_allExamples.size() == 0)
	{
		{
			ExampleEntry e(0, "Empty");
			m_data->m_allExamples.push_back(e);
		}

		{
			ExampleEntry e(1, "Empty", "Empty Description", EmptyExample::CreateFunc);
			m_data->m_allExamples.push_back(e);
		}
	}
}

void ExampleEntriesAll::registerExampleEntry(int menuLevel, const char* name, const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
{
	ExampleEntry e(menuLevel, name, description, createFunc, option);
	gAdditionalRegisteredExamples.push_back(e);
}

int ExampleEntriesAll::getNumRegisteredExamples()
{
	return m_data->m_allExamples.size();
}

CommonExampleInterface::CreateFunc* ExampleEntriesAll::getExampleCreateFunc(int index)
{
	return m_data->m_allExamples[index].m_createFunc;
}

int ExampleEntriesAll::getExampleOption(int index)
{
	return m_data->m_allExamples[index].m_option;
}

const char* ExampleEntriesAll::getExampleName(int index)
{
	return m_data->m_allExamples[index].m_name;
}

const char* ExampleEntriesAll::getExampleDescription(int index)
{
	return m_data->m_allExamples[index].m_description;
}