GlutDemoApplication

class RagdollDemo : public GlutDemoApplication
{
    //keep the collision shapes, for deletion/cleanup
    btAlignedObjectArray<btCollisionShape*> m_collisionShapes;

    btBroadphaseInterface * m_broadphase;
    btCollisionDispatcher * m_dispatcher;
    btConstraintSolver    * m_solver;
    btDefaultCollisionConfiguration * m_collisionConfiguration;

    // one main body,
    // 4x2 leg segments,
    // one north marker,
    // 4 ball elbows.
    btCollisionShape  * geom[42];
    btHingeConstraint * joints[8];
    btFixedConstraint * welds[4];
    btCollisionObject * fixedGround;

    int IDs[45];
    bool oneStep;
    bool pause;
    double globaljointA;
    double currjointA[8];
    unsigned long int simtick;

    double touchsensor[4];


public:
    btRigidBody       * body[42];
    double weights[4][8];
    bool OPTdrawgraphics;
    bool OPTloadbestweights;
    char OPTbestweightsfile[80];
    int touches[43];
    btVector3 touchPoints[43];
    unsigned long int timeStep;
    int threadID;
    bool position_sane;

public:
    void initPhysics();
    void exitPhysics();

    virtual ~RagdollDemo()
    {
        exitPhysics();
    }

    virtual void clientMoveAndDisplay();
    virtual void displayCallback();
    virtual void keyboardCallback(unsigned char key, int x, int y);

    static DemoApplication* Create()
    {
        RagdollDemo* demo = new RagdollDemo();
        demo->myinit();
        demo->initPhysics();
        return demo;
    }

     virtual void renderme() {
        extern GLDebugDrawer gDebugDrawer;
        // Call the parent method.
        GlutDemoApplication::renderme();
     }

    void CreateBox(
        int index,
        double x,       double y,       double z,
        double length,  double width,   double height );

    void CreateCylinder(
        int index,
        double x,       double y,       double z,
        double length,  double width,   double height,
        double xrot ,   double yrot ,   double zrot );

    void CreateSphere(
        int index,
        double x,       double y,       double z,
        double radius );

    void BuildWallofCans(void);

    void CreateHinge(int index,
                     int body1, int body2,
                     double x, double y, double z,
                     double ax, double ay, double az);

    void CreateWeld(int index,
                     int body1, int body2 );

    void DeleteObject( int index );
    void DestroyHinge( int index );
    void DestroyWeld(  int index );

    void ActuateJoint(  int jointIndex, double desiredAngle,
                        double jointOffset, double timeStep);

    void ActuateJoint2( int jointIndex, double desiredAngle,
                        double jointOffset, double timeStep);

    btVector3 PointWorldToLocal(int index, btVector3 &p);
    btVector3 AxisWorldToLocal( int index, btVector3 &a);
    double ConvertActuatorToJoint(int index, double actang);
    double RandomJoint(void);
    double RandomWeight(void);
    void ConsoleFloat(double cf);
    void ConsoleTouches(void);
    int GetFileWeights(char * GFWname );
    int SavePosition( btRigidBody * spbody, char * SPname );
    void WeightFileHandler(void);
    double Fitness(void);
    void AssignToCallback(void);
    bool SanityCheck(double maxbound);
    inline bool airborne(void);
};

inline bool RagdollDemo::airborne(void)
{
    return( (touches[5]==0) && (touches[6]==0) &&  (touches[7]==0) &&(touches[8]==0)    );
}