1) Updated to bullet 2.66, which (among others)

- fixes the bug of resetting the forces after each internal simulation step,
     causing slower physics behaviour on slower FPS.
   - improves raycast performance
2) Added script to copy all necessary source files from a full bullet installation
   into STK.


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@1374 178a84e3-b1eb-0310-8ba1-8eac791a3b58

src/bullet/ChangeLog.txt

@@ -1,6 +1,79 @@
 Bullet Continuous Collision Detection and Physics Library
 Primary author and maintainer: Erwin Coumans
 
+2007 Dec 16
+	- Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.
+	Thanks Vangelis Kokkevis for pointing this out.
+	- Fixed memoryleak in the ConstraintDemo and Raytracer demo.
+	- Fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
+	Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
+	- Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
+	- Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this).
+	User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
+
+2007 Dec 14
+	- Added Hello World and BulletMultiThreaded demos
+	- Add portable version of BulletMultiThreaded, through SequentialThreadSupport (non-parallel but sharing the same code-path)
+	- Add Cmake support for AllBulletDemos
+	
+
+2007 Dec 11
+	- Moved the 'btRigidBody::clearForce' to the end of the stepSimulation, instead of in each substep.
+	See discussion http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1601
+	- Added btConvexPlaneCollisionAlgorithm, makes planes perform better, and prevents tunneling
+	Thanks Andy O'Neil for reporting the performance/functionality issue
+	- Fixes for IBM Cell SDK 3.0
+	Thanks to Jochen Roth for the patch.
+
+2007 Dec 10
+	- Fixes in btHeightfieldTerrainShape
+	Thanks to Jay Lee for the patch.
+
+2007	Dec 9
+	- Only update aabb of active objects
+	Thanks Peter Tchernev for reporting (http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1764 )
+	- Added workaround to compile libxml under Visual Studio 2008 Beta 2
+	- Make glui compile under MSVC 9.0 beta (vsnprintf is already defined)
+
+2007 Dec 6
+	- Added DynamicControlDemo, showing dynamic control through constraint motors
+		Thanks to Eddy Boxerman
+	- Add support for generic concave shapes for convex cast.
+	- Added convex cast query to collision world.
+	- Added workaround for OpenGL bug in Mac OS X 10.5.0 (Leopard)
+	- Added concave raycast demo
+		All above thanks to John McCutchan (JMC)
+	- Fixed issues that prevent Linux version to compile. 
+	Thanks to Enrico for reporting and patch, see
+	- Fixed misleading name 'numTriangleIndices' into 'numTriangles'
+	Thanks Sean Tasker for reporting:
+
+2007 Nov 28:
+	- Added raycast against trianglemesh. Will be extended to object cast soon.
+	Thanks John McCutchan (JMC)
+	- make getNumPoints const correct, add const getPoints(). 
+	Thanks Dirk Gregorius
+	- Bugfix: allow btCollisionObjects (non-btRigidBody) to interact properly with btRigidBody for cache-friendly btSequentialImpulseConstraintSolver.
+	Thanks Andy O'Neil for pointing this out.
+	- Bugfix: don't fail if spheres have identical center, use arbitrary separating normal (1,0,0)
+	Thanks Sean Tasker for reporting! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1681
+
+
+2007, November 20
+	- Added hierarchical profiling
+	- Fixed memory leak in btMultiSapBroadphase,
+	- Fixed hash function (typo, should use 2 proxies)
+	Thanks to Stephen (shatcher) for reporting and fixes! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1696
+
+2007 Nov 11
+	- Fixed parallel solver (BulletMultiThreaded) friction issue
+	- Terminate Win32 Threads when closing the CcdPhysicsDemo (when USE_PARALLEL_SOLVER/USE_PARALLEL_DISPATCHER is defined)
+
+2007 Nov 6
+	- Added support for 16-bit indices for triangle meshes
+	- Added support for multiple mesh parts using btBvhTriangleMeshShape.
+	Thanks to Tim Johansson
+	
 2007 Oct 22
 	- All memory allocations go through btAlignedAlloc/btAlignedFree. User can override this to verify memory leaks
 	- added a few more demos to AllBulletDemos

src/bullet/Demos/OpenGL/DemoApplication.cpp

@@ -29,6 +29,7 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btDefaultMotionState.h"
 
+
 #include "BMF_Api.h"
 
 extern bool gDisableDeactivation;
@@ -71,12 +72,15 @@ m_shootBoxShape(0),
 	m_singleStep(false),
 	m_idle(false)
 {
+	m_profileIterator = CProfileManager::Get_Iterator();
 }
 
 
 
 DemoApplication::~DemoApplication()
 {
+
+	CProfileManager::Release_Iterator(m_profileIterator);
 	if (m_shootBoxShape)
 		delete m_shootBoxShape;
 
@@ -231,8 +235,6 @@ void DemoApplication::reshape(int w, int h)
 }
 
 
-
-
 void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 {
 	(void)x;
@@ -240,9 +242,27 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 
 		m_lastKey = 0;
 
+        if (key >= 0x31 && key < 0x37)
+        {
+                int child = key-0x31;
+                m_profileIterator->Enter_Child(child);
+        }
+        if (key==0x30)
+        {
+                m_profileIterator->Enter_Parent();
+        }
+
+
     switch (key) 
     {
-    case 'q' : exit(0); break;
+    case 'q' : 
+#ifdef BT_USE_FREEGLUT
+		//return from glutMainLoop(), detect memory leaks etc.
+		glutLeaveMainLoop();
+#else
+		exit(0);
+#endif
+		break;
 
     case 'l' : stepLeft(); break;
     case 'r' : stepRight(); break;
@@ -469,7 +489,7 @@ void	DemoApplication::shootBox(const btVector3& destination)
 
 	if (m_dynamicsWorld)
 	{
-		float mass = 100.f;
+		float mass = 10.f;
 		btTransform startTransform;
 		startTransform.setIdentity();
 		btVector3 camPos = getCameraPosition();
@@ -482,7 +502,7 @@ void	DemoApplication::shootBox(const btVector3& destination)
 		btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
 		m_shootBoxShape = new btUniformScalingShape(childShape,0.5f);
 #else
-		m_shootBoxShape = new btBoxShape(btVector3(0.5f,0.5f,0.5f));
+		m_shootBoxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
 #endif//
 		}
 
@@ -716,7 +736,7 @@ btRigidBody*	DemoApplication::localCreateRigidBody(float mass, const btTransform
 #define USE_MOTIONSTATE 1
 #ifdef USE_MOTIONSTATE
 	btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
-	btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
+	btRigidBody* body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,shape,localInertia));
 
 #else
 	btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);	
@@ -756,6 +776,88 @@ void DemoApplication::resetPerspectiveProjection()
 }
 
 
+
+
+extern CProfileIterator * m_profileIterator;
+
+void DemoApplication::displayProfileString(int xOffset,int yStart,char* message)
+{
+	glRasterPos3f(xOffset,yStart,0);
+	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),message);
+}
+
+
+void DemoApplication::showProfileInfo(float& xOffset,float& yStart, float yIncr)
+{
+
+	static double time_since_reset = 0.f;
+	if (!m_idle)
+	{
+			time_since_reset = CProfileManager::Get_Time_Since_Reset();
+	}
+
+
+	{
+		//recompute profiling data, and store profile strings
+
+		char blockTime[128];
+
+		double totalTime = 0;
+		
+		int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
+
+		m_profileIterator->First();
+
+		double parent_time = m_profileIterator->Is_Root() ? time_since_reset : m_profileIterator->Get_Current_Parent_Total_Time();
+
+		{
+			sprintf(blockTime,"--- Profiling: %s (total running time: %.3f ms) ---",	m_profileIterator->Get_Current_Parent_Name(), parent_time );
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+			sprintf(blockTime,"press number (1,2...) to display child timings, or 0 to go up to parent" );
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+
+		}
+
+
+		double accumulated_time = 0.f;
+
+		for (int i = 0; !m_profileIterator->Is_Done(); m_profileIterator->Next())
+		{
+			double current_total_time = m_profileIterator->Get_Current_Total_Time();
+			accumulated_time += current_total_time;
+			double fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
+
+			sprintf(blockTime,"%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)",
+				++i, m_profileIterator->Get_Current_Name(), fraction,
+				(current_total_time / (double)frames_since_reset),m_profileIterator->Get_Current_Total_Calls());
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+			totalTime += current_total_time;
+		}
+
+		sprintf(blockTime,"%s (%.3f %%) :: %.3f ms", "Unaccounted",
+			// (min(0, time_since_reset - totalTime) / time_since_reset) * 100);
+			parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
+
+		displayProfileString(xOffset,yStart,blockTime);
+		yStart += yIncr;
+
+
+
+		sprintf(blockTime,"-------------------------------------------------");
+		displayProfileString(xOffset,yStart,blockTime);
+		yStart += yIncr;
+
+	}
+
+
+
+
+}
+
+
 void DemoApplication::renderme()
 {
 	updateCamera();
@@ -823,6 +925,8 @@ void DemoApplication::renderme()
 				{
 				setOrthographicProjection();
 
+				showProfileInfo(xOffset,yStart,yIncr);
+
 	#ifdef USE_QUICKPROF
 
 

src/bullet/Demos/OpenGL/DemoApplication.h

@@ -17,18 +17,7 @@ subject to the following restrictions:
 #define DEMO_APPLICATION_H
 
 
-#ifdef WIN32//for glut.h
+#include "GlutStuff.h"
-#include <windows.h>
-#endif
-
-//think different
-#if defined(__APPLE__) && !defined (VMDMESA)
-#include <OpenGL/gl.h>
-#include <OpenGL/glu.h>
-#include <GLUT/glut.h>
-#else
-#include <GL/glut.h>
-#endif
 
 #include <stdlib.h>
 #include <stdio.h>
@@ -39,15 +28,21 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btQuickprof.h"
+#include "LinearMath/btAlignedObjectArray.h"
 
 class	btCollisionShape;
 class	btDynamicsWorld;
 class	btRigidBody;
 class	btTypedConstraint;
 
+
+
+
 class DemoApplication
 {
-	
+	void	displayProfileString(int xOffset,int yStart,char* message);
+	class CProfileIterator* m_profileIterator;
+
 	protected:
 
 	btClock m_clock;
@@ -82,7 +77,10 @@ class DemoApplication
 	bool m_singleStep;
 	bool m_idle;
 	int m_lastKey;
-	
+
+	void showProfileInfo(float& xOffset,float& yStart, float yIncr);
+
+
 public:
 		
 	DemoApplication();

src/bullet/Demos/OpenGL/GlutStuff.cpp

@@ -66,7 +66,6 @@ static void glutDisplayCallback(void)
 }
 
 
-
 int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp) {
     
 	gDemoApplication = demoApp;
@@ -76,7 +75,10 @@ int glutmain(int argc, char **argv,int width,int height,const char* title,DemoAp
     glutInitWindowPosition(0, 0);
     glutInitWindowSize(width, height);
     glutCreateWindow(title);
-	
+#ifdef BT_USE_FREEGLUT
+	glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
+#endif
+
     gDemoApplication->myinit();
 
 	glutKeyboardFunc(glutKeyboardCallback);

src/bullet/Demos/OpenGL/GlutStuff.h

@@ -15,6 +15,24 @@ subject to the following restrictions:
 #ifndef GLUT_STUFF_H
 #define GLUT_STUFF_H
 
+#ifdef WIN32//for glut.h
+#include <windows.h>
+#endif
+
+//think different
+#if defined(__APPLE__) && !defined (VMDMESA)
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#include <GLUT/glut.h>
+#else
+#include <GL/glut.h>
+#endif
+
+#if BT_USE_FREEGLUT
+#include "GL/freeglut_ext.h" //to be able to return from glutMainLoop()
+#endif
+
+
 class DemoApplication;
 
 int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp);

src/bullet/VERSION

@@ -1,3 +1,3 @@
-Bullet Collision Detection and Physics Library version 2.64
+Bullet Collision Detection and Physics Library version 2.66
 http://bullet.sourceforge.net
 

src/bullet/copy_bullet_files

@@ -0,0 +1,28 @@
+LOCATION=$1
+cp $LOCATION/AUTHORS .
+cp $LOCATION/BulletLicense.txt .
+cp $LOCATION/ChangeLog.txt .
+cp $LOCATION/LICENSE .
+cp $LOCATION/Makefile.am  .
+cp $LOCATION/README .
+cp $LOCATION/VERSION .
+cp $LOCATION/src/*.h src
+cp $LOCATION/src/LinearMath/*.h   src/LinearMath/
+cp $LOCATION/src/LinearMath/*.cpp src/LinearMath/
+cp $LOCATION/src/BulletCollision/BroadphaseCollision/*.h     src/BulletCollision/BroadphaseCollision
+cp $LOCATION/src/BulletCollision/BroadphaseCollision/*.cpp   src/BulletCollision/BroadphaseCollision
+cp $LOCATION/src/BulletCollision/CollisionDispatch/*.h       src/BulletCollision/CollisionDispatch
+cp $LOCATION/src/BulletCollision/CollisionDispatch/*.cpp     src/BulletCollision/CollisionDispatch
+cp $LOCATION/src/BulletCollision/CollisionShapes/*.h         src/BulletCollision/CollisionShapes
+cp $LOCATION/src/BulletCollision/CollisionShapes/*.cpp       src/BulletCollision/CollisionShapes
+cp $LOCATION/src/BulletCollision/NarrowPhaseCollision/*.h    src/BulletCollision/NarrowPhaseCollision
+cp $LOCATION/src/BulletCollision/NarrowPhaseCollision/*.cpp  src/BulletCollision/NarrowPhaseCollision
+cp $LOCATION/src/BulletDynamics/ConstraintSolver/*.h   src/BulletDynamics/ConstraintSolver
+cp $LOCATION/src/BulletDynamics/ConstraintSolver/*.cpp src/BulletDynamics/ConstraintSolver
+cp $LOCATION/src/BulletDynamics/Dynamics/*.h           src/BulletDynamics/Dynamics
+cp $LOCATION/src/BulletDynamics/Dynamics/*.cpp         src/BulletDynamics/Dynamics
+cp $LOCATION/src/BulletDynamics/Vehicle/*.h            src/BulletDynamics/Vehicle
+cp $LOCATION/src/BulletDynamics/Vehicle/*.cpp          src/BulletDynamics/Vehicle
+cp $LOCATION/Demos/OpenGL/*.h Demos/OpenGL
+cp $LOCATION/Demos/OpenGL/*.cpp Demos/OpenGL
+

src/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp

@@ -80,7 +80,7 @@ btBroadphaseProxy*	btMultiSapBroadphase::createProxy(  const btVector3& aabbMin,
 	simpleProxy->m_multiSapParentProxy = proxy;
 
 	mem = btAlignedAlloc(sizeof(btChildProxy),16);
-	btChildProxy* childProxyRef = new btChildProxy();
+	btChildProxy* childProxyRef = new(mem) btChildProxy();
 	childProxyRef->m_proxy = simpleProxy;
 	childProxyRef->m_childBroadphase = m_simpleBroadphase;
 	proxy->m_childProxies.push_back(childProxyRef);

src/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h

@@ -177,7 +177,7 @@ private:
 	
 	SIMD_FORCE_INLINE	unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
 	{
-		int key = ((unsigned int)proxyId1) | (((unsigned int)proxyId1) <<16);
+		int key = ((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16);
 		// Thomas Wang's hash
 
 		key += ~(key << 15);

src/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp

@@ -14,8 +14,8 @@ subject to the following restrictions:
 */
 
 #include "btSimpleBroadphase.h"
-#include <BulletCollision/BroadphaseCollision/btDispatcher.h>
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h>
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"

src/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -35,6 +35,7 @@ int gNumManifold = 0;
 btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration): 
 	m_count(0),
 	m_useIslands(true),
+	m_staticWarningReported(false),
 	m_collisionConfiguration(collisionConfiguration)
 {
 	int i;
@@ -117,7 +118,7 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
 	manifold->~btPersistentManifold();
 	if (m_persistentManifoldPoolAllocator->validPtr(manifold))
 	{
-		m_persistentManifoldPoolAllocator->free(manifold);
+		m_persistentManifoldPoolAllocator->freeMemory(manifold);
 	} else
 	{
 		btAlignedFree(manifold);
@@ -161,13 +162,19 @@ bool	btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
 
 	bool needsCollision = true;
 
-	//broadphase filtering already deals with this
+#ifdef BT_DEBUG
-	if ((body0->isStaticObject() || body0->isKinematicObject()) &&
+	if (!m_staticWarningReported)
-		(body1->isStaticObject() || body1->isKinematicObject()))
 	{
-		printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
+		//broadphase filtering already deals with this
+		if ((body0->isStaticObject() || body0->isKinematicObject()) &&
+			(body1->isStaticObject() || body1->isKinematicObject()))
+		{
+			m_staticWarningReported = true;
+			printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
+		}
 	}
-		
+#endif //BT_DEBUG
+
 	if ((!body0->isActive()) && (!body1->isActive()))
 		needsCollision = false;
 	else if (!body0->checkCollideWith(body1))
@@ -279,7 +286,7 @@ void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
 {
 	if (m_collisionAlgorithmPoolAllocator->validPtr(ptr))
 	{
-		m_collisionAlgorithmPoolAllocator->free(ptr);
+		m_collisionAlgorithmPoolAllocator->freeMemory(ptr);
 	} else
 	{
 		btAlignedFree(ptr);

src/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h

@@ -47,6 +47,8 @@ class btCollisionDispatcher : public btDispatcher
 	btAlignedObjectArray<btPersistentManifold*>	m_manifoldsPtr;
 
 	bool m_useIslands;
+
+	bool	m_staticWarningReported;
 	
 	btManifoldResult	m_defaultManifoldResult;
 

src/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -19,11 +19,13 @@ subject to the following restrictions:
 btCollisionObject::btCollisionObject()
 	:	m_broadphaseHandle(0),
 		m_collisionShape(0),
-		m_collisionFlags(0),
+		m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
 		m_islandTag1(-1),
 		m_companionId(-1),
 		m_activationState1(1),
 		m_deactivationTime(btScalar(0.)),
+		m_friction(btScalar(0.5)),
+		m_restitution(btScalar(0.)),
 		m_userObjectPointer(0),
 		m_internalOwner(0),
 		m_hitFraction(btScalar(1.)),

src/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -20,7 +20,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 
 #include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
-#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" //for raycasting
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
 #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
@@ -32,6 +32,7 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btStackAlloc.h"
 
+
 //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
@@ -40,7 +41,8 @@ subject to the following restrictions:
 
 btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
 :m_dispatcher1(dispatcher),
-m_broadphasePairCache(pairCache)
+m_broadphasePairCache(pairCache),
+m_debugDrawer(0)
 {
 	m_stackAlloc = collisionConfiguration->getStackAllocator();
 	m_dispatchInfo.m_stackAllocator = m_stackAlloc;
@@ -111,36 +113,68 @@ void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
 
 }
 
+void	btCollisionWorld::updateAabbs()
+{
+	BT_PROFILE("updateAabbs");
+	
+	btTransform predictedTrans;
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		
+		//only update aabb of active objects
+		if (colObj->isActive())
+		{
+			btPoint3 minAabb,maxAabb;
+			colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+			btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
+
+			//moving objects should be moderately sized, probably something wrong if not
+			if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
+			{
+				bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
+			} else
+			{
+				//something went wrong, investigate
+				//this assert is unwanted in 3D modelers (danger of loosing work)
+				colObj->setActivationState(DISABLE_SIMULATION);
+				
+				static bool reportMe = true;
+				if (reportMe && m_debugDrawer)
+				{
+					reportMe = false;
+					m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
+					m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
+					m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
+					m_debugDrawer->reportErrorWarning("Thanks.\n");
+				}
+			}
+		}
+	}
+	
+}
 
 
 
 void	btCollisionWorld::performDiscreteCollisionDetection()
 {
+	BT_PROFILE("performDiscreteCollisionDetection");
+
 	btDispatcherInfo& dispatchInfo = getDispatchInfo();
 
-	BEGIN_PROFILE("perform Broadphase Collision Detection");
+	updateAabbs();
 
-
-	//update aabb (of all moved objects)
-
-	btVector3 aabbMin,aabbMax;
-	for (int i=0;i<m_collisionObjects.size();i++)
 	{
-		m_collisionObjects[i]->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),aabbMin,aabbMax);
+		m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
-		m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax,m_dispatcher1);
 	}
 
-	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
-	
-	END_PROFILE("perform Broadphase Collision Detection");
-
-	BEGIN_PROFILE("performDiscreteCollisionDetection");
 
 	btDispatcher* dispatcher = getDispatcher();
-	if (dispatcher)
+	{
-		dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
+		BT_PROFILE("dispatchAllCollisionPairs");
-
+		if (dispatcher)
-	END_PROFILE("performDiscreteCollisionDetection");
+			dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
+	}
 
 }
 
@@ -180,155 +214,367 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 					  const btTransform& colObjWorldTransform,
 					  RayResultCallback& resultCallback,short int collisionFilterMask)
 {
-	
 	btSphereShape pointShape(btScalar(0.0));
 	pointShape.setMargin(0.f);
-
+	const btConvexShape* castShape = &pointShape;
-	objectQuerySingle(&pointShape,rayFromTrans,rayToTrans,
-					  collisionObject,
-					  collisionShape,
-					  colObjWorldTransform,
-					  resultCallback,collisionFilterMask);
-}
-
-void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& rayFromTrans,const btTransform& rayToTrans,
-					  btCollisionObject* collisionObject,
-					  const btCollisionShape* collisionShape,
-					  const btTransform& colObjWorldTransform,
-					  RayResultCallback& resultCallback,short int collisionFilterMask)
-{
-	
 
 	if (collisionShape->isConvex())
-			{
+	{
-				btConvexCast::CastResult castResult;
+		btConvexCast::CastResult castResult;
-				castResult.m_fraction = btScalar(1.);//??
+		castResult.m_fraction = resultCallback.m_closestHitFraction;
 
-				btConvexShape* convexShape = (btConvexShape*) collisionShape;
+		btConvexShape* convexShape = (btConvexShape*) collisionShape;
-				btVoronoiSimplexSolver	simplexSolver;
+		btVoronoiSimplexSolver	simplexSolver;
-#define  USE_SUBSIMPLEX_CONVEX_CAST 1
+#define USE_SUBSIMPLEX_CONVEX_CAST 1
 #ifdef USE_SUBSIMPLEX_CONVEX_CAST
 				btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
 #else
-				//btGjkConvexCast	convexCaster(castShape,convexShape,&simplexSolver);
+		//btGjkConvexCast	convexCaster(castShape,convexShape,&simplexSolver);
-				//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
+		//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
 #endif //#USE_SUBSIMPLEX_CONVEX_CAST
 			
-				if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
+		if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
+		{
+			//add hit
+			if (castResult.m_normal.length2() > btScalar(0.0001))
+			{				
+				if (castResult.m_fraction < resultCallback.m_closestHitFraction)
 				{
-					//add hit
-					if (castResult.m_normal.length2() > btScalar(0.0001))
-					{
-						
-						if (castResult.m_fraction < resultCallback.m_closestHitFraction)
-						{
 #ifdef USE_SUBSIMPLEX_CONVEX_CAST
-							//rotate normal into worldspace
+					//rotate normal into worldspace
-							castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
+					castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
 #endif //USE_SUBSIMPLEX_CONVEX_CAST
 
-							castResult.m_normal.normalize();
+					castResult.m_normal.normalize();
-							btCollisionWorld::LocalRayResult localRayResult
+					btCollisionWorld::LocalRayResult localRayResult
+						(
+							collisionObject, 
+							0,
+							castResult.m_normal,
+							castResult.m_fraction
+						);
+
+					bool normalInWorldSpace = true;
+					resultCallback.AddSingleResult(localRayResult, normalInWorldSpace);
+
+				}
+			}
+		}
+	} else {
+		if (collisionShape->isConcave())
+		{
+			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
+			{
+				///optimized version for btBvhTriangleMeshShape
+				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
+				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
+				btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
+				btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
+
+				//ConvexCast::CastResult
+				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback 
+				{
+					btCollisionWorld::RayResultCallback* m_resultCallback;
+					btCollisionObject*	m_collisionObject;
+					btTriangleMeshShape*	m_triangleMesh;
+
+					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
+						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh):
+						btTriangleRaycastCallback(from,to),
+							m_resultCallback(resultCallback),
+							m_collisionObject(collisionObject),
+							m_triangleMesh(triangleMesh)
+						{
+						}
+
+
+					virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
+					{
+						btCollisionWorld::LocalShapeInfo	shapeInfo;
+						shapeInfo.m_shapePart = partId;
+						shapeInfo.m_triangleIndex = triangleIndex;
+						
+						btCollisionWorld::LocalRayResult rayResult
+						(m_collisionObject, 
+							&shapeInfo,
+							hitNormalLocal,
+							hitFraction);
+						
+						bool	normalInWorldSpace = false;
+						return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
+					}
+
+				};
+
+				BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
+				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
+				triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
+			} else
+			{
+				btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape;
+				
+				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
+
+				btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
+				btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
+
+				//ConvexCast::CastResult
+
+				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback 
+				{
+					btCollisionWorld::RayResultCallback* m_resultCallback;
+					btCollisionObject*	m_collisionObject;
+					btTriangleMeshShape*	m_triangleMesh;
+
+					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
+						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh):
+						btTriangleRaycastCallback(from,to),
+							m_resultCallback(resultCallback),
+							m_collisionObject(collisionObject),
+							m_triangleMesh(triangleMesh)
+						{
+						}
+
+
+					virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
+					{
+						btCollisionWorld::LocalShapeInfo	shapeInfo;
+						shapeInfo.m_shapePart = partId;
+						shapeInfo.m_triangleIndex = triangleIndex;
+						
+						btCollisionWorld::LocalRayResult rayResult
+						(m_collisionObject, 
+							&shapeInfo,
+							hitNormalLocal,
+							hitFraction);
+						
+						bool	normalInWorldSpace = false;
+						return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
+						
+						
+					}
+
+				};
+
+
+				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
+				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
+
+				btVector3 rayAabbMinLocal = rayFromLocal;
+				rayAabbMinLocal.setMin(rayToLocal);
+				btVector3 rayAabbMaxLocal = rayFromLocal;
+				rayAabbMaxLocal.setMax(rayToLocal);
+
+				triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
+			}
+		} else {
+			//todo: use AABB tree or other BVH acceleration structure!
+			if (collisionShape->isCompound())
+			{
+				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
+				int i=0;
+				for (i=0;i<compoundShape->getNumChildShapes();i++)
+				{
+					btTransform childTrans = compoundShape->getChildTransform(i);
+					const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
+					btTransform childWorldTrans = colObjWorldTransform * childTrans;
+					rayTestSingle(rayFromTrans,rayToTrans,
+						collisionObject,
+						childCollisionShape,
+						childWorldTrans,
+						resultCallback, collisionFilterMask);
+
+				}
+			}
+		}
+	}
+}
+
+void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
+					  btCollisionObject* collisionObject,
+					  const btCollisionShape* collisionShape,
+					  const btTransform& colObjWorldTransform,
+					  ConvexResultCallback& resultCallback,short int collisionFilterMask)
+{
+	if (collisionShape->isConvex())
+	{
+		btConvexCast::CastResult castResult;
+		castResult.m_fraction = btScalar(1.);//??
+
+		btConvexShape* convexShape = (btConvexShape*) collisionShape;
+		btVoronoiSimplexSolver	simplexSolver;
+		btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
+
+		if (convexCaster.calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
+		{
+			//add hit
+			if (castResult.m_normal.length2() > btScalar(0.0001))
+			{					
+				if (castResult.m_fraction < resultCallback.m_closestHitFraction)
+				{
+#ifdef USE_SUBSIMPLEX_CONVEX_CAST
+					//rotate normal into worldspace
+					castResult.m_normal = convexFromTrans.getBasis() * castResult.m_normal;
+#endif //USE_SUBSIMPLEX_CONVEX_CAST
+
+					castResult.m_normal.normalize();
+					btCollisionWorld::LocalConvexResult localConvexResult
 								(
 									collisionObject, 
 									0,
 									castResult.m_normal,
+									castResult.m_hitPoint,
 									castResult.m_fraction
 								);
 
-							bool normalInWorldSpace = true;
+					bool normalInWorldSpace = true;
-							resultCallback.AddSingleResult(localRayResult, normalInWorldSpace);
+					resultCallback.AddSingleResult(localConvexResult, normalInWorldSpace);
 
-						}
-					}
 				}
 			}
-			else
+		}
+	} else {
+		if (collisionShape->isConcave())
+		{
+			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
 			{
-				
+				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
-				if (collisionShape->isConcave())
+				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
-					{
+				btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
+				btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
+				// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
+				btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
 
-						btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape;
+				//ConvexCast::CastResult
-						
+				struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback 
-						btTransform worldTocollisionObject = colObjWorldTransform.inverse();
+				{
+					btCollisionWorld::ConvexResultCallback* m_resultCallback;
+					btCollisionObject*	m_collisionObject;
+					btTriangleMeshShape*	m_triangleMesh;
 
-						btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
+					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
-						btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
+						btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):
-
+						btTriangleConvexcastCallback(castShape, from,to, triangleToWorld),
-						//ConvexCast::CastResult
+							m_resultCallback(resultCallback),
-
+							m_collisionObject(collisionObject),
-						struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback 
+							m_triangleMesh(triangleMesh)
 						{
-							btCollisionWorld::RayResultCallback* m_resultCallback;
-							btCollisionObject*	m_collisionObject;
-							btTriangleMeshShape*	m_triangleMesh;
-
-							BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-								btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh):
-								btTriangleRaycastCallback(from,to),
-									m_resultCallback(resultCallback),
-									m_collisionObject(collisionObject),
-									m_triangleMesh(triangleMesh)
-								{
-								}
-
-
-							virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
-							{
-								btCollisionWorld::LocalShapeInfo	shapeInfo;
-								shapeInfo.m_shapePart = partId;
-								shapeInfo.m_triangleIndex = triangleIndex;
-								
-								btCollisionWorld::LocalRayResult rayResult
-								(m_collisionObject, 
-									&shapeInfo,
-									hitNormalLocal,
-									hitFraction);
-								
-								bool	normalInWorldSpace = false;
-								return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
-								
-								
-							}
-	
-						};
-
-
-						BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
-						rcb.m_hitFraction = resultCallback.m_closestHitFraction;
-
-						btVector3 rayAabbMinLocal = rayFromLocal;
-						rayAabbMinLocal.setMin(rayToLocal);
-						btVector3 rayAabbMaxLocal = rayFromLocal;
-						rayAabbMaxLocal.setMax(rayToLocal);
-
-						triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
-											
-					} else
-					{
-						//todo: use AABB tree or other BVH acceleration structure!
-						if (collisionShape->isCompound())
-						{
-							const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
-							int i=0;
-							for (i=0;i<compoundShape->getNumChildShapes();i++)
-							{
-								btTransform childTrans = compoundShape->getChildTransform(i);
-								const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
-								btTransform childWorldTrans = colObjWorldTransform * childTrans;
-								objectQuerySingle(castShape, rayFromTrans,rayToTrans,
-									collisionObject,
-									childCollisionShape,
-									childWorldTrans,
-									resultCallback, collisionFilterMask);
-
-							}
-
-
 						}
+
+
+					virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
+					{
+						btCollisionWorld::LocalShapeInfo	shapeInfo;
+						shapeInfo.m_shapePart = partId;
+						shapeInfo.m_triangleIndex = triangleIndex;
+						if (hitFraction <= m_resultCallback->m_closestHitFraction)
+						{
+
+							btCollisionWorld::LocalConvexResult convexResult
+							(m_collisionObject, 
+								&shapeInfo,
+								hitNormalLocal,
+								hitPointLocal,
+								hitFraction);
+							
+							bool	normalInWorldSpace = false;
+
+					
+							return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);
+						}
+						return hitFraction;
 					}
+
+				};
+
+				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
+				tccb.m_hitFraction = resultCallback.m_closestHitFraction;
+				btVector3 boxMinLocal, boxMaxLocal;
+				castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
+				triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
+			} else
+			{
+				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
+				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
+				btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
+				btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
+				// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
+				btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
+
+				//ConvexCast::CastResult
+				struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback 
+				{
+					btCollisionWorld::ConvexResultCallback* m_resultCallback;
+					btCollisionObject*	m_collisionObject;
+					btTriangleMeshShape*	m_triangleMesh;
+
+					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
+						btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):
+						btTriangleConvexcastCallback(castShape, from,to, triangleToWorld),
+							m_resultCallback(resultCallback),
+							m_collisionObject(collisionObject),
+							m_triangleMesh(triangleMesh)
+						{
+						}
+
+
+					virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
+					{
+						btCollisionWorld::LocalShapeInfo	shapeInfo;
+						shapeInfo.m_shapePart = partId;
+						shapeInfo.m_triangleIndex = triangleIndex;
+						if (hitFraction <= m_resultCallback->m_closestHitFraction)
+						{
+
+							btCollisionWorld::LocalConvexResult convexResult
+							(m_collisionObject, 
+								&shapeInfo,
+								hitNormalLocal,
+								hitPointLocal,
+								hitFraction);
+							
+							bool	normalInWorldSpace = false;
+
+							return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);
+						}
+						return hitFraction;
+					}
+
+				};
+
+				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
+				tccb.m_hitFraction = resultCallback.m_closestHitFraction;
+				btVector3 boxMinLocal, boxMaxLocal;
+				castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
+				
+				btVector3 rayAabbMinLocal = convexFromLocal;
+				rayAabbMinLocal.setMin(convexToLocal);
+				btVector3 rayAabbMaxLocal = convexFromLocal;
+				rayAabbMaxLocal.setMax(convexToLocal);
+				rayAabbMinLocal += boxMinLocal;
+				rayAabbMaxLocal += boxMaxLocal;
+				triangleMesh->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
 			}
+		} else {
+			//todo: use AABB tree or other BVH acceleration structure!
+			if (collisionShape->isCompound())
+			{
+				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
+				int i=0;
+				for (i=0;i<compoundShape->getNumChildShapes();i++)
+				{
+					btTransform childTrans = compoundShape->getChildTransform(i);
+					const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
+					btTransform childWorldTrans = colObjWorldTransform * childTrans;
+					objectQuerySingle(castShape, convexFromTrans,convexToTrans,
+						collisionObject,
+						childCollisionShape,
+						childWorldTrans,
+						resultCallback, collisionFilterMask);
+				}
+			}
+		}
+	}
 }
 
 void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask)
@@ -347,6 +593,10 @@ void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
 	int i;
 	for (i=0;i<m_collisionObjects.size();i++)
 	{
+		///terminate further ray tests, once the closestHitFraction reached zero
+		if (resultCallback.m_closestHitFraction == btScalar(0.f))
+			break;
+
 		btCollisionObject*	collisionObject= m_collisionObjects[i];
 		//only perform raycast if filterMask matches
 		if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) { 
@@ -354,7 +604,7 @@ void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
 			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
 			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
 
-			btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
+			btScalar hitLambda = resultCallback.m_closestHitFraction;
 			btVector3 hitNormal;
 			if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
 			{
@@ -365,6 +615,46 @@ void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
 						resultCallback);
 			}	
 		}
+		
+	}
+
+}
+
+void	btCollisionWorld::convexTest(const btConvexShape* castShape, const btVector3& convexFromWorld, const btVector3& convexToWorld, ConvexResultCallback& resultCallback,short int collisionFilterMask)
+{
+	btTransform	convexFromTrans,convexToTrans;
+	convexFromTrans.setIdentity();
+	convexFromTrans.setOrigin(convexFromWorld);
+	convexToTrans.setIdentity();
+	convexToTrans.setOrigin(convexToWorld);
+	btVector3 castShapeAabbMin, castShapeAabbMax;
+	btTransform I;
+	I.setIdentity();
+	castShape->getAabb (I, castShapeAabbMin, castShapeAabbMax);
+
+	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
+	// do a ray-shape query using convexCaster (CCD)
+	int i;
+	for (i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject*	collisionObject= m_collisionObjects[i];
+		//only perform raycast if filterMask matches
+		if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) { 
+			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
+			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
+			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
+			AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
+			btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
+			btVector3 hitNormal;
+			if (btRayAabb(convexFromWorld,convexToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
+			{
+				objectQuerySingle(castShape, convexFromTrans,convexToTrans,
+					collisionObject,
+						collisionObject->getCollisionShape(),
+						collisionObject->getWorldTransform(),
+						resultCallback);
+			}	
+		}
 	}
 
 }

src/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -91,6 +91,9 @@ protected:
 	btStackAlloc*	m_stackAlloc;
 
 	btBroadphaseInterface*	m_broadphasePairCache;
+
+	btIDebugDraw*	m_debugDrawer;
+
 	
 public:
 
@@ -116,6 +119,19 @@ public:
 		return m_dispatcher1;
 	}
 
+	virtual void	updateAabbs();
+
+	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
+	{
+			m_debugDrawer = debugDrawer;
+	}
+
+	virtual btIDebugDraw*	getDebugDrawer()
+	{
+		return m_debugDrawer;
+	}
+
+
 	///LocalShapeInfo gives extra information for complex shapes
 	///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
 	struct	LocalShapeInfo
@@ -150,17 +166,20 @@ public:
 	///RayResultCallback is used to report new raycast results
 	struct	RayResultCallback
 	{
+		btScalar	m_closestHitFraction;
+		btCollisionObject*		m_collisionObject;
+
 		virtual ~RayResultCallback()
 		{
 		}
-		btScalar	m_closestHitFraction;
 		bool	HasHit()
 		{
-			return (m_closestHitFraction < btScalar(1.));
+			return (m_collisionObject != 0);
 		}
 
 		RayResultCallback()
-			:m_closestHitFraction(btScalar(1.))
+			:m_closestHitFraction(btScalar(1.)),
+			m_collisionObject(0)
 		{
 		}
 		virtual	btScalar	AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
@@ -170,8 +189,7 @@ public:
 	{
 		ClosestRayResultCallback(const btVector3&	rayFromWorld,const btVector3&	rayToWorld)
 		:m_rayFromWorld(rayFromWorld),
-		m_rayToWorld(rayToWorld),
+		m_rayToWorld(rayToWorld)
-		m_collisionObject(0)
 		{
 		}
 
@@ -180,13 +198,11 @@ public:
 
 		btVector3	m_hitNormalWorld;
 		btVector3	m_hitPointWorld;
-		btCollisionObject*	m_collisionObject;
+			
-		
 		virtual	btScalar	AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
 		{
-
+			//caller already does the filter on the m_closestHitFraction
-//caller already does the filter on the m_closestHitFraction
+			btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
-			assert(rayResult.m_hitFraction <= m_closestHitFraction);
 			
 			m_closestHitFraction = rayResult.m_hitFraction;
 			m_collisionObject = rayResult.m_collisionObject;
@@ -204,7 +220,83 @@ public:
 	};
 
 
-	
+	struct LocalConvexResult
+	{
+		LocalConvexResult(btCollisionObject*	hitCollisionObject, 
+			LocalShapeInfo*	localShapeInfo,
+			const btVector3&		hitNormalLocal,
+			const btVector3&		hitPointLocal,
+			btScalar hitFraction
+			)
+		:m_hitCollisionObject(hitCollisionObject),
+		m_localShapeInfo(localShapeInfo),
+		m_hitNormalLocal(hitNormalLocal),
+		m_hitPointLocal(hitPointLocal),
+		m_hitFraction(hitFraction)
+		{
+		}
+
+		btCollisionObject*		m_hitCollisionObject;
+		LocalShapeInfo*			m_localShapeInfo;
+		btVector3				m_hitNormalLocal;
+		btVector3				m_hitPointLocal;
+		btScalar				m_hitFraction;
+	};
+
+	///RayResultCallback is used to report new raycast results
+	struct	ConvexResultCallback
+	{
+		virtual ~ConvexResultCallback()
+		{
+		}
+		btScalar	m_closestHitFraction;
+		bool	HasHit()
+		{
+			return (m_closestHitFraction < btScalar(1.));
+		}
+
+		ConvexResultCallback()
+			:m_closestHitFraction(btScalar(1.))
+		{
+		}
+		virtual	btScalar	AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0;
+	};
+
+	struct	ClosestConvexResultCallback : public ConvexResultCallback
+	{
+		ClosestConvexResultCallback(const btVector3&	convexFromWorld,const btVector3&	convexToWorld)
+		:m_convexFromWorld(convexFromWorld),
+		m_convexToWorld(convexToWorld),
+		m_hitCollisionObject(0)
+		{
+		}
+
+		btVector3	m_convexFromWorld;//used to calculate hitPointWorld from hitFraction
+		btVector3	m_convexToWorld;
+
+		btVector3	m_hitNormalWorld;
+		btVector3	m_hitPointWorld;
+		btCollisionObject*	m_hitCollisionObject;
+		
+		virtual	btScalar	AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
+		{
+//caller already does the filter on the m_closestHitFraction
+			btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
+						
+			m_closestHitFraction = convexResult.m_hitFraction;
+			m_hitCollisionObject = convexResult.m_hitCollisionObject;
+			if (normalInWorldSpace)
+			{
+				m_hitNormalWorld = convexResult.m_hitNormalLocal;
+			} else
+			{
+				///need to transform normal into worldspace
+				m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
+			}
+			m_hitPointWorld = convexResult.m_hitPointLocal;
+			return convexResult.m_hitFraction;
+		}
+	};
 
 	int	getNumCollisionObjects() const
 	{
@@ -215,6 +307,10 @@ public:
 	/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
 	void	rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1);
 
+	// convexTest performs a linear convex cast on all objects in the btCollisionWorld, and calls the resultCallback
+	// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
+	void    convexTest (const btConvexShape* castShape, const btVector3& from, const btVector3& to, ConvexResultCallback& resultCallback, short int collisionFilterMask=-1);
+
 	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
 	/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
 	/// This allows more customization.
@@ -229,7 +325,7 @@ public:
 					  btCollisionObject* collisionObject,
 					  const btCollisionShape* collisionShape,
 					  const btTransform& colObjWorldTransform,
-					  RayResultCallback& resultCallback, short int collisionFilterMask=-1);
+					  ConvexResultCallback& resultCallback, short int collisionFilterMask=-1);
 
 	void	addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
 

src/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp

@@ -0,0 +1,108 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 "btConvexPlaneCollisionAlgorithm.h"
+
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+
+//#include <stdio.h>
+
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
+: btCollisionAlgorithm(ci),
+m_ownManifold(false),
+m_manifoldPtr(mf),
+m_isSwapped(isSwapped)
+{
+	btCollisionObject* convexObj = m_isSwapped? col1 : col0;
+	btCollisionObject* planeObj = m_isSwapped? col0 : col1;
+	
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
+	{
+		m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
+		m_ownManifold = true;
+	}
+}
+
+
+btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
+{
+	if (m_ownManifold)
+	{
+		if (m_manifoldPtr)
+			m_dispatcher->releaseManifold(m_manifoldPtr);
+	}
+}
+
+
+
+void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	(void)dispatchInfo;
+	(void)resultOut;
+	if (!m_manifoldPtr)
+		return;
+
+	btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+	btCollisionObject* planeObj = m_isSwapped? body0: body1;
+
+	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
+	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
+
+	bool hasCollision = false;
+	const btVector3& planeNormal = planeShape->getPlaneNormal();
+	const btScalar& planeConstant = planeShape->getPlaneConstant();
+	btTransform planeInConvex;
+	planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
+	btTransform convexInPlaneTrans;
+	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
+
+	btVector3 vtx = convexShape->localGetSupportingVertexWithoutMargin(planeInConvex.getBasis()*-planeNormal);
+	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
+	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant) - convexShape->getMargin();
+
+	btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+	btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
+
+	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
+	resultOut->setPersistentManifold(m_manifoldPtr);
+	if (hasCollision)
+	{
+		/// report a contact. internally this will be kept persistent, and contact reduction is done
+		btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
+		btVector3 pOnB = vtxInPlaneWorld;
+		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
+	}
+	if (m_ownManifold)
+	{
+		if (m_manifoldPtr->getNumContacts())
+		{
+			resultOut->refreshContactPoints();
+		}
+	}
+}
+
+btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	(void)resultOut;
+	(void)dispatchInfo;
+	(void)col0;
+	(void)col1;
+
+	//not yet
+	return btScalar(1.);
+}

src/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h

@@ -0,0 +1,63 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef CONVEX_PLANE_COLLISION_ALGORITHM_H
+#define CONVEX_PLANE_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+class btPersistentManifold;
+#include "btCollisionDispatcher.h"
+
+#include "LinearMath/btVector3.h"
+
+/// btSphereBoxCollisionAlgorithm  provides sphere-box collision detection.
+/// Other features are frame-coherency (persistent data) and collision response.
+class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
+{
+	bool	m_ownManifold;
+	btPersistentManifold*	m_manifoldPtr;
+	bool	m_isSwapped;
+	
+public:
+
+	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
+
+	virtual ~btConvexPlaneCollisionAlgorithm();
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
+			if (!m_swapped)
+			{
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false);
+			} else
+			{
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true);
+			}
+		}
+	};
+
+};
+
+#endif //CONVEX_PLANE_COLLISION_ALGORITHM_H
+

src/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -20,6 +20,8 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
+
 #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
@@ -58,7 +60,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc*	s
 	m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
 	mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
 	m_emptyCreateFunc = new(mem) btEmptyAlgorithm::CreateFunc;
-
+	
 	mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
 	m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
 	mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
@@ -72,7 +74,13 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc*	s
 	m_triangleSphereCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
 	m_triangleSphereCF->m_swapped = true;
 
-
+	//convex versus plane
+	mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
+	m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
+	m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
+	m_planeConvexCF->m_swapped = true;
+	
 	///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
 	int maxSize = sizeof(btConvexConvexAlgorithm);
 	int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
@@ -167,6 +175,11 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
 	m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
 	btAlignedFree( m_triangleSphereCF);
 
+	m_convexPlaneCF->~btCollisionAlgorithmCreateFunc();
+	btAlignedFree( m_convexPlaneCF);
+	m_planeConvexCF->~btCollisionAlgorithmCreateFunc();
+	btAlignedFree( m_planeConvexCF);
+
 	m_simplexSolver->~btVoronoiSimplexSolver();
 	btAlignedFree(m_simplexSolver);
 	m_pdSolver->~btGjkEpaPenetrationDepthSolver();
@@ -178,7 +191,8 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
 
 btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
 {
-	
+
+
 
 	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
 	{
@@ -205,6 +219,15 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 		return	m_triangleSphereCF;
 	}
 	
+	if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
+	{
+		return m_convexPlaneCF;
+	}
+
+	if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
+	{
+		return m_planeConvexCF;
+	}
 
 	if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
 	{

src/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -54,7 +54,9 @@ class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 	btCollisionAlgorithmCreateFunc* m_boxSphereCF;
 	btCollisionAlgorithmCreateFunc*	m_sphereTriangleCF;
 	btCollisionAlgorithmCreateFunc*	m_triangleSphereCF;
-
+	btCollisionAlgorithmCreateFunc*	m_planeConvexCF;
+	btCollisionAlgorithmCreateFunc*	m_convexPlaneCF;
+	
 public:
 
 	btDefaultCollisionConfiguration(btStackAlloc*	stackAlloc=0,btPoolAllocator*	persistentManifoldPool=0,btPoolAllocator*	collisionAlgorithmPool=0);

src/bullet/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ -138,7 +138,7 @@ class btPersistentManifoldSortPredicate
 void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
 {
 
-	BEGIN_PROFILE("islandUnionFindAndHeapSort");
+	BT_PROFILE("islandUnionFindAndHeapSort");
 	
 	//we are going to sort the unionfind array, and store the element id in the size
 	//afterwards, we clean unionfind, to make sure no-one uses it anymore
@@ -295,8 +295,6 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 
 	//int islandId;
 
-	END_PROFILE("islandUnionFindAndHeapSort");
-
 	
 
 //	printf("Start Islands\n");

src/bullet/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp

@@ -66,7 +66,12 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
 	///distance (negative means penetration)
 	btScalar dist = len - (radius0+radius1);
 
-	btVector3 normalOnSurfaceB = diff / len;
+	btVector3 normalOnSurfaceB(1,0,0);
+	if (len > SIMD_EPSILON)
+	{
+		normalOnSurfaceB = diff / len;
+	}
+
 	///point on A (worldspace)
 	btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
 	///point on B (worldspace)

src/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp

@@ -18,7 +18,6 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
 
-
 ///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
 ///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
 btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
@@ -92,6 +91,126 @@ btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
 	}
 }
 
+void	btBvhTriangleMeshShape::performRaycast (btTriangleRaycastCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
+{
+	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	{
+		btStridingMeshInterface*	m_meshInterface;
+		btTriangleRaycastCallback* m_callback;
+
+		MyNodeOverlapCallback(btTriangleRaycastCallback* callback,btStridingMeshInterface* meshInterface)
+			:m_meshInterface(meshInterface),
+			m_callback(callback)
+		{
+		}
+				
+		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
+		{
+			btVector3 m_triangle[3];
+			const unsigned char *vertexbase;
+			int numverts;
+			PHY_ScalarType type;
+			int stride;
+			const unsigned char *indexbase;
+			int indexstride;
+			int numfaces;
+			PHY_ScalarType indicestype;
+
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				nodeSubPart);
+
+			int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
+			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+	
+			const btVector3& meshScaling = m_meshInterface->getScaling();
+			for (int j=2;j>=0;j--)
+			{
+				int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
+
+				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
+
+				m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+			}
+
+			/* Perform ray vs. triangle collision here */
+			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
+		}
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+
+	m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
+}
+
+void	btBvhTriangleMeshShape::performConvexcast (btTriangleConvexcastCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
+{
+	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	{
+		btStridingMeshInterface*	m_meshInterface;
+		btTriangleConvexcastCallback* m_callback;
+
+		MyNodeOverlapCallback(btTriangleConvexcastCallback* callback,btStridingMeshInterface* meshInterface)
+			:m_meshInterface(meshInterface),
+			m_callback(callback)
+		{
+		}
+				
+		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
+		{
+			btVector3 m_triangle[3];
+			const unsigned char *vertexbase;
+			int numverts;
+			PHY_ScalarType type;
+			int stride;
+			const unsigned char *indexbase;
+			int indexstride;
+			int numfaces;
+			PHY_ScalarType indicestype;
+
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				nodeSubPart);
+
+			int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
+			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+	
+			const btVector3& meshScaling = m_meshInterface->getScaling();
+			for (int j=2;j>=0;j--)
+			{
+				int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
+
+				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
+
+				m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+			}
+
+			/* Perform ray vs. triangle collision here */
+			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
+		}
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+
+	m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
+}
+
 //perform bvh tree traversal and report overlapping triangles to 'callback'
 void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
 {
@@ -141,12 +260,13 @@ void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
 				nodeSubPart);
 
 			int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
+			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
 	
 			const btVector3& meshScaling = m_meshInterface->getScaling();
 			for (int j=2;j>=0;j--)
 			{
 				
-				int graphicsindex = gfxbase[j];
+				int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
 
 
 #ifdef DEBUG_TRIANGLE_MESH

src/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h

@@ -19,6 +19,7 @@ subject to the following restrictions:
 #include "btTriangleMeshShape.h"
 #include "btOptimizedBvh.h"
 #include "LinearMath/btAlignedAllocator.h"
+#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
 
 ///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
 ///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
@@ -27,7 +28,7 @@ ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
 
 	btOptimizedBvh*	m_bvh;
 	bool m_useQuantizedAabbCompression;
-	bool	m_ownsBvh;
+	bool m_ownsBvh;
 	bool m_pad[11];////need padding due to alignment
 
 public:
@@ -42,15 +43,13 @@ public:
 	
 	virtual ~btBvhTriangleMeshShape();
 
-	
-	/*
 	virtual int	getShapeType() const
 	{
 		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	}
-	*/
+	
-
+	void performRaycast (btTriangleRaycastCallback* callback, const btVector3& raySource, const btVector3& rayTarget);
-
+	void performConvexcast (btTriangleConvexcastCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
 

src/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -44,7 +44,12 @@ public:
 		return &m_points[0];
 	}
 
-	int getNumPoints()
+	const btPoint3* getPoints() const
+	{
+		return &m_points[0];
+	}
+
+	int getNumPoints() const 
 	{
 		return m_points.size();
 	}

src/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -18,9 +18,11 @@ subject to the following restrictions:
 #include "LinearMath/btTransformUtil.h"
 
 
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(int width,int length,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
-:m_width(width),
+: m_heightStickWidth(heightStickWidth),
-m_length(length),
+m_heightStickLength(heightStickLength),
+m_width((btScalar)heightStickWidth-1),
+m_length((btScalar)heightStickLength-1),
 m_maxHeight(maxHeight),
 m_heightfieldDataUnknown(heightfieldData),
 m_useFloatData(useFloatData),
@@ -44,7 +46,7 @@ m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
 		{
 			halfExtents.setValue(
 				btScalar(m_maxHeight),
-				btScalar(m_width),
+				btScalar(m_width), //?? don't know if this should change
 				btScalar(m_length));
 			break;
 		}
@@ -114,11 +116,11 @@ btScalar	btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const
 	btScalar val = 0.f;
 	if (m_useFloatData)
 	{
-		val = m_heightfieldDataFloat[(y*m_width)+x];
+		val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
 	} else
 	{
 		//assume unsigned short int
-		unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_width)+x];
+		unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
 		val = heightFieldValue* (m_maxHeight/btScalar(65535));
 	}
 	return val;
@@ -133,8 +135,8 @@ void	btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
 
 	btAssert(x>=0);
 	btAssert(y>=0);
-	btAssert(x<m_width);
+	btAssert(x<m_heightStickWidth);
-	btAssert(y<m_length);
+	btAssert(y<m_heightStickLength);
 
 
 	btScalar	height = getHeightFieldValue(x,y);
@@ -218,18 +220,18 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 	
 
 	int startX=0;
-	int endX=m_width-1;
+	int endX=m_heightStickWidth-1;
 	int startJ=0;
-	int endJ=m_length-1;
+	int endJ=m_heightStickLength-1;
 
 	switch (m_upAxis)
 	{
 	case 0:
 		{
-			quantizedAabbMin[1]+=m_width/2-1;
+			quantizedAabbMin[1]+=m_heightStickWidth/2-1;
-			quantizedAabbMax[1]+=m_width/2+1;
+			quantizedAabbMax[1]+=m_heightStickWidth/2+1;
-			quantizedAabbMin[2]+=m_length/2-1;
+			quantizedAabbMin[2]+=m_heightStickLength/2-1;
-			quantizedAabbMax[2]+=m_length/2+1;
+			quantizedAabbMax[2]+=m_heightStickLength/2+1;
 
 			if (quantizedAabbMin[1]>startX)
 				startX = quantizedAabbMin[1];
@@ -243,10 +245,10 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 		}
 	case 1:
 		{
-			quantizedAabbMin[0]+=m_width/2-1;
+			quantizedAabbMin[0]+=m_heightStickWidth/2-1;
-			quantizedAabbMax[0]+=m_width/2+1;
+			quantizedAabbMax[0]+=m_heightStickWidth/2+1;
-			quantizedAabbMin[2]+=m_length/2-1;
+			quantizedAabbMin[2]+=m_heightStickLength/2-1;
-			quantizedAabbMax[2]+=m_length/2+1;
+			quantizedAabbMax[2]+=m_heightStickLength/2+1;
 
 			if (quantizedAabbMin[0]>startX)
 				startX = quantizedAabbMin[0];
@@ -260,10 +262,10 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 		};
 	case 2:
 		{
-			quantizedAabbMin[0]+=m_width/2-1;
+			quantizedAabbMin[0]+=m_heightStickWidth/2-1;
-			quantizedAabbMax[0]+=m_width/2+1;
+			quantizedAabbMax[0]+=m_heightStickWidth/2+1;
-			quantizedAabbMin[1]+=m_length/2-1;
+			quantizedAabbMin[1]+=m_heightStickLength/2-1;
-			quantizedAabbMax[1]+=m_length/2+1;
+			quantizedAabbMax[1]+=m_heightStickLength/2+1;
 
 			if (quantizedAabbMin[0]>startX)
 				startX = quantizedAabbMin[0];
@@ -290,7 +292,7 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 		for(int x=startX; x<endX; x++)
 		{
 			btVector3 vertices[3];
-			if (m_flipQuadEdges || (m_useDiamondSubdivision && ((j+x) & 1)))
+			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
 			{
         //first triangle
         getVertex(x,j,vertices[0]);

src/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h

@@ -1,88 +1,90 @@
-/*
+/*
-Bullet Continuous Collision Detection and Physics Library
+Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
+
-This software is provided 'as-is', without any express or implied warranty.
+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.
+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, 
+Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
+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.
+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.
+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.
+3. This notice may not be removed or altered from any source distribution.
-*/
+*/
-
+
-#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
+#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
-#define HEIGHTFIELD_TERRAIN_SHAPE_H
+#define HEIGHTFIELD_TERRAIN_SHAPE_H
-
+
-#include "btConcaveShape.h"
+#include "btConcaveShape.h"
-
+
-///btHeightfieldTerrainShape simulates a 2D heightfield terrain 
+///btHeightfieldTerrainShape simulates a 2D heightfield terrain 
-class btHeightfieldTerrainShape : public btConcaveShape
+class btHeightfieldTerrainShape : public btConcaveShape
-{
+{
-protected:
+protected:
-	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMin;
-	btVector3	m_localAabbMax;
+	btVector3	m_localAabbMax;
-	
+	
-	///terrain data
+	///terrain data
-	int	m_width;
+	int	m_heightStickWidth;
-	int m_length;
+	int m_heightStickLength;
-	btScalar	m_maxHeight;
+	btScalar	m_maxHeight;
-	union
+	btScalar m_width;
-	{
+	btScalar m_length;
-		unsigned char*	m_heightfieldDataUnsignedChar;
+	union
-		btScalar*			m_heightfieldDataFloat;
+	{
-		void*			m_heightfieldDataUnknown;
+		unsigned char*	m_heightfieldDataUnsignedChar;
-	};
+		btScalar*			m_heightfieldDataFloat;
-	
+		void*			m_heightfieldDataUnknown;
-	bool	m_useFloatData;
+	};
-	bool	m_flipQuadEdges;
+	
-  bool  m_useDiamondSubdivision;
+	bool	m_useFloatData;
-
+	bool	m_flipQuadEdges;
-	int	m_upAxis;
+  bool  m_useDiamondSubdivision;
-	
+
-	btVector3	m_localScaling;
+	int	m_upAxis;
-
+	
-	virtual btScalar	getHeightFieldValue(int x,int y) const;
+	btVector3	m_localScaling;
-	void		quantizeWithClamp(int* out, const btVector3& point) const;
+
-	void		getVertex(int x,int y,btVector3& vertex) const;
+	virtual btScalar	getHeightFieldValue(int x,int y) const;
-
+	void		quantizeWithClamp(int* out, const btVector3& point) const;
-	inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const  int* aabbMin2,const  int* aabbMax2) const
+	void		getVertex(int x,int y,btVector3& vertex) const;
-	{
+
-		bool overlap = true;
+	inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const  int* aabbMin2,const  int* aabbMax2) const
-		overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
+	{
-		overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
+		bool overlap = true;
-		overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
+		overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-		return overlap;
+		overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-	}
+		overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-
+		return overlap;
-public:
+	}
-	btHeightfieldTerrainShape(int width,int height,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
+
-
+public:
-	virtual ~btHeightfieldTerrainShape();
+	btHeightfieldTerrainShape(int heightStickWidth,int heightStickHeight,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
-
+
-
+	virtual ~btHeightfieldTerrainShape();
-	void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
+
-
+
-	virtual int	getShapeType() const
+	void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
-	{
+
-		return TERRAIN_SHAPE_PROXYTYPE;
+	virtual int	getShapeType() const
-	}
+	{
-
+		return TERRAIN_SHAPE_PROXYTYPE;
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	}
-
+
-	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
+
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
-
+
-	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-	
+
-	virtual const btVector3& getLocalScaling() const;
+	virtual void	setLocalScaling(const btVector3& scaling);
-	
+	
-	//debugging
+	virtual const btVector3& getLocalScaling() const;
-	virtual const char*	getName()const {return "HEIGHTFIELD";}
+	
-
+	//debugging
-};
+	virtual const char*	getName()const {return "HEIGHTFIELD";}
-
+
-#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
+};
+
+#endif //HEIGHTFIELD_TERRAIN_SHAPE_H

src/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp

@@ -47,7 +47,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
 
 	btVector3 vec = vec0;
 	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
+	if (lenSqr < (SIMD_EPSILON*SIMD_EPSILON))
 	{
 		vec.setValue(1,0,0);
 	} else

src/bullet/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp

@@ -12,6 +12,7 @@ subject to the following restrictions:
 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 "btOptimizedBvh.h"
 #include "btStridingMeshInterface.h"
 #include "LinearMath/btAabbUtil2.h"
@@ -95,7 +96,9 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
 
 		virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
 		{
-			btAssert(partId==0);
+			// The partId and triangle index must fit in the same (positive) integer
+			btAssert(partId < (1<<MAX_NUM_PARTS_IN_BITS));
+			btAssert(triangleIndex < (1<<(31-MAX_NUM_PARTS_IN_BITS)));
 			//negative indices are reserved for escapeIndex
 			btAssert(triangleIndex>=0);
 
@@ -132,7 +135,7 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
 			m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMin[0],aabbMin);
 			m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMax[0],aabbMax);
 
-			node.m_escapeIndexOrTriangleIndex = triangleIndex;
+			node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
 
 			m_triangleNodes.push_back(node);
 		}
@@ -256,7 +259,7 @@ void	btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
 
 	btAssert(m_useQuantization);
 
-	int nodeSubPart=0;
+	int curNodeSubPart=-1;
 
 	//get access info to trianglemesh data
 		const unsigned char *vertexbase;
@@ -267,7 +270,6 @@ void	btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
 		int indexstride;
 		int numfaces;
 		PHY_ScalarType indicestype;
-		meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
 
 		btVector3	triangleVerts[3];
 		btVector3	aabbMin,aabbMax;
@@ -282,7 +284,15 @@ void	btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
 			if (curNode.isLeafNode())
 			{
 				//recalc aabb from triangle data
+				int nodeSubPart = curNode.getPartId();
 				int nodeTriangleIndex = curNode.getTriangleIndex();
+				if (nodeSubPart != curNodeSubPart)
+				{
+					if (curNodeSubPart >= 0)
+						meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
+					meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
+					btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+				}
 				//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
 
 				int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
@@ -291,7 +301,7 @@ void	btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
 				for (int j=2;j>=0;j--)
 				{
 					
-					int graphicsindex = gfxbase[j];
+					int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
 					btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
 #ifdef DEBUG_PATCH_COLORS
 					btVector3 mycolor = color[index&3];
@@ -347,7 +357,8 @@ void	btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
 
 		}
 
-		meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
+		if (curNodeSubPart >= 0)
+			meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
 
 		
 }
@@ -713,7 +724,7 @@ void btOptimizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantize
 	{
 		if (isLeafNode)
 		{
-			nodeCallback->processNode(0,currentNode->getTriangleIndex());
+			nodeCallback->processNode(currentNode->getPartId(),currentNode->getTriangleIndex());
 		} else
 		{
 			//process left and right children
@@ -730,7 +741,124 @@ void btOptimizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantize
 
 
 
+void	btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
+{
+	btAssert(m_useQuantization);
+	
+	int curIndex = startNodeIndex;
+	int walkIterations = 0;
+	int subTreeSize = endNodeIndex - startNodeIndex;
 
+	const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
+	int escapeIndex;
+	
+	bool isLeafNode;
+	//PCK: unsigned instead of bool
+	unsigned boxBoxOverlap = 0;
+	unsigned rayBoxOverlap = 0;
+
+	btScalar lambda_max = 1.0;
+#define RAYAABB2
+#ifdef RAYAABB2
+	btVector3 rayFrom = raySource;
+	btVector3 rayDirection = (rayTarget-raySource);
+	rayDirection.normalize ();
+	lambda_max = rayDirection.dot(rayTarget-raySource);
+	rayDirection[0] = btScalar(1.0) / rayDirection[0];
+	rayDirection[1] = btScalar(1.0) / rayDirection[1];
+	rayDirection[2] = btScalar(1.0) / rayDirection[2];
+	unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
+#endif
+
+	/* Quick pruning by quantized box */
+	btVector3 rayAabbMin = raySource;
+	btVector3 rayAabbMax = raySource;
+	rayAabbMin.setMin(rayTarget);
+	rayAabbMax.setMax(rayTarget);
+
+	/* Add box cast extents to bounding box */
+	rayAabbMin += aabbMin;
+	rayAabbMax += aabbMax;
+
+	unsigned short int quantizedQueryAabbMin[3];
+	unsigned short int quantizedQueryAabbMax[3];
+	quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin);
+	quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax);
+
+	while (curIndex < endNodeIndex)
+	{
+
+//#define VISUALLY_ANALYZE_BVH 1
+#ifdef VISUALLY_ANALYZE_BVH
+		//some code snippet to debugDraw aabb, to visually analyze bvh structure
+		static int drawPatch = 0;
+		//need some global access to a debugDrawer
+		extern btIDebugDraw* debugDrawerPtr;
+		if (curIndex==drawPatch)
+		{
+			btVector3 aabbMin,aabbMax;
+			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
+			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
+			btVector3	color(1,0,0);
+			debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
+		}
+#endif//VISUALLY_ANALYZE_BVH
+
+		//catch bugs in tree data
+		assert (walkIterations < subTreeSize);
+
+		walkIterations++;
+		//PCK: unsigned instead of bool
+		// only interested if this is closer than any previous hit
+		btScalar param = 1.0;
+		rayBoxOverlap = 0;
+		boxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
+		isLeafNode = rootNode->isLeafNode();
+		if (boxBoxOverlap)
+		{
+			btVector3 bounds[2];
+			bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
+			bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
+			/* Add box cast extents */
+			bounds[0] += aabbMin;
+			bounds[1] += aabbMax;
+			btVector3 normal;
+#if 0
+			bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
+			bool ra = btRayAabb (raySource, rayTarget, bounds[0], bounds[1], param, normal);
+			if (ra2 != ra)
+			{
+				printf("functions don't match\n");
+			}
+#endif
+#ifdef RAYAABB2
+			rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
+#else
+			rayBoxOverlap = btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
+#endif
+		}
+		
+		if (isLeafNode && rayBoxOverlap)
+		{
+			nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
+		}
+		
+		//PCK: unsigned instead of bool
+		if ((rayBoxOverlap != 0) || isLeafNode)
+		{
+			rootNode++;
+			curIndex++;
+		} else
+		{
+			escapeIndex = rootNode->getEscapeIndex();
+			rootNode += escapeIndex;
+			curIndex += escapeIndex;
+		}
+	}
+	if (maxIterations < walkIterations)
+		maxIterations = walkIterations;
+
+}
 
 void	btOptimizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const
 {
@@ -776,7 +904,7 @@ void	btOptimizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
 		
 		if (isLeafNode && aabbOverlap)
 		{
-			nodeCallback->processNode(0,rootNode->getTriangleIndex());
+			nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
 		} 
 		
 		//PCK: unsigned instead of bool
@@ -820,15 +948,40 @@ void	btOptimizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallba
 }
 
 
-
+void	btOptimizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const
-
-void	btOptimizedBvh::reportSphereOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
 {
-	(void)nodeCallback;
+	bool fast_path = m_useQuantization && m_traversalMode == TRAVERSAL_STACKLESS;
-	(void)aabbMin;
+	if (fast_path)
-	(void)aabbMax;
+	{
-	//not yet, please use aabb
+		walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, btVector3(0, 0, 0), btVector3(0, 0, 0), 0, m_curNodeIndex);
-	btAssert(0);
+	} else {
+		/* Otherwise fallback to AABB overlap test */
+		btVector3 aabbMin = raySource;
+		btVector3 aabbMax = raySource;
+		aabbMin.setMin(rayTarget);
+		aabbMax.setMax(rayTarget);
+		reportAabbOverlappingNodex(nodeCallback,aabbMin,aabbMax);
+	}
+}
+
+
+void	btOptimizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	bool fast_path = m_useQuantization && m_traversalMode == TRAVERSAL_STACKLESS;
+	if (fast_path)
+	{
+		walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
+	} else {
+		/* Slow path:
+		   Construct the bounding box for the entire box cast and send that down the tree */
+		btVector3 qaabbMin = raySource;
+		btVector3 qaabbMax = raySource;
+		qaabbMin.setMin(rayTarget);
+		qaabbMax.setMax(rayTarget);
+		qaabbMin += aabbMin;
+		qaabbMax += aabbMax;
+		reportAabbOverlappingNodex(nodeCallback,qaabbMin,qaabbMax);
+	}
 }
 
 
@@ -1064,7 +1217,7 @@ bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferS
 	return true;
 }
 
-btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian)
+btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
 {
 
 	if (i_alignedDataBuffer == NULL)// || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
@@ -1085,7 +1238,7 @@ btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 		bvh->m_subtreeHeaderCount = btSwapEndian(bvh->m_subtreeHeaderCount);
 	}
 
-	int calculatedBufSize = bvh->calculateSerializeBufferSize();
+	unsigned int calculatedBufSize = bvh->calculateSerializeBufferSize();
 	btAssert(calculatedBufSize <= i_dataBufferSize);
 
 	if (calculatedBufSize > i_dataBufferSize)
@@ -1176,6 +1329,8 @@ m_bvhAabbMin(self.m_bvhAabbMin),
 m_bvhAabbMax(self.m_bvhAabbMax),
 m_bvhQuantization(self.m_bvhQuantization)
 {
-	
+
+
 }
 
+

src/bullet/src/BulletCollision/CollisionShapes/btOptimizedBvh.h

@@ -31,6 +31,9 @@ class btStridingMeshInterface;
 //Note: currently we have 16 bytes per quantized node
 #define MAX_SUBTREE_SIZE_IN_BYTES  2048
 
+// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
+// actually) triangles each (since the sign bit is reserved
+#define MAX_NUM_PARTS_IN_BITS 10
 
 ///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
 ///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
@@ -57,7 +60,14 @@ ATTRIBUTE_ALIGNED16	(struct) btQuantizedBvhNode
 	int	getTriangleIndex() const
 	{
 		btAssert(isLeafNode());
-		return m_escapeIndexOrTriangleIndex;
+		// Get only the lower bits where the triangle index is stored
+		return (m_escapeIndexOrTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
+	}
+	int	getPartId() const
+	{
+		btAssert(isLeafNode());
+		// Get only the highest bits where the part index is stored
+		return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
 	}
 }
 ;
@@ -276,6 +286,7 @@ protected:
 	
 	void	walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
 
+	void	walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
 	void	walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
 
 	///tree traversal designed for small-memory processors like PS3 SPU
@@ -319,8 +330,8 @@ public:
 	void	build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
 
 	void	reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
-
+	void	reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
-	void	reportSphereOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	void	reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
 	
 	SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point) const
 	{
@@ -370,7 +381,7 @@ public:
 	bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian);
 
 	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-	static btOptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian);
+	static btOptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
 
 	static unsigned int getAlignmentSerializationPadding();
 
@@ -391,3 +402,4 @@ private:
 
 #endif //OPTIMIZED_BVH_H
 
+

src/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <BulletCollision/CollisionShapes/btPolyhedralConvexShape.h>
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
 
 btPolyhedralConvexShape::btPolyhedralConvexShape()
 :m_localAabbMin(1,1,1),

src/bullet/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h

@@ -51,6 +51,15 @@ public:
 	virtual void	setLocalScaling(const btVector3& scaling);
 	virtual const btVector3& getLocalScaling() const;
 	
+	const btVector3&	getPlaneNormal() const
+	{
+		return	m_planeNormal;
+	}
+
+	const btScalar&	getPlaneConstant() const
+	{
+		return	m_planeConstant;
+	}
 
 	//debugging
 	virtual const char*	getName()const {return "STATICPLANE";}

src/bullet/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp

@@ -54,7 +54,7 @@ void	btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertex
 
 	(*indexbase) = (unsigned char *)mesh.m_triangleIndexBase;
 	indexstride = mesh.m_triangleIndexStride;
-	indicestype = PHY_INTEGER;
+	indicestype = mesh.m_indexType;
 }
 
 void	btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
@@ -73,6 +73,6 @@ void	btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned
 	numfaces = mesh.m_numTriangles;
 	(*indexbase) = (const unsigned char *)mesh.m_triangleIndexBase;
 	indexstride = mesh.m_triangleIndexStride;
-	indicestype = PHY_INTEGER;
+	indicestype = mesh.m_indexType;
 }
 

src/bullet/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h

@@ -34,7 +34,10 @@ ATTRIBUTE_ALIGNED16( struct)	btIndexedMesh
 	int			m_numVertices;
 	const unsigned char *		m_vertexBase;
 	int			m_vertexStride;
-	int			pad[2];
+	// The index type is set when adding an indexed mesh to the
+	// btTriangleIndexVertexArray, do not set it manually
+	PHY_ScalarType		m_indexType;
+	int			pad;
 }
 ;
 
@@ -62,11 +65,12 @@ public:
 	virtual ~btTriangleIndexVertexArray();
 
 	//just to be backwards compatible
-	btTriangleIndexVertexArray(int numTriangleIndices,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride);
+	btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride);
 	
-	void	addIndexedMesh(const btIndexedMesh& mesh)
+	void	addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
 	{
 		m_indexedMeshes.push_back(mesh);
+		m_indexedMeshes[m_indexedMeshes.size()-1].m_indexType = indexType;
 	}
 	
 	

src/bullet/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h

@@ -46,11 +46,6 @@ public:
 
 	void	recalcLocalAabb();
 
-	virtual int	getShapeType() const
-	{
-		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	}
-
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;

src/bullet/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp

@@ -174,6 +174,7 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 					result.m_fraction = lastLambda;
 					n = pointCollector.m_normalOnBInWorld;
 					result.m_normal=n;//.setValue(1,1,1);// = n;
+					result.m_hitPoint = pointCollector.m_pointInWorld;
 					return true;
 				}
 				c = pointCollector.m_pointInWorld;		
@@ -189,6 +190,7 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 
 		result.m_fraction = lambda;
 		result.m_normal = n;
+		result.m_hitPoint = c;
 		return true;
 	}
 

src/bullet/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h

@@ -50,6 +50,7 @@ public:
 		virtual ~CastResult() {};
 
 		btVector3	m_normal;
+		btVector3   m_hitPoint;
 		btScalar	m_fraction;
 		btTransform	m_hitTransformA;
 		btTransform	m_hitTransformB;

src/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp

@@ -148,6 +148,7 @@ bool	btGjkConvexCast::calcTimeOfImpact(
 					//degeneracy, report a hit
 					result.m_fraction = lastLambda;
 					result.m_normal = n;
+					result.m_hitPoint = pointCollector.m_pointInWorld;
 					return true;
 				}
 				c = pointCollector.m_pointInWorld;			
@@ -165,6 +166,7 @@ bool	btGjkConvexCast::calcTimeOfImpact(
 		
 			result.m_fraction = lastLambda;
 			result.m_normal = n;
+			result.m_hitPoint = c;
 			return true;
 		}
 	}

src/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp

@@ -26,7 +26,7 @@ Nov.2006
 
 #include "btGjkEpa.h"
 #include <string.h> //for memset
-#include <LinearMath/btStackAlloc.h>
+#include "LinearMath/btStackAlloc.h"
 
 #if defined(DEBUG) || defined (_DEBUG)
 #include <stdio.h> //for debug printf

src/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -70,6 +70,7 @@ public:
 	btPersistentManifold(void* body0,void* body1,int bla)
 		: m_body0(body0),m_body1(body1),m_cachedPoints(0)
 	{
+		(void)bla;
 	}
 
 	SIMD_FORCE_INLINE void* getBody0() { return m_body0;}

src/bullet/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp

@@ -13,7 +13,14 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+#include <stdio.h>
 
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
+#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
+#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
 #include "btRaycastCallback.h"
 
 btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
@@ -29,8 +36,6 @@ btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const
 
 void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
 {
-	
-
 	const btVector3 &vert0=triangle[0];
 	const btVector3 &vert1=triangle[1];
 	const btVector3 &vert2=triangle[2];
@@ -99,3 +104,55 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
 		}
 	}
 }
+
+
+btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld)
+{
+	m_convexShape = convexShape;
+	m_convexShapeFrom = convexShapeFrom;
+	m_convexShapeTo = convexShapeTo;
+	m_triangleToWorld = triangleToWorld;
+	m_hitFraction = 1.0;
+}
+
+void
+btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
+{
+	btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
+
+	btVoronoiSimplexSolver	simplexSolver;
+
+
+//#define  USE_SUBSIMPLEX_CONVEX_CAST 1
+#ifdef USE_SUBSIMPLEX_CONVEX_CAST
+	btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
+#else
+	//btGjkConvexCast	convexCaster(m_convexShape,&triangleShape,&simplexSolver);
+	btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,NULL);
+#endif //#USE_SUBSIMPLEX_CONVEX_CAST
+	
+	btConvexCast::CastResult castResult;
+	castResult.m_fraction = btScalar(1.);
+	if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
+	{
+		//add hit
+		if (castResult.m_normal.length2() > btScalar(0.0001))
+		{					
+			if (castResult.m_fraction < m_hitFraction)
+			{
+
+#ifdef USE_SUBSIMPLEX_CONVEX_CAST
+				//rotate normal into worldspace
+				castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
+#endif //USE_SUBSIMPLEX_CONVEX_CAST
+				castResult.m_normal.normalize();
+
+				reportHit (castResult.m_normal,
+							castResult.m_hitPoint,
+							castResult.m_fraction,
+							partId,
+							triangleIndex);
+			}
+		}
+	}
+}

src/bullet/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h

@@ -17,14 +17,15 @@ subject to the following restrictions:
 #define RAYCAST_TRI_CALLBACK_H
 
 #include "BulletCollision/CollisionShapes/btTriangleCallback.h"
+#include "LinearMath/btTransform.h"
 struct btBroadphaseProxy;
-
+class btConvexShape;
 
 class  btTriangleRaycastCallback: public btTriangleCallback
 {
 public:
 
-		//input
+	//input
 	btVector3 m_from;
 	btVector3 m_to;
 
@@ -38,5 +39,21 @@ public:
 	
 };
 
+class btTriangleConvexcastCallback : public btTriangleCallback
+{
+public:
+	const btConvexShape* m_convexShape;
+	btTransform m_convexShapeFrom;
+	btTransform m_convexShapeTo;
+	btTransform m_triangleToWorld;
+	btScalar m_hitFraction;
+
+	btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld);
+
+	virtual void processTriangle (btVector3* triangle, int partId, int triangleIndex);
+
+	virtual btScalar reportHit (const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
+};
+
 #endif //RAYCAST_TRI_CALLBACK_H
 

src/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -109,6 +109,17 @@ public:
 
 	}
 
+	btScalar	getLowerLimit() const
+	{
+		return m_lowerLimit;
+	}
+
+	btScalar	getUpperLimit() const
+	{
+		return m_upperLimit;
+	}
+
+
 	btScalar getHingeAngle();
 
 

src/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -33,11 +33,9 @@ subject to the following restrictions:
 #include "btSolverBody.h"
 #include "btSolverConstraint.h"
 
+
 #include "LinearMath/btAlignedObjectArray.h"
 
-#ifdef USE_PROFILE
-#include "LinearMath/btQuickprof.h"
-#endif //USE_PROFILE
 
 int totalCpd = 0;
 
@@ -129,23 +127,28 @@ btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
 
 }
 
-void	initSolverBody(btSolverBody* solverBody, btRigidBody* rigidbody)
+void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject)
 {
-/*	int size = sizeof(btSolverBody);
+	btRigidBody* rb = btRigidBody::upcast(collisionObject);
-	int sizeofrb = sizeof(btRigidBody);
+	if (rb)
-	int sizemanifold = sizeof(btPersistentManifold);
+	{
-	int sizeofmp = sizeof(btManifoldPoint);
+		solverBody->m_angularVelocity = rb->getAngularVelocity() ;
-	int sizeofPersistData = sizeof (btConstraintPersistentData);
+		solverBody->m_centerOfMassPosition = collisionObject->getWorldTransform().getOrigin();
-*/
+		solverBody->m_friction = collisionObject->getFriction();
-
+		solverBody->m_invMass = rb->getInvMass();
-	solverBody->m_angularVelocity = rigidbody->getAngularVelocity();
+		solverBody->m_linearVelocity = rb->getLinearVelocity();
-	solverBody->m_centerOfMassPosition = rigidbody->getCenterOfMassPosition();
+		solverBody->m_originalBody = rb;
-	solverBody->m_friction = rigidbody->getFriction();
+		solverBody->m_angularFactor = rb->getAngularFactor();
-//	solverBody->m_invInertiaWorld = rigidbody->getInvInertiaTensorWorld();
+	} else
-	solverBody->m_invMass = rigidbody->getInvMass();
+	{
-	solverBody->m_linearVelocity = rigidbody->getLinearVelocity();
+		solverBody->m_angularVelocity.setValue(0,0,0);
-	solverBody->m_originalBody = rigidbody;
+		solverBody->m_centerOfMassPosition = collisionObject->getWorldTransform().getOrigin();
-	solverBody->m_angularFactor = rigidbody->getAngularFactor();
+		solverBody->m_friction = collisionObject->getFriction();
+		solverBody->m_invMass = 0.f;
+		solverBody->m_linearVelocity.setValue(0,0,0);
+		solverBody->m_originalBody = 0;
+		solverBody->m_angularFactor = 1.f;
+	}
 }
 
 btScalar penetrationResolveFactor = btScalar(0.9);
@@ -368,9 +371,12 @@ btScalar resolveSingleFrictionCacheFriendly(
 
 
 
-void	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btRigidBody* rb0,btRigidBody* rb1, btScalar relaxation)
+void	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation)
 {
 
+	btRigidBody* body0=btRigidBody::upcast(colObj0);
+	btRigidBody* body1=btRigidBody::upcast(colObj1);
+
 	btSolverConstraint& solverConstraint = m_tmpSolverFrictionConstraintPool.expand();
 	solverConstraint.m_contactNormal = normalAxis;
 
@@ -387,12 +393,12 @@ void	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
 	{
 		btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
 		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*ftorqueAxis1;
+		solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1 : btVector3(0,0,0);
 	}
 	{
 		btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal);
 		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*ftorqueAxis1;
+		solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1 : btVector3(0,0,0);
 	}
 
 #ifdef COMPUTE_IMPULSE_DENOM
@@ -400,21 +406,32 @@ void	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
 	btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal);
 #else
 	btVector3 vec;
-	vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
+	btScalar denom0 = 0.f;
-	btScalar denom0 = rb0->getInvMass() + normalAxis.dot(vec);
+	btScalar denom1 = 0.f;
-	vec = ( solverConstraint.m_angularComponentB).cross(rel_pos2);
+	if (body0)
-	btScalar denom1 = rb1->getInvMass() + normalAxis.dot(vec);
+	{
+		vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
+		denom0 = body0->getInvMass() + normalAxis.dot(vec);
+	}
+	if (body1)
+	{
+		vec = ( solverConstraint.m_angularComponentB).cross(rel_pos2);
+		denom1 = body1->getInvMass() + normalAxis.dot(vec);
+	}
 
 
 #endif //COMPUTE_IMPULSE_DENOM
 	btScalar denom = relaxation/(denom0+denom1);
 	solverConstraint.m_jacDiagABInv = denom;
 
+
 }
 
 
+
 btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
 {
+	BT_PROFILE("solveGroupCacheFriendlySetup");
 	(void)stackAlloc;
 	(void)debugDrawer;
 
@@ -424,7 +441,10 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 		return 0.f;
 	}
 	btPersistentManifold* manifold = 0;
-	btRigidBody* rb0=0,*rb1=0;
+	btCollisionObject* colObj0=0,*colObj1=0;
+
+	//btRigidBody* rb0=0,*rb1=0;
+
 
 #ifdef FORCE_REFESH_CONTACT_MANIFOLDS
 
@@ -450,7 +470,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 	btVector3 color(0,1,0);
 
 
-	BEGIN_PROFILE("gatherSolverData");
 
 	//int sizeofSB = sizeof(btSolverBody);
 	//int sizeofSC = sizeof(btSolverConstraint);
@@ -498,10 +517,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 			for (i=0;i<numManifolds;i++)
 			{
 				manifold = manifoldPtr[i];
-				rb1 = (btRigidBody*)manifold->getBody1();
+				colObj0 = (btCollisionObject*)manifold->getBody0();
-
+				colObj1 = (btCollisionObject*)manifold->getBody1();
-				rb0 = (btRigidBody*)manifold->getBody0();
-				
 			
 				int solverBodyIdA=-1;
 				int solverBodyIdB=-1;
@@ -511,45 +528,45 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 					
 
-					if (rb0->getIslandTag() >= 0)
+					if (colObj0->getIslandTag() >= 0)
 					{
-						if (rb0->getCompanionId() >= 0)
+						if (colObj0->getCompanionId() >= 0)
 						{
 							//body has already been converted
-							solverBodyIdA = rb0->getCompanionId();
+							solverBodyIdA = colObj0->getCompanionId();
 						} else
 						{
 							solverBodyIdA = m_tmpSolverBodyPool.size();
 							btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-							initSolverBody(&solverBody,rb0);
+							initSolverBody(&solverBody,colObj0);
-							rb0->setCompanionId(solverBodyIdA);
+							colObj0->setCompanionId(solverBodyIdA);
 						}
 					} else
 					{
 						//create a static body
 						solverBodyIdA = m_tmpSolverBodyPool.size();
 						btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-						initSolverBody(&solverBody,rb0);
+						initSolverBody(&solverBody,colObj0);
 					}
 
-					if (rb1->getIslandTag() >= 0)
+					if (colObj1->getIslandTag() >= 0)
 					{
-						if (rb1->getCompanionId() >= 0)
+						if (colObj1->getCompanionId() >= 0)
 						{
-							solverBodyIdB = rb1->getCompanionId();
+							solverBodyIdB = colObj1->getCompanionId();
 						} else
 						{
 							solverBodyIdB = m_tmpSolverBodyPool.size();
 							btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-							initSolverBody(&solverBody,rb1);
+							initSolverBody(&solverBody,colObj1);
-							rb1->setCompanionId(solverBodyIdB);
+							colObj1->setCompanionId(solverBodyIdB);
 						}
 					} else
 					{
 						//create a static body
 						solverBodyIdB = m_tmpSolverBodyPool.size();
 						btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-						initSolverBody(&solverBody,rb1);
+						initSolverBody(&solverBody,colObj1);
 					}
 				}
 
@@ -572,8 +589,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 						const btVector3& pos1 = cp.getPositionWorldOnA();
 						const btVector3& pos2 = cp.getPositionWorldOnB();
 
-						 rel_pos1 = pos1 - rb0->getCenterOfMassPosition(); 
+						 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); 
-						 rel_pos2 = pos2 - rb1->getCenterOfMassPosition();
+						 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
 
 						
 						relaxation = 1.f;
@@ -584,25 +601,35 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 						{
 							btSolverConstraint& solverConstraint = m_tmpSolverConstraintPool.expand();
+							btRigidBody* rb0 = btRigidBody::upcast(colObj0);
+							btRigidBody* rb1 = btRigidBody::upcast(colObj1);
 
 							solverConstraint.m_solverBodyIdA = solverBodyIdA;
 							solverConstraint.m_solverBodyIdB = solverBodyIdB;
 							solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_CONTACT_1D;
 
 							btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
-							solverConstraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*torqueAxis0;
+							solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0 : btVector3(0,0,0);
 							btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);		
-							solverConstraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*torqueAxis1;
+							solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*torqueAxis1 : btVector3(0,0,0);
 							{
 #ifdef COMPUTE_IMPULSE_DENOM
 								btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
 								btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
 #else							
 								btVector3 vec;
-								vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
+								btScalar denom0 = 0.f;
-								btScalar denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec);
+								btScalar denom1 = 0.f;
-								vec = ( solverConstraint.m_angularComponentB).cross(rel_pos2);
+								if (rb0)
-								btScalar denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec);
+								{
+									vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
+									denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec);
+								}
+								if (rb1)
+								{
+									vec = ( solverConstraint.m_angularComponentB).cross(rel_pos2);
+									denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec);
+								}
 #endif //COMPUTE_IMPULSE_DENOM		
 								
 								btScalar denom = relaxation/(denom0+denom1);
@@ -614,8 +641,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 							solverConstraint.m_relpos2CrossNormal = rel_pos2.cross(cp.m_normalWorldOnB);
 
 
-							btVector3 vel1 = rb0->getVelocityInLocalPoint(rel_pos1);
+							btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
-							btVector3 vel2 = rb1->getVelocityInLocalPoint(rel_pos2);
+							btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
 				
 							vel  = vel1 - vel2;
 							
@@ -647,36 +674,35 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 						
 						}
 
-						
+					
 						{
 							btVector3 frictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
 							btScalar lat_rel_vel = frictionDir1.length2();
 							if (lat_rel_vel > SIMD_EPSILON)//0.0f)
 							{
 								frictionDir1 /= btSqrt(lat_rel_vel);
-								addFrictionConstraint(frictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
+								addFrictionConstraint(frictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 								btVector3 frictionDir2 = frictionDir1.cross(cp.m_normalWorldOnB);
 								frictionDir2.normalize();//??
-								addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
+								addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							} else
 							{
 								//re-calculate friction direction every frame, todo: check if this is really needed
 								btVector3	frictionDir1,frictionDir2;
 								btPlaneSpace1(cp.m_normalWorldOnB,frictionDir1,frictionDir2);
-								addFrictionConstraint(frictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
+								addFrictionConstraint(frictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-								addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
+								addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							}
 
 						}
+					
+
 					}
 				}
 			}
 		}
 	}
-	END_PROFILE("gatherSolverData");
+	
-
-	BEGIN_PROFILE("prepareConstraints");
-
 	btContactSolverInfo info = infoGlobal;
 
 	{
@@ -710,15 +736,13 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 
 
-
-	END_PROFILE("prepareConstraints");
 	return 0.f;
 
 }
 
 btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
 {
-	BEGIN_PROFILE("solveConstraintsIterations");
+	BT_PROFILE("solveGroupCacheFriendlyIterations");
 	int numConstraintPool = m_tmpSolverConstraintPool.size();
 	int numFrictionPool = m_tmpSolverFrictionConstraintPool.size();
 
@@ -750,6 +774,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
 
 			for (j=0;j<numConstraints;j++)
 			{
+				BT_PROFILE("solveConstraint");
 				btTypedConstraint* constraint = constraints[j];
 				///todo: use solver bodies, so we don't need to copy from/to btRigidBody
 
@@ -776,9 +801,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
 			}
 
 			{
+				BT_PROFILE("resolveSingleCollisionCombinedCacheFriendly");
 				int numPoolConstraints = m_tmpSolverConstraintPool.size();
 				for (j=0;j<numPoolConstraints;j++)
 				{
+					
 					const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[m_orderTmpConstraintPool[j]];
 					resolveSingleCollisionCombinedCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
 						m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal);
@@ -786,6 +813,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
 			}
 
 			{
+				BT_PROFILE("resolveSingleFrictionCacheFriendly");
 				 int numFrictionPoolConstraints = m_tmpSolverFrictionConstraintPool.size();
 				
 				 for (j=0;j<numFrictionPoolConstraints;j++)
@@ -804,8 +832,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
 		}
 	}
 
-		END_PROFILE("solveConstraintsIterations");
+	
-
 		return 0.f;
 }
 
@@ -817,14 +844,12 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
 	solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
 	solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
 
-	BEGIN_PROFILE("solveWriteBackVelocity");
 		
 	for ( i=0;i<m_tmpSolverBodyPool.size();i++)
 	{
 		m_tmpSolverBodyPool[i].writebackVelocity();
 	}
 
-	END_PROFILE("solveWriteBackVelocity");
 
 //	printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size());
 
@@ -850,7 +875,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
 /// btSequentialImpulseConstraintSolver Sequentially applies impulses
 btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher)
 {
-
+	BT_PROFILE("solveGroup");
 	if (getSolverMode() & SOLVER_CACHE_FRIENDLY)
 	{
 		//you need to provide at least some bodies
@@ -860,16 +885,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
 		return solveGroupCacheFriendly(bodies,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
 	}
 
-
-	BEGIN_PROFILE("prepareConstraints");
 	
 
 	btContactSolverInfo info = infoGlobal;
 
 	int numiter = infoGlobal.m_numIterations;
-#ifdef USE_PROFILE
-	btProfiler::beginBlock("solve");
-#endif //USE_PROFILE
 
 	int totalPoints = 0;
 
@@ -899,10 +919,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
 		}
 	}
 	
-	END_PROFILE("prepareConstraints");
-
-
-	BEGIN_PROFILE("solveConstraints");
 
 	//should traverse the contacts random order...
 	int iteration;
@@ -947,13 +963,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
 		}
 	}
 		
-	END_PROFILE("solveConstraints");
-
-
-#ifdef USE_PROFILE
-	btProfiler::endBlock("solve");
-#endif //USE_PROFILE
-
 
 
 

src/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -41,7 +41,7 @@ protected:
 	btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
 	btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
 	void  prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
-	void	addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btRigidBody* rb0,btRigidBody* rb1, btScalar relaxation);
+	void	addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation);
 
 	ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
 	ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];

src/bullet/src/BulletDynamics/Dynamics/Bullet-C-API.cpp

@@ -127,7 +127,8 @@ plRigidBodyHandle plCreateRigidBody(	void* user_data,  float mass, plCollisionSh
 		shape->calculateLocalInertia(mass,localInertia);
 	}
 	void* mem = btAlignedAlloc(sizeof(btRigidBody),16);
-	btRigidBody* body = new (mem)btRigidBody(mass, 0,shape,localInertia);
+	btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0,shape,localInertia);
+	btRigidBody* body = new (mem)btRigidBody(rbci);
 	body->setWorldTransform(trans);
 	body->setUserPointer(user_data);
 	return (plRigidBodyHandle) body;

src/bullet/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp

@@ -47,6 +47,7 @@ void	btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
 {
 	
 	startProfiling(timeStep);
+	
 
 	///update aabbs information
 	updateAabbs();
@@ -115,14 +116,11 @@ void	btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
 
 		///calculate time of impact for overlapping pairs
 
-		BEGIN_PROFILE("performContinuousCollisionDetection");
 
 		btDispatcher* dispatcher = getDispatcher();
 		if (dispatcher)
 			dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
 
-		END_PROFILE("performContinuousCollisionDetection");
-
 		toi = dispatchInfo.m_timeOfImpact;
 
 		dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_DISCRETE;
@@ -131,7 +129,6 @@ void	btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
 
 void	btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
 {
-	BEGIN_PROFILE("perform Temporal Broadphase Collision Detection");
 
 	btVector3 temporalAabbMin,temporalAabbMax;
 
@@ -186,7 +183,6 @@ void	btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
 
 	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
 	
-	END_PROFILE("perform Temporal Broadphase Collision Detection");
 
 
 }

src/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -21,7 +21,8 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-#include <LinearMath/btTransformUtil.h>
+#include "LinearMath/btTransformUtil.h"
+#include "LinearMath/btQuickprof.h"
 
 //rigidbody & constraints
 #include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -60,7 +61,6 @@ subject to the following restrictions:
 btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
 :btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
 m_constraintSolver(constraintSolver),
-m_debugDrawer(0),
 m_gravity(0,-10,0),
 m_localTime(btScalar(1.)/btScalar(60.)),
 m_profileTimings(0)
@@ -122,14 +122,14 @@ void	btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
 	}
 }
 
-void	btDiscreteDynamicsWorld::synchronizeMotionStates()
+void	btDiscreteDynamicsWorld::debugDrawWorld()
 {
-	//debug vehicle wheels
+	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
-	
-	
 	{
+		int i;
+
 		//todo: iterate over awake simulation islands!
-		for ( int i=0;i<m_collisionObjects.size();i++)
+		for (  i=0;i<m_collisionObjects.size();i++)
 		{
 			btCollisionObject* colObj = m_collisionObjects[i];
 			if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
@@ -155,6 +155,88 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 
 				debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
 			}
+			if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
+			{
+				btPoint3 minAabb,maxAabb;
+				btVector3 colorvec(1,0,0);
+				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+				m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
+			}
+
+		}
+	
+		for (  i=0;i<this->m_vehicles.size();i++)
+		{
+			for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
+			{
+				btVector3 wheelColor(0,255,255);
+				if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
+				{
+					wheelColor.setValue(0,0,255);
+				} else
+				{
+					wheelColor.setValue(255,0,255);
+				}
+		
+				btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
+
+				btVector3 axle = btVector3(	
+					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
+					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
+					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
+
+
+				//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
+				//debug wheels (cylinders)
+				m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
+				m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
+
+			}
+		}
+	}
+}
+
+void	btDiscreteDynamicsWorld::clearForces()
+{
+	//todo: iterate over awake simulation islands!
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			body->clearForces();
+		}
+	}
+}	
+
+///apply gravity, call this once per timestep
+void	btDiscreteDynamicsWorld::applyGravity()
+{
+	//todo: iterate over awake simulation islands!
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body && body->isActive())
+		{
+			body->applyGravity();
+		}
+	}
+}
+
+
+
+void	btDiscreteDynamicsWorld::synchronizeMotionStates()
+{
+	{
+		//todo: iterate over awake simulation islands!
+		for ( int i=0;i<m_collisionObjects.size();i++)
+		{
+			btCollisionObject* colObj = m_collisionObjects[i];
+			
 			btRigidBody* body = btRigidBody::upcast(colObj);
 			if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
 			{
@@ -178,31 +260,8 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 		{
 			for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
 			{
-				btVector3 wheelColor(0,255,255);
-				if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
-				{
-					wheelColor.setValue(0,0,255);
-				} else
-				{
-					wheelColor.setValue(255,0,255);
-				}
-
 				//synchronize the wheels with the (interpolated) chassis worldtransform
 				m_vehicles[i]->updateWheelTransform(v,true);
-					
-				btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
-
-				btVector3 axle = btVector3(	
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
-
-
-				//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
-				//debug wheels (cylinders)
-				m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
-				m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
-
 			}
 		}
 	}
@@ -212,6 +271,10 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 
 int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
 {
+	startProfiling(timeStep);
+
+	BT_PROFILE("stepSimulation");
+
 	int numSimulationSubSteps = 0;
 
 	if (maxSubSteps)
@@ -249,6 +312,8 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 
 		saveKinematicState(fixedTimeStep);
 
+		applyGravity();
+
 		//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
 		int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
 
@@ -262,16 +327,17 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 
 	synchronizeMotionStates();
 
+	clearForces();
+
+	CProfileManager::Increment_Frame_Counter();
+	
 	return numSimulationSubSteps;
 }
 
 void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 {
 	
-	startProfiling(timeStep);
+	BT_PROFILE("internalSingleStepSimulation");
-
-	///update aabbs information
-	updateAabbs();
 
 	///apply gravity, predict motion
 	predictUnconstraintMotion(timeStep);
@@ -306,8 +372,6 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 
 	updateActivationState( timeStep );
 
-	
-
 }
 
 void	btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
@@ -363,19 +427,18 @@ void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
 
 void	btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
 {
-	BEGIN_PROFILE("updateVehicles");
+	BT_PROFILE("updateVehicles");
-
+	
 	for ( int i=0;i<m_vehicles.size();i++)
 	{
 		btRaycastVehicle* vehicle = m_vehicles[i];
 		vehicle->updateVehicle( timeStep);
 	}
-	END_PROFILE("updateVehicles");
 }
 
 void	btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
 {
-	BEGIN_PROFILE("updateActivationState");
+	BT_PROFILE("updateActivationState");
 
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
@@ -402,7 +465,6 @@ void	btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
 			}
 		}
 	}
-	END_PROFILE("updateActivationState");
 }
 
 void	btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies)
@@ -462,6 +524,7 @@ class btSortConstraintOnIslandPredicate
 
 void	btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 {
+	BT_PROFILE("solveConstraints");
 	
 	struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
 	{
@@ -569,7 +632,7 @@ void	btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 
 void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 {
-	BEGIN_PROFILE("calculateSimulationIslands");
+	BT_PROFILE("calculateSimulationIslands");
 
 	getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
 
@@ -599,66 +662,14 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 	//Store the island id in each body
 	getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
 
-	END_PROFILE("calculateSimulationIslands");
+	
-
 }
 
 
-void	btDiscreteDynamicsWorld::updateAabbs()
-{
-	BEGIN_PROFILE("updateAabbs");
-	
-	btVector3 colorvec(1,0,0);
-	btTransform predictedTrans;
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-		//	if (body->IsActive() && (!body->IsStatic()))
-			{
-				btPoint3 minAabb,maxAabb;
-				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
-				btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
-
-				//moving objects should be moderately sized, probably something wrong if not
-				if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
-				{
-					bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
-				} else
-				{
-					//something went wrong, investigate
-					//this assert is unwanted in 3D modelers (danger of loosing work)
-					body->setActivationState(DISABLE_SIMULATION);
-					
-					static bool reportMe = true;
-					if (reportMe && m_debugDrawer)
-					{
-						reportMe = false;
-						m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
-						m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
-						m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
-						m_debugDrawer->reportErrorWarning("Thanks.\n");
-					}
-
-
-				}
-				if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
-				{
-					m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
-				}
-			}
-		}
-	}
-	
-	END_PROFILE("updateAabbs");
-}
 
 void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 {
-	BEGIN_PROFILE("integrateTransforms");
+	BT_PROFILE("integrateTransforms");
 	btTransform predictedTrans;
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
@@ -673,14 +684,13 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 			}
 		}
 	}
-	END_PROFILE("integrateTransforms");
 }
 
 
 
 void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 {
-	BEGIN_PROFILE("predictUnconstraintMotion");
+	BT_PROFILE("predictUnconstraintMotion");
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
@@ -691,20 +701,25 @@ void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 			{
 				if (body->isActive())
 				{
-					body->applyForces( timeStep);
 					body->integrateVelocities( timeStep);
+					//damping
+					body->applyDamping(timeStep);
+
 					body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
 				}
 			}
 		}
 	}
-	END_PROFILE("predictUnconstraintMotion");
 }
 
 
 void	btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
 {
 	(void)timeStep;
+
+	CProfileManager::Reset();
+
+	
 	#ifdef USE_QUICKPROF
 
 

src/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -1,164 +1,161 @@
-/*
+/*
-Bullet Continuous Collision Detection and Physics Library
+Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
+
-This software is provided 'as-is', without any express or implied warranty.
+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.
+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, 
+Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
+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.
+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.
+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.
+3. This notice may not be removed or altered from any source distribution.
-*/
+*/
-
+
-#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
+#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
-#define BT_DISCRETE_DYNAMICS_WORLD_H
+#define BT_DISCRETE_DYNAMICS_WORLD_H
-
+
-#include "btDynamicsWorld.h"
+#include "btDynamicsWorld.h"
-
+
-class btDispatcher;
+class btDispatcher;
-class btOverlappingPairCache;
+class btOverlappingPairCache;
-class btConstraintSolver;
+class btConstraintSolver;
-class btSimulationIslandManager;
+class btSimulationIslandManager;
-class btTypedConstraint;
+class btTypedConstraint;
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-
+
-class btRaycastVehicle;
+class btRaycastVehicle;
-class btIDebugDraw;
+class btIDebugDraw;
-#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btAlignedObjectArray.h"
-
+
-
+
-///btDiscreteDynamicsWorld provides discrete rigid body simulation
+///btDiscreteDynamicsWorld provides discrete rigid body simulation
-///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
+///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
-class btDiscreteDynamicsWorld : public btDynamicsWorld
+class btDiscreteDynamicsWorld : public btDynamicsWorld
-{
+{
-protected:
+protected:
-
+
-	btConstraintSolver*	m_constraintSolver;
+	btConstraintSolver*	m_constraintSolver;
-
+
-	btSimulationIslandManager*	m_islandManager;
+	btSimulationIslandManager*	m_islandManager;
-
+
-	btAlignedObjectArray<btTypedConstraint*> m_constraints;
+	btAlignedObjectArray<btTypedConstraint*> m_constraints;
-
+
-	btIDebugDraw*	m_debugDrawer;
+
-
+	btVector3	m_gravity;
-	btVector3	m_gravity;
+
-
+	//for variable timesteps
-	//for variable timesteps
+	btScalar	m_localTime;
-	btScalar	m_localTime;
+	//for variable timesteps
-	//for variable timesteps
+
-
+	bool	m_ownsIslandManager;
-	bool	m_ownsIslandManager;
+	bool	m_ownsConstraintSolver;
-	bool	m_ownsConstraintSolver;
+
-
+	btContactSolverInfo	m_solverInfo;
-	btContactSolverInfo	m_solverInfo;
+
-
+
-
+	btAlignedObjectArray<btRaycastVehicle*>	m_vehicles;
-	btAlignedObjectArray<btRaycastVehicle*>	m_vehicles;
+
-
+	int	m_profileTimings;
-	int	m_profileTimings;
+
-
+	virtual void	predictUnconstraintMotion(btScalar timeStep);
-	void	predictUnconstraintMotion(btScalar timeStep);
+	
-	
+	void	integrateTransforms(btScalar timeStep);
-	void	integrateTransforms(btScalar timeStep);
+		
-		
+	void	calculateSimulationIslands();
-	void	calculateSimulationIslands();
+
-
+	void	solveConstraints(btContactSolverInfo& solverInfo);
-	void	solveConstraints(btContactSolverInfo& solverInfo);
+	
-	
+	void	updateActivationState(btScalar timeStep);
-	void	updateActivationState(btScalar timeStep);
+
-
+	void	updateVehicles(btScalar timeStep);
-	void	updateVehicles(btScalar timeStep);
+
-
+	void	startProfiling(btScalar timeStep);
-	void	startProfiling(btScalar timeStep);
+
-
+	virtual void	internalSingleStepSimulation( btScalar timeStep);
-	virtual void	internalSingleStepSimulation( btScalar timeStep);
+
-
+	void	synchronizeMotionStates();
-	void	synchronizeMotionStates();
+
-
+	void	saveKinematicState(btScalar timeStep);
-	void	saveKinematicState(btScalar timeStep);
+
-
+	void	debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
-	void	debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
+
-
+public:
-public:
+
-
+
-
+	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
-	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
+	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
-	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
+
-
+	virtual ~btDiscreteDynamicsWorld();
-	virtual ~btDiscreteDynamicsWorld();
+
-
+	///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
-	///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
+	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
-	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
+
-
+
-	virtual void	updateAabbs();
+	void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
-
+
-	void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
+	void	removeConstraint(btTypedConstraint* constraint);
-
+
-	void	removeConstraint(btTypedConstraint* constraint);
+	void	addVehicle(btRaycastVehicle* vehicle);
-
+
-	void	addVehicle(btRaycastVehicle* vehicle);
+	void	removeVehicle(btRaycastVehicle* vehicle);
-
+
-	void	removeVehicle(btRaycastVehicle* vehicle);
+	btSimulationIslandManager*	getSimulationIslandManager()
-
+	{
-	btSimulationIslandManager*	getSimulationIslandManager()
+		return m_islandManager;
-	{
+	}
-		return m_islandManager;
+
-	}
+	const btSimulationIslandManager*	getSimulationIslandManager() const 
-
+	{
-	const btSimulationIslandManager*	getSimulationIslandManager() const 
+		return m_islandManager;
-	{
+	}
-		return m_islandManager;
+
-	}
+	btCollisionWorld*	getCollisionWorld()
-
+	{
-	btCollisionWorld*	getCollisionWorld()
+		return this;
-	{
+	}
-		return this;
+
-	}
+
-
+	virtual void	setGravity(const btVector3& gravity);
-	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
+
-	{
+	virtual void	addRigidBody(btRigidBody* body);
-			m_debugDrawer = debugDrawer;
+
-	}
+	virtual void	addRigidBody(btRigidBody* body, short group, short mask);
-
+
-	virtual btIDebugDraw*	getDebugDrawer()
+	virtual void	removeRigidBody(btRigidBody* body);
-	{
+
-		return m_debugDrawer;
+	void	debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
-	}
+
-
+	virtual void	debugDrawWorld();
-	virtual void	setGravity(const btVector3& gravity);
+
-
+	virtual void	setConstraintSolver(btConstraintSolver* solver);
-	virtual void	addRigidBody(btRigidBody* body);
+
-
+	virtual btConstraintSolver* getConstraintSolver();
-	virtual void	addRigidBody(btRigidBody* body, short group, short mask);
+	
-
+	virtual	int		getNumConstraints() const;
-	virtual void	removeRigidBody(btRigidBody* body);
+
-
+	virtual btTypedConstraint* getConstraint(int index)	;
-	void	debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
+
-
+	virtual const btTypedConstraint* getConstraint(int index) const;
-	virtual void	setConstraintSolver(btConstraintSolver* solver);
+
-
+	btContactSolverInfo& getSolverInfo()
-	virtual btConstraintSolver* getConstraintSolver();
+	{
-	
+		return m_solverInfo;
-	virtual	int		getNumConstraints() const;
+	}
-
+
-	virtual btTypedConstraint* getConstraint(int index)	;
+	virtual btDynamicsWorldType	getWorldType() const
-
+	{
-	virtual const btTypedConstraint* getConstraint(int index) const;
+		return BT_DISCRETE_DYNAMICS_WORLD;
-
+	}
-	btContactSolverInfo& getSolverInfo()
+	
-	{
+	///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
-		return m_solverInfo;
+	virtual void	clearForces();
-	}
+
-
+	///apply gravity, call this once per timestep
-	virtual btDynamicsWorldType	getWorldType() const
+	virtual void	applyGravity();
-	{
+
-		return BT_DISCRETE_DYNAMICS_WORLD;
+
-	}
+};
-
+
-
+#endif //BT_DISCRETE_DYNAMICS_WORLD_H
-};
-
-#endif //BT_DISCRETE_DYNAMICS_WORLD_H

src/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -1,89 +1,87 @@
-/*
+/*
-Bullet Continuous Collision Detection and Physics Library
+Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
+
-This software is provided 'as-is', without any express or implied warranty.
+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.
+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, 
+Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
+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.
+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.
+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.
+3. This notice may not be removed or altered from any source distribution.
-*/
+*/
-
+
-#ifndef BT_DYNAMICS_WORLD_H
+#ifndef BT_DYNAMICS_WORLD_H
-#define BT_DYNAMICS_WORLD_H
+#define BT_DYNAMICS_WORLD_H
-
+
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
+#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-class btTypedConstraint;
+class btTypedConstraint;
-class btRaycastVehicle;
+class btRaycastVehicle;
-class btConstraintSolver;
+class btConstraintSolver;
-
+
-
+
 enum btDynamicsWorldType
 {
 	BT_SIMPLE_DYNAMICS_WORLD=1,
 	BT_DISCRETE_DYNAMICS_WORLD=2,
 	BT_CONTINUOUS_DYNAMICS_WORLD=3
-};
+};
-
+
-///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
+///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
-class btDynamicsWorld : public btCollisionWorld
+class btDynamicsWorld : public btCollisionWorld
-{
+{
-	public:
+	public:
-		
+		
-
+
-		btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
+		btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
-		:btCollisionWorld(dispatcher,broadphase,collisionConfiguration)
+		:btCollisionWorld(dispatcher,broadphase,collisionConfiguration)
-		{
+		{
-		}
+		}
-
+
-		virtual ~btDynamicsWorld()
+		virtual ~btDynamicsWorld()
-		{
+		{
-		}
+		}
-		
+		
-		///stepSimulation proceeds the simulation over timeStep units
+		///stepSimulation proceeds the simulation over timeStep units
-		///if maxSubSteps > 0, it will interpolate time steps
+		///if maxSubSteps > 0, it will interpolate time steps
-		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
+		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
-			
+			
-		virtual void	updateAabbs() = 0;
+		virtual void	debugDrawWorld() = 0;
-				
+				
-		virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
+		virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
-
+
-		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
+		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
-
+
-		virtual void	addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
+		virtual void	addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
-
+
-		virtual void	removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
+		virtual void	removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
-
+
-
+		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
-		virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer) = 0;
+		//existing rigidbodies in the world get gravity assigned too, during this method
-
+		virtual void	setGravity(const btVector3& gravity) = 0;
-		virtual btIDebugDraw*	getDebugDrawer() = 0;
+
-
+		virtual void	addRigidBody(btRigidBody* body) = 0;
-		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
+
-		//existing rigidbodies in the world get gravity assigned too, during this method
+		virtual void	removeRigidBody(btRigidBody* body) = 0;
-		virtual void	setGravity(const btVector3& gravity) = 0;
+
-
+		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
-		virtual void	addRigidBody(btRigidBody* body) = 0;
+
-
+		virtual btConstraintSolver* getConstraintSolver() = 0;
-		virtual void	removeRigidBody(btRigidBody* body) = 0;
+		
-
+		virtual	int		getNumConstraints() const {	return 0;		}
-		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
+		
-
+		virtual btTypedConstraint* getConstraint(int index)		{	(void)index;		return 0;		}
-		virtual btConstraintSolver* getConstraintSolver() = 0;
+		
-		
+		virtual const btTypedConstraint* getConstraint(int index) const	{	(void)index;	return 0;	}
-		virtual	int		getNumConstraints() const {	return 0;		}
+
-		
+		virtual btDynamicsWorldType	getWorldType() const=0;
-		virtual btTypedConstraint* getConstraint(int index)		{	(void)index;		return 0;		}
+
-		
+		virtual void	clearForces() = 0;
-		virtual const btTypedConstraint* getConstraint(int index) const	{	(void)index;	return 0;	}
+
-
+
-		virtual btDynamicsWorldType	getWorldType() const=0;
+};
-
+
-};
+#endif //BT_DYNAMICS_WORLD_H
-
+
-#endif //BT_DYNAMICS_WORLD_H
-

src/bullet/src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -20,38 +20,51 @@ subject to the following restrictions:
 #include "LinearMath/btMotionState.h"
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
 
-btScalar gLinearAirDamping = btScalar(1.);
 //'temporarily' global variables
 btScalar	gDeactivationTime = btScalar(2.);
 bool	gDisableDeactivation = false;
-
-btScalar gLinearSleepingThreshold = btScalar(0.8);
-btScalar gAngularSleepingThreshold = btScalar(1.0);
 static int uniqueId = 0;
 
-btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
+
-: 
+btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
-	m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+{
-	m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
+	setupRigidBody(constructionInfo);
-	m_angularFactor(btScalar(1.)),
+}
-	m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+
-	m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+btRigidBody::btRigidBody(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia)
-	m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+{
-	m_linearDamping(btScalar(0.)),
+	btRigidBodyConstructionInfo cinfo(mass,motionState,collisionShape,localInertia);
-	m_angularDamping(btScalar(0.5)),
+	setupRigidBody(cinfo);
-	m_linearSleepingThreshold(gLinearSleepingThreshold),
+}
-	m_angularSleepingThreshold(gAngularSleepingThreshold),
+
-	m_optionalMotionState(motionState),
+void	btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
-	m_contactSolverType(0),
-	m_frictionSolverType(0)
 {
 
-	if (motionState)
+	m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
+	m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+	m_angularFactor = btScalar(1.);
+	m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
+	m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
+	m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
+	m_linearDamping = btScalar(0.);
+	m_angularDamping = btScalar(0.5);
+	m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
+	m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
+	m_optionalMotionState = constructionInfo.m_motionState;
+	m_contactSolverType = 0;
+	m_frictionSolverType = 0;
+	m_additionalDamping = constructionInfo.m_additionalDamping;
+
+	m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
+	m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
+	m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
+
+	if (m_optionalMotionState)
 	{
-		motionState->getWorldTransform(m_worldTransform);
+		m_optionalMotionState->getWorldTransform(m_worldTransform);
 	} else
 	{
-		m_worldTransform = btTransform::getIdentity();
+		m_worldTransform = constructionInfo.m_startWorldTransform;
 	}
 
 	m_interpolationWorldTransform = m_worldTransform;
@@ -59,93 +72,24 @@ btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionS
 	m_interpolationAngularVelocity.setValue(0,0,0);
 	
 	//moved to btCollisionObject
-	m_friction = friction;
+	m_friction = constructionInfo.m_friction;
-	m_restitution = restitution;
+	m_restitution = constructionInfo.m_restitution;
 
-	m_collisionShape = collisionShape;
+	m_collisionShape = constructionInfo.m_collisionShape;
 	m_debugBodyId = uniqueId++;
 	
 	//m_internalOwner is to allow upcasting from collision object to rigid body
 	m_internalOwner = this;
 
-	setMassProps(mass, localInertia);
+	setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
-    setDamping(linearDamping, angularDamping);
+    setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
 	updateInertiaTensor();
 
 }
 
-#ifdef OBSOLETE_MOTIONSTATE_LESS
-btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
-: 
-	m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
-	m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
-	m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
-	m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
-	m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),	
-	m_linearSleepingThreshold(gLinearSleepingThreshold),
-	m_angularSleepingThreshold(gAngularSleepingThreshold),
-	m_linearDamping(btScalar(0.)),
-	m_angularDamping(btScalar(0.5)),
-	m_optionalMotionState(0),
-	m_contactSolverType(0),
-	m_frictionSolverType(0)
-	
-{
-	
-	m_worldTransform = worldTransform;
-	m_interpolationWorldTransform = m_worldTransform;
-	m_interpolationLinearVelocity.setValue(0,0,0);
-	m_interpolationAngularVelocity.setValue(0,0,0);
-
-	//moved to btCollisionObject
-	m_friction = friction;
-	m_restitution = restitution;
-
-	m_collisionShape = collisionShape;
-	m_debugBodyId = uniqueId++;
-	
-	//m_internalOwner is to allow upcasting from collision object to rigid body
-	m_internalOwner = this;
-
-	setMassProps(mass, localInertia);
-    setDamping(linearDamping, angularDamping);
-	updateInertiaTensor();
-
-}
-
-#endif //OBSOLETE_MOTIONSTATE_LESS
-
-
-
-
-#define EXPERIMENTAL_JITTER_REMOVAL 1
-#ifdef EXPERIMENTAL_JITTER_REMOVAL
-//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
-//doesn't work very well yet (value 0 disabled this damping)
-//note there this influences deactivation thresholds!
-btScalar gClippedAngvelThresholdSqr = btScalar(0.01);
-btScalar	gClippedLinearThresholdSqr = btScalar(0.01);
-#endif //EXPERIMENTAL_JITTER_REMOVAL
-
-btScalar	gJitterVelocityDampingFactor = btScalar(0.7);
 
 void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) 
 {
-
-#ifdef EXPERIMENTAL_JITTER_REMOVAL
-	//if (wantsSleeping())
-	{
-		//clip to avoid jitter
-		if ((m_angularVelocity.length2() < gClippedAngvelThresholdSqr) &&
-			(m_linearVelocity.length2() < gClippedLinearThresholdSqr))
-		{
-			m_angularVelocity *= gJitterVelocityDampingFactor;
-			m_linearVelocity *= gJitterVelocityDampingFactor;
-		}
-	}
-	
-#endif //EXPERIMENTAL_JITTER_REMOVAL
-
 	btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
 }
 
@@ -196,50 +140,63 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
 
 
 
-#include <stdio.h>
+
+///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
+void			btRigidBody::applyDamping(btScalar timeStep)
+{
+	m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+	m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+
+	if (m_additionalDamping)
+	{
+		//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
+		//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
+		if ((m_angularVelocity.length2() < m_additionalAngularDampingThresholdSqr) &&
+			(m_linearVelocity.length2() < m_additionalLinearDampingThresholdSqr))
+		{
+			m_angularVelocity *= m_additionalDampingFactor;
+			m_linearVelocity *= m_additionalDampingFactor;
+		}
+	
+
+		btScalar speed = m_linearVelocity.length();
+		if (speed < m_linearDamping)
+		{
+			btScalar dampVel = btScalar(0.005);
+			if (speed > dampVel)
+			{
+				btVector3 dir = m_linearVelocity.normalized();
+				m_linearVelocity -=  dir * dampVel;
+			} else
+			{
+				m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+			}
+		}
+
+		btScalar angSpeed = m_angularVelocity.length();
+		if (angSpeed < m_angularDamping)
+		{
+			btScalar angDampVel = btScalar(0.005);
+			if (angSpeed > angDampVel)
+			{
+				btVector3 dir = m_angularVelocity.normalized();
+				m_angularVelocity -=  dir * angDampVel;
+			} else
+			{
+				m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+			}
+		}
+	}
+}
 
 
-void btRigidBody::applyForces(btScalar step)
+void btRigidBody::applyGravity()
 {
 	if (isStaticOrKinematicObject())
 		return;
 	
 	applyCentralForce(m_gravity);	
-	
-	m_linearVelocity *= GEN_clamped((btScalar(1.) - step * gLinearAirDamping * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
-	m_angularVelocity *= GEN_clamped((btScalar(1.) - step * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
 
-#define FORCE_VELOCITY_DAMPING 1
-#ifdef FORCE_VELOCITY_DAMPING
-	btScalar speed = m_linearVelocity.length();
-	if (speed < m_linearDamping)
-	{
-		btScalar dampVel = btScalar(0.005);
-		if (speed > dampVel)
-		{
-			btVector3 dir = m_linearVelocity.normalized();
-			m_linearVelocity -=  dir * dampVel;
-		} else
-		{
-			m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-		}
-	}
-
-	btScalar angSpeed = m_angularVelocity.length();
-	if (angSpeed < m_angularDamping)
-	{
-		btScalar angDampVel = btScalar(0.005);
-		if (angSpeed > angDampVel)
-		{
-			btVector3 dir = m_angularVelocity.normalized();
-			m_angularVelocity -=  dir * angDampVel;
-		} else
-		{
-			m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-		}
-	}
-#endif //FORCE_VELOCITY_DAMPING
-	
 }
 
 void btRigidBody::proceedToTransform(const btTransform& newTrans)
@@ -290,7 +247,6 @@ void btRigidBody::integrateVelocities(btScalar step)
 		m_angularVelocity *= (MAX_ANGVEL/step) /angvel;
 	}
 
-	clearForces();
 }
 
 btQuaternion btRigidBody::getOrientation() const

src/bullet/src/BulletDynamics/Dynamics/btRigidBody.h

@@ -27,16 +27,18 @@ class btMotionState;
 class btTypedConstraint;
 
 
-extern btScalar gLinearAirDamping;
-
 extern btScalar gDeactivationTime;
 extern bool gDisableDeactivation;
-extern btScalar gLinearSleepingThreshold;
-extern btScalar gAngularSleepingThreshold;
 
 
-/// btRigidBody class for btRigidBody Dynamics
+///btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
-/// 
+///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
+///There are 3 types of rigid bodies: 
+///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
+///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
+///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
+///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
+///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
 class btRigidBody  : public btCollisionObject
 {
 
@@ -54,9 +56,15 @@ class btRigidBody  : public btCollisionObject
 	btScalar		m_linearDamping;
 	btScalar		m_angularDamping;
 
+	bool			m_additionalDamping;
+	btScalar		m_additionalDampingFactor;
+	btScalar		m_additionalLinearDampingThresholdSqr;
+	btScalar		m_additionalAngularDampingThresholdSqr;
+	btScalar		m_additionalAngularDampingFactor;
+
+
 	btScalar		m_linearSleepingThreshold;
 	btScalar		m_angularSleepingThreshold;
-		
 
 	//m_optionalMotionState allows to automatic synchronize the world transform for active objects
 	btMotionState*	m_optionalMotionState;
@@ -66,20 +74,85 @@ class btRigidBody  : public btCollisionObject
 
 public:
 
-#ifdef OBSOLETE_MOTIONSTATE_LESS
-	//not supported, please use btMotionState
-	btRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
-#endif //OBSOLETE_MOTIONSTATE_LESS
 
-	btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
+	///btRigidBodyConstructionInfo provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
+	///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
+	///You can use the motion state to synchronize the world transform between physics and graphics objects. 
+	///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
+	///m_startWorldTransform is only used when you don't provide a motion state.
+	struct	btRigidBodyConstructionInfo
+	{
+		btScalar			m_mass;
 
-	virtual ~btRigidBody() 
+		///When a motionState is provided, the rigid body will initialize its world transform from the motion state
+		///In this case, m_startWorldTransform is ignored.
+		btMotionState*		m_motionState;
+		btTransform	m_startWorldTransform;
+
+		btCollisionShape*	m_collisionShape;
+		btVector3			m_localInertia;
+		btScalar			m_linearDamping;
+		btScalar			m_angularDamping;
+
+		///best simulation results when friction is non-zero
+		btScalar			m_friction;
+		///best simulation results using zero restitution.
+		btScalar			m_restitution;
+
+		btScalar			m_linearSleepingThreshold;
+		btScalar			m_angularSleepingThreshold;
+
+		//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
+		//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
+		bool				m_additionalDamping;
+		btScalar			m_additionalDampingFactor;
+		btScalar			m_additionalLinearDampingThresholdSqr;
+		btScalar			m_additionalAngularDampingThresholdSqr;
+		btScalar			m_additionalAngularDampingFactor;
+
+		
+		btRigidBodyConstructionInfo(	btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
+		m_mass(mass),
+			m_motionState(motionState),
+			m_collisionShape(collisionShape),
+			m_localInertia(localInertia),
+			m_linearDamping(btScalar(0.)),
+			m_angularDamping(btScalar(0.)),
+			m_friction(btScalar(0.5)),
+			m_restitution(btScalar(0.)),
+			m_linearSleepingThreshold(btScalar(0.8)),
+			m_angularSleepingThreshold(btScalar(1.f)),
+			m_additionalDamping(false),
+			m_additionalDampingFactor(btScalar(0.005)),
+			m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
+			m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
+			m_additionalAngularDampingFactor(btScalar(0.01))
+		{
+			m_startWorldTransform.setIdentity();
+		}
+	};
+
+	///btRigidBody constructor using construction info
+	btRigidBody(	const btRigidBodyConstructionInfo& constructionInfo);
+
+	///btRigidBody constructor for backwards compatibility. 
+	///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
+	btRigidBody(	btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0));
+
+
+	virtual ~btRigidBody()
         { 
                 //No constraints should point to this rigidbody
 		//Remove constraints from the dynamics world before you delete the related rigidbodies. 
                 btAssert(m_constraintRefs.size()==0); 
         }
 
+protected:
+
+	///setupRigidBody is only used internally by the constructor
+	void	setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
+
+public:
 
 	void			proceedToTransform(const btTransform& newTrans); 
 	
@@ -99,8 +172,7 @@ public:
 	
 	void			saveKinematicState(btScalar step);
 	
-
+	void			applyGravity();
-	void			applyForces(btScalar step);
 	
 	void			setGravity(const btVector3& acceleration);  
 
@@ -110,7 +182,9 @@ public:
 	}
 
 	void			setDamping(btScalar lin_damping, btScalar ang_damping);
-	
+
+	void			applyDamping(btScalar timeStep);
+
 	SIMD_FORCE_INLINE const btCollisionShape*	getCollisionShape() const {
 		return m_collisionShape;
 	}

src/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -36,7 +36,6 @@ btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadpha
 :btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
 m_constraintSolver(constraintSolver),
 m_ownsConstraintSolver(false),
-m_debugDrawer(0),
 m_gravity(0,0,-10)
 {
 
@@ -86,10 +85,27 @@ int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
 
 	synchronizeMotionStates();
 
+	clearForces();
+
 	return 1;
 
 }
 
+void	btSimpleDynamicsWorld::clearForces()
+{
+	//todo: iterate over awake simulation islands!
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			body->clearForces();
+		}
+	}
+}	
+
 
 void	btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
 {
@@ -172,8 +188,9 @@ void	btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 			{
 				if (body->isActive())
 				{
-					body->applyForces( timeStep);
+					body->applyGravity();
 					body->integrateVelocities( timeStep);
+					body->applyDamping(timeStep);
 					body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
 				}
 			}

src/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -32,8 +32,6 @@ protected:
 
 	bool	m_ownsConstraintSolver;
 
-	btIDebugDraw*	m_debugDrawer;
-
 	void	predictUnconstraintMotion(btScalar timeStep);
 	
 	void	integrateTransforms(btScalar timeStep);
@@ -52,16 +50,6 @@ public:
 	///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
 	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
 
-	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer) 
-	{
-		m_debugDrawer = debugDrawer;
-	};
-
-	virtual btIDebugDraw*	getDebugDrawer()
-	{
-		return m_debugDrawer;
-	}
-
 	virtual void	setGravity(const btVector3& gravity);
 
 	virtual void	addRigidBody(btRigidBody* body);
@@ -81,6 +69,8 @@ public:
 		return BT_SIMPLE_DYNAMICS_WORLD;
 	}
 
+	virtual void	clearForces();
+
 };
 
 #endif //BT_SIMPLE_DYNAMICS_WORLD_H

src/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -23,8 +23,6 @@
 
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
-
-
 static btRigidBody s_fixedObject( 0,0,0);
 
 btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster )
@@ -526,15 +524,10 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 		if (!numWheel)
 			return;
 
-
+		m_forwardWS.resize(numWheel);
-		void* mem = btAlignedAlloc(numWheel*sizeof(btVector3),16);
+		m_axle.resize(numWheel);
-		btVector3*	forwardWS = new	(mem)btVector3[numWheel];
+		m_forwardImpulse.resize(numWheel);
-		mem = btAlignedAlloc(numWheel*sizeof(btVector3),16);
+		m_sideImpulse.resize(numWheel);
-		btVector3*	axle = new (mem)btVector3[numWheel];
-		mem = btAlignedAlloc(numWheel*sizeof(btScalar),16);
-		btScalar* forwardImpulse = new (mem)btScalar[numWheel];
-		mem = btAlignedAlloc(numWheel*sizeof(btScalar),16);
-		btScalar* sideImpulse = new(mem) btScalar[numWheel];
 		
 		int numWheelsOnGround = 0;
 	
@@ -546,8 +539,8 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 			class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
 			if (groundObject)
 				numWheelsOnGround++;
-			sideImpulse[i] = btScalar(0.);
+			m_sideImpulse[i] = btScalar(0.);
-			forwardImpulse[i] = btScalar(0.);
+			m_forwardImpulse[i] = btScalar(0.);
 
 		}
 	
@@ -566,25 +559,25 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 					const btTransform& wheelTrans = getWheelTransformWS( i );
 
 					btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
-					axle[i] = btVector3(	
+					m_axle[i] = btVector3(	
 						wheelBasis0[0][m_indexRightAxis],
 						wheelBasis0[1][m_indexRightAxis],
 						wheelBasis0[2][m_indexRightAxis]);
 					
 					const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
-					btScalar proj = axle[i].dot(surfNormalWS);
+					btScalar proj = m_axle[i].dot(surfNormalWS);
-					axle[i] -= surfNormalWS * proj;
+					m_axle[i] -= surfNormalWS * proj;
-					axle[i] = axle[i].normalize();
+					m_axle[i] = m_axle[i].normalize();
 					
-					forwardWS[i] = surfNormalWS.cross(axle[i]);
+					m_forwardWS[i] = surfNormalWS.cross(m_axle[i]);
-					forwardWS[i].normalize();
+					m_forwardWS[i].normalize();
 
 				
 					resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
 							  *groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
-							  btScalar(0.), axle[i],sideImpulse[i],timeStep);
+							  btScalar(0.), m_axle[i],m_sideImpulse[i],timeStep);
 
-					sideImpulse[i] *= sideFrictionStiffness2;
+					m_sideImpulse[i] *= sideFrictionStiffness2;
 						
 				}
 				
@@ -613,7 +606,7 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 				{
 					btScalar defaultRollingFrictionImpulse = 0.f;
 					btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse;
-					btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,forwardWS[wheel],maxImpulse);
+					btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse);
 					rollingFriction = calcRollingFriction(contactPt);
 				}
 			}
@@ -623,7 +616,7 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 
 
 
-			forwardImpulse[wheel] = btScalar(0.);
+			m_forwardImpulse[wheel] = btScalar(0.);
 			m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
 
 			if (groundObject)
@@ -636,10 +629,10 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 				btScalar maximpSquared = maximp * maximpSide;
 			
 
-				forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep;
+				m_forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep;
 
-				btScalar x = (forwardImpulse[wheel] ) * fwdFactor;
+				btScalar x = (m_forwardImpulse[wheel] ) * fwdFactor;
-				btScalar y = (sideImpulse[wheel] ) * sideFactor;
+				btScalar y = (m_sideImpulse[wheel] ) * sideFactor;
 				
 				btScalar impulseSquared = (x*x + y*y);
 
@@ -663,12 +656,12 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 		{
 			for (int wheel = 0;wheel < getNumWheels(); wheel++)
 			{
-				if (sideImpulse[wheel] != btScalar(0.))
+				if (m_sideImpulse[wheel] != btScalar(0.))
 				{
 					if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.))
 					{
-						forwardImpulse[wheel] *=	m_wheelInfo[wheel].m_skidInfo;
+						m_forwardImpulse[wheel] *=	m_wheelInfo[wheel].m_skidInfo;
-						sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
+						m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
 					}
 				}
 			}
@@ -683,11 +676,11 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 				btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS - 
 						m_chassisBody->getCenterOfMassPosition();
 
-				if (forwardImpulse[wheel] != btScalar(0.))
+				if (m_forwardImpulse[wheel] != btScalar(0.))
 				{
-					m_chassisBody->applyImpulse(forwardWS[wheel]*(forwardImpulse[wheel]),rel_pos);
+					m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),rel_pos);
 				}
-				if (sideImpulse[wheel] != btScalar(0.))
+				if (m_sideImpulse[wheel] != btScalar(0.))
 				{
 					class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
 
@@ -695,7 +688,7 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 						groundObject->getCenterOfMassPosition();
 
 					
-					btVector3 sideImp = axle[wheel] * sideImpulse[wheel];
+					btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
 
 					rel_pos[2] *= wheelInfo.m_rollInfluence;
 					m_chassisBody->applyImpulse(sideImp,rel_pos);
@@ -706,10 +699,7 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 			}
 		}
 
-		btAlignedFree(forwardWS);
+	
-		btAlignedFree(axle);
-		btAlignedFree(forwardImpulse);
-		btAlignedFree(sideImpulse);
 }
 
 

src/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -23,6 +23,12 @@ class btVehicleTuning;
 ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
 class btRaycastVehicle : public btTypedConstraint
 {
+
+		btAlignedObjectArray<btVector3>	m_forwardWS;
+		btAlignedObjectArray<btVector3>	m_axle;
+		btAlignedObjectArray<btScalar>	m_forwardImpulse;
+		btAlignedObjectArray<btScalar>	m_sideImpulse;
+
 public:
 	class btVehicleTuning
 		{
@@ -114,7 +120,7 @@ public:
 	
 	void	updateSuspension(btScalar deltaTime);
 
-	void	updateFriction(btScalar	timeStep);
+	virtual void	updateFriction(btScalar	timeStep);
 
 
 

src/bullet/src/LinearMath/btAabbUtil2.h

@@ -20,7 +20,14 @@ subject to the following restrictions:
 #include "btVector3.h"
 #include "btMinMax.h"
 
-
+SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
+								   btVector3& aabbMax,
+								   const btVector3& expansionMin,
+								   const btVector3& expansionMax)
+{
+	aabbMin = aabbMin + expansionMin;
+	aabbMax = aabbMax + expansionMax;
+}
 
 
 /// conservative test for overlap between two aabbs
@@ -65,6 +72,41 @@ SIMD_FORCE_INLINE int	btOutcode(const btVector3& p,const btVector3& halfExtent)
 }
 
 
+SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
+								  const btVector3& rayInvDirection,
+								  const unsigned int raySign[3],
+								  const btVector3 bounds[2],
+								  btScalar& tmin,
+								  btScalar lambda_min,
+								  btScalar lambda_max)
+{
+	btScalar tmax, tymin, tymax, tzmin, tzmax;
+	tmin = (bounds[raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
+	tmax = (bounds[1-raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
+	tymin = (bounds[raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
+	tymax = (bounds[1-raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
+
+	if ( (tmin > tymax) || (tymin > tmax) )
+		return false;
+
+	if (tymin > tmin)
+		tmin = tymin;
+
+	if (tymax < tmax)
+		tmax = tymax;
+
+	tzmin = (bounds[raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
+	tzmax = (bounds[1-raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
+
+	if ( (tmin > tzmax) || (tzmin > tmax) )
+		return false;
+	if (tzmin > tmin)
+		tmin = tzmin;
+	if (tzmax < tmax)
+		tmax = tzmax;
+	return ( (tmin < lambda_max) && (tmax > lambda_min) );
+}
+
 SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, 
 								 const btVector3& rayTo, 
 								 const btVector3& aabbMin, 
@@ -123,3 +165,4 @@ SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
 
 #endif
 
+

src/bullet/src/LinearMath/btAlignedAllocator.cpp

@@ -32,7 +32,7 @@ void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filen
  gTotalBytesAlignedAllocs += size;
  gNumAlignedAllocs++;
 
- printf("allocation#%d from %s,line %d, size %d\n",gNumAlignedAllocs,filename,line,size);
+ 
  real = (char *)malloc(size + 2*sizeof(void *) + (alignment-1));
  if (real) {
    offset = (alignment - (unsigned long)(real + 2*sizeof(void *))) &
@@ -44,6 +44,9 @@ void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filen
  } else {
    ret = (void *)(real);//??
  }
+
+ printf("allocation#%d at address %x, from %s,line %d, size %d\n",gNumAlignedAllocs,real, filename,line,size);
+
  int* ptr = (int*)ret;
  *ptr = 12;
  return (ret);
@@ -60,7 +63,7 @@ void    btAlignedFreeInternal   (void* ptr,int line,char* filename)
        int size = *((int*)(ptr)-2);
        gTotalBytesAlignedAllocs -= size;
 
-	   printf("free #%d from %s,line %d, size %d\n",gNumAlignedFree,filename,line,size);
+	   printf("free #%d at address %x, from %s,line %d, size %d\n",gNumAlignedFree,real, filename,line,size);
 
    free(real);
  } else

src/bullet/src/LinearMath/btPoolAllocator.h

@@ -77,7 +77,7 @@ public:
 		return false;
 	}
 
-	void	free(void* ptr)
+	void	freeMemory(void* ptr)
 	{
 		 if (ptr) {
             btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize);

src/bullet/src/LinearMath/btQuickprof.cpp

@@ -1,38 +1,268 @@
 /*
-Copyright (c) 2006 Tyler Streeter
 
-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, 
+** profile.cpp
-including commercial applications, and to alter it and redistribute it freely, 
+**
-subject to the following restrictions:
+** Real-Time Hierarchical Profiling for Game Programming Gems 3
-
+**
-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.
+** by Greg Hjelstrom & Byon Garrabrant
-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.
+***************************************************************************************************/
-
-*/
-
-
-// Please visit the project website (http://quickprof.sourceforge.net) 
-// for usage instructions.
 
 // Credits: The Clock class was inspired by the Timer classes in 
 // Ogre (www.ogre3d.org).
 
 #include "LinearMath/btQuickprof.h"
 
-#ifdef USE_QUICKPROF
+static btClock gProfileClock;
+
+inline void Profile_Get_Ticks(unsigned long int * ticks)
+{
+	*ticks = gProfileClock.getTimeMicroseconds();
+}
+
+inline float Profile_Get_Tick_Rate(void)
+{
+//	return 1000000.f;
+	return 1000.f;
+
+}
+
+/***************************************************************************************************
+**
+** CProfileNode
+**
+***************************************************************************************************/
+
+/***********************************************************************************************
+ * INPUT:                                                                                      *
+ * name - pointer to a static string which is the name of this profile node                    *
+ * parent - parent pointer                                                                     *
+ *                                                                                             *
+ * WARNINGS:                                                                                   *
+ * The name is assumed to be a static pointer, only the pointer is stored and compared for     *
+ * efficiency reasons.                                                                         *
+ *=============================================================================================*/
+CProfileNode::CProfileNode( const char * name, CProfileNode * parent ) :
+	Name( name ),
+	TotalCalls( 0 ),
+	TotalTime( 0 ),
+	StartTime( 0 ),
+	RecursionCounter( 0 ),
+	Parent( parent ),
+	Child( NULL ),
+	Sibling( NULL )
+{
+	Reset();
+}
+
+
+CProfileNode::~CProfileNode( void )
+{
+	delete Child;
+	delete Sibling;
+}
+
+
+/***********************************************************************************************
+ * INPUT:                                                                                      *
+ * name - static string pointer to the name of the node we are searching for                   *
+ *                                                                                             *
+ * WARNINGS:                                                                                   *
+ * All profile names are assumed to be static strings so this function uses pointer compares   *
+ * to find the named node.                                                                     *
+ *=============================================================================================*/
+CProfileNode * CProfileNode::Get_Sub_Node( const char * name )
+{
+	// Try to find this sub node
+	CProfileNode * child = Child;
+	while ( child ) {
+		if ( child->Name == name ) {
+			return child;
+		}
+		child = child->Sibling;
+	}
+
+	// We didn't find it, so add it
+	CProfileNode * node = new CProfileNode( name, this );
+	node->Sibling = Child;
+	Child = node;
+	return node;
+}
+
+
+void	CProfileNode::Reset( void )
+{
+	TotalCalls = 0;
+	TotalTime = 0.0f;
+	gProfileClock.reset();
+
+	if ( Child ) {
+		Child->Reset();
+	}
+	if ( Sibling ) {
+		Sibling->Reset();
+	}
+}
+
+
+void	CProfileNode::Call( void )
+{
+	TotalCalls++;
+	if (RecursionCounter++ == 0) {
+		Profile_Get_Ticks(&StartTime);
+	}
+}
+
+
+bool	CProfileNode::Return( void )
+{
+	if ( --RecursionCounter == 0 && TotalCalls != 0 ) { 
+		unsigned long int time;
+		Profile_Get_Ticks(&time);
+		time-=StartTime;
+		TotalTime += (float)time / Profile_Get_Tick_Rate();
+	}
+	return ( RecursionCounter == 0 );
+}
+
+
+/***************************************************************************************************
+**
+** CProfileIterator
+**
+***************************************************************************************************/
+CProfileIterator::CProfileIterator( CProfileNode * start )
+{
+	CurrentParent = start;
+	CurrentChild = CurrentParent->Get_Child();
+}
+
+
+void	CProfileIterator::First(void)
+{
+	CurrentChild = CurrentParent->Get_Child();
+}
+
+
+void	CProfileIterator::Next(void)
+{
+	CurrentChild = CurrentChild->Get_Sibling();
+}
+
+
+bool	CProfileIterator::Is_Done(void)
+{
+	return CurrentChild == NULL;
+}
+
+
+void	CProfileIterator::Enter_Child( int index )
+{
+	CurrentChild = CurrentParent->Get_Child();
+	while ( (CurrentChild != NULL) && (index != 0) ) {
+		index--;
+		CurrentChild = CurrentChild->Get_Sibling();
+	}
+
+	if ( CurrentChild != NULL ) {
+		CurrentParent = CurrentChild;
+		CurrentChild = CurrentParent->Get_Child();
+	}
+}
+
+
+void	CProfileIterator::Enter_Parent( void )
+{
+	if ( CurrentParent->Get_Parent() != NULL ) {
+		CurrentParent = CurrentParent->Get_Parent();
+	}
+	CurrentChild = CurrentParent->Get_Child();
+}
+
+
+/***************************************************************************************************
+**
+** CProfileManager
+**
+***************************************************************************************************/
+
+CProfileNode	CProfileManager::Root( "Root", NULL );
+CProfileNode *	CProfileManager::CurrentNode = &CProfileManager::Root;
+int				CProfileManager::FrameCounter = 0;
+unsigned long int			CProfileManager::ResetTime = 0;
+
+
+/***********************************************************************************************
+ * CProfileManager::Start_Profile -- Begin a named profile                                    *
+ *                                                                                             *
+ * Steps one level deeper into the tree, if a child already exists with the specified name     *
+ * then it accumulates the profiling; otherwise a new child node is added to the profile tree. *
+ *                                                                                             *
+ * INPUT:                                                                                      *
+ * name - name of this profiling record                                                        *
+ *                                                                                             *
+ * WARNINGS:                                                                                   *
+ * The string used is assumed to be a static string; pointer compares are used throughout      *
+ * the profiling code for efficiency.                                                          *
+ *=============================================================================================*/
+void	CProfileManager::Start_Profile( const char * name )
+{
+	if (name != CurrentNode->Get_Name()) {
+		CurrentNode = CurrentNode->Get_Sub_Node( name );
+	} 
+	
+	CurrentNode->Call();
+}
+
+
+/***********************************************************************************************
+ * CProfileManager::Stop_Profile -- Stop timing and record the results.                       *
+ *=============================================================================================*/
+void	CProfileManager::Stop_Profile( void )
+{
+	// Return will indicate whether we should back up to our parent (we may
+	// be profiling a recursive function)
+	if (CurrentNode->Return()) {
+		CurrentNode = CurrentNode->Get_Parent();
+	}
+}
+
+
+/***********************************************************************************************
+ * CProfileManager::Reset -- Reset the contents of the profiling system                       *
+ *                                                                                             *
+ *    This resets everything except for the tree structure.  All of the timing data is reset.  *
+ *=============================================================================================*/
+void	CProfileManager::Reset( void )
+{ 
+	Root.Reset();
+    Root.Call();
+	FrameCounter = 0;
+	Profile_Get_Ticks(&ResetTime);
+}
+
+
+/***********************************************************************************************
+ * CProfileManager::Increment_Frame_Counter -- Increment the frame counter                    *
+ *=============================================================================================*/
+void CProfileManager::Increment_Frame_Counter( void )
+{
+	FrameCounter++;
+}
+
+
+/***********************************************************************************************
+ * CProfileManager::Get_Time_Since_Reset -- returns the elapsed time since last reset         *
+ *=============================================================================================*/
+float CProfileManager::Get_Time_Since_Reset( void )
+{
+	unsigned long int time;
+	Profile_Get_Ticks(&time);
+	time -= ResetTime;
+	return (float)time / Profile_Get_Tick_Rate();
+}
+
+
 
-// Note: We must declare these private static variables again here to 
-// avoid link errors.
-bool btProfiler::mEnabled = false;
-btClock btProfiler::mClock;
-unsigned long int btProfiler::mCurrentCycleStartMicroseconds = 0;
-unsigned long int btProfiler::mLastCycleDurationMicroseconds = 0;
-std::map<std::string, hidden::ProfileBlock*> btProfiler::mProfileBlocks;
-std::ofstream btProfiler::mOutputFile;
-bool btProfiler::mFirstFileOutput = true;
-btProfiler::BlockTimingMethod btProfiler::mFileOutputMethod;
-unsigned long int btProfiler::mCycleNumber = 0;
-#endif //USE_QUICKPROF

src/bullet/src/LinearMath/btQuickprof.h

@@ -1,20 +1,11 @@
-/*
-Copyright (c) 2006 Tyler Streeter
-
-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.
-
-*/
 	
-// Please visit the project website (http://quickprof.sourceforge.net) 
+/***************************************************************************************************
-// for usage instructions.
+**
+** Real-Time Hierarchical Profiling for Game Programming Gems 3
+**
+** by Greg Hjelstrom & Byon Garrabrant
+**
+***************************************************************************************************/
 
 // Credits: The Clock class was inspired by the Timer classes in 
 // Ogre (www.ogre3d.org).
@@ -24,8 +15,8 @@ subject to the following restrictions:
 
 #include "btScalar.h"
 
-//#define USE_QUICKPROF 1
+//To disable built-in profiling, please comment out next line
-//Don't use quickprof for now, because it contains STL. TODO: replace STL by Bullet container classes.
+//#define BT_NO_PROFILE 1
 
 
 //if you don't need btClock, you can comment next line
@@ -235,477 +226,129 @@ class btClock
 #endif //USE_BT_CLOCK
 
 
-#ifdef USE_QUICKPROF
 
 
-#include <iostream>
+/*
-#include <fstream>
+** A node in the Profile Hierarchy Tree
-#include <string>
+*/
-#include <map>
+class	CProfileNode {
 
+public:
+	CProfileNode( const char * name, CProfileNode * parent );
+	~CProfileNode( void );
 
+	CProfileNode * Get_Sub_Node( const char * name );
 
+	CProfileNode * Get_Parent( void )		{ return Parent; }
+	CProfileNode * Get_Sibling( void )		{ return Sibling; }
+	CProfileNode * Get_Child( void )			{ return Child; }
 
-namespace hidden
+	void				Reset( void );
-{
+	void				Call( void );
-	/// A simple data structure representing a single timed block 
+	bool				Return( void );
-	/// of code.
-	struct ProfileBlock
-	{
-		ProfileBlock()
-		{
-			currentBlockStartMicroseconds = 0;
-			currentCycleTotalMicroseconds = 0;
-			lastCycleTotalMicroseconds = 0;
-			totalMicroseconds = 0;
-		}
 
-		/// The starting time (in us) of the current block update.
+	const char *	Get_Name( void )				{ return Name; }
-		unsigned long int currentBlockStartMicroseconds;
+	int				Get_Total_Calls( void )		{ return TotalCalls; }
+	float				Get_Total_Time( void )		{ return TotalTime; }
 
-		/// The accumulated time (in us) spent in this block during the 
+protected:
-		/// current profiling cycle.
-		unsigned long int currentCycleTotalMicroseconds;
 
-		/// The accumulated time (in us) spent in this block during the 
+	const char *	Name;
-		/// past profiling cycle.
+	int				TotalCalls;
-		unsigned long int lastCycleTotalMicroseconds;
+	float				TotalTime;
-
+	unsigned long int			StartTime;
-		/// The total accumulated time (in us) spent in this block.
+	int				RecursionCounter;
-		unsigned long int totalMicroseconds;
-	};
 
+	CProfileNode *	Parent;
+	CProfileNode *	Child;
+	CProfileNode *	Sibling;
 };
 
-/// A static class that manages timing for a set of profiling blocks.
+/*
-class btProfiler
+** An iterator to navigate through the tree
+*/
+class CProfileIterator
 {
 public:
-	/// A set of ways to retrieve block timing data.
+	// Access all the children of the current parent
-	enum BlockTimingMethod
+	void				First(void);
-	{
+	void				Next(void);
-		/// The total time spent in the block (in seconds) since the 
+	bool				Is_Done(void);
-		/// profiler was initialized.
+    bool                Is_Root(void) { return (CurrentParent->Get_Parent() == 0); }
-		BLOCK_TOTAL_SECONDS,
 
-		/// The total time spent in the block (in ms) since the 
+	void				Enter_Child( int index );		// Make the given child the new parent
-		/// profiler was initialized.
+	void				Enter_Largest_Child( void );	// Make the largest child the new parent
-		BLOCK_TOTAL_MILLISECONDS,
+	void				Enter_Parent( void );			// Make the current parent's parent the new parent
 
-		/// The total time spent in the block (in us) since the 
+	// Access the current child
-		/// profiler was initialized.
+	const char *	Get_Current_Name( void )			{ return CurrentChild->Get_Name(); }
-		BLOCK_TOTAL_MICROSECONDS,
+	int				Get_Current_Total_Calls( void )	{ return CurrentChild->Get_Total_Calls(); }
+	float				Get_Current_Total_Time( void )	{ return CurrentChild->Get_Total_Time(); }
 
-		/// The total time spent in the block, as a % of the total 
+	// Access the current parent
-		/// elapsed time since the profiler was initialized.
+	const char *	Get_Current_Parent_Name( void )			{ return CurrentParent->Get_Name(); }
-		BLOCK_TOTAL_PERCENT,
+	int				Get_Current_Parent_Total_Calls( void )	{ return CurrentParent->Get_Total_Calls(); }
+	float				Get_Current_Parent_Total_Time( void )	{ return CurrentParent->Get_Total_Time(); }
 
-		/// The time spent in the block (in seconds) in the most recent 
+protected:
-		/// profiling cycle.
-		BLOCK_CYCLE_SECONDS,
 
-		/// The time spent in the block (in ms) in the most recent 
+	CProfileNode *	CurrentParent;
-		/// profiling cycle.
+	CProfileNode *	CurrentChild;
-		BLOCK_CYCLE_MILLISECONDS,
 
-		/// The time spent in the block (in us) in the most recent 
+	CProfileIterator( CProfileNode * start );
-		/// profiling cycle.
+	friend	class		CProfileManager;
-		BLOCK_CYCLE_MICROSECONDS,
-
-		/// The time spent in the block (in seconds) in the most recent 
-		/// profiling cycle, as a % of the total cycle time.
-		BLOCK_CYCLE_PERCENT
-	};
-
-	/// Initializes the profiler.  This must be called first.  If this is 
-	/// never called, the profiler is effectively disabled; all other 
-	/// functions will return immediately.  The first parameter 
-	/// is the name of an output data file; if this string is not empty, 
-	/// data will be saved on every profiling cycle; if this string is 
-	/// empty, no data will be saved to a file.  The second parameter 
-	/// determines which timing method is used when printing data to the 
-	/// output file.
-	inline static void init(const std::string outputFilename="", 
-		BlockTimingMethod outputMethod=BLOCK_CYCLE_MILLISECONDS);
-
-	/// Cleans up allocated memory.
-	inline static void destroy();
-
-	/// Begins timing the named block of code.
-	inline static void beginBlock(const std::string& name);
-
-	/// Updates the accumulated time spent in the named block by adding 
-	/// the elapsed time since the last call to startBlock for this block 
-	/// name.
-	inline static void endBlock(const std::string& name);
-
-	/// Returns the time spent in the named block according to the 
-	/// given timing method.  See comments on BlockTimingMethod for details.
-	inline static double getBlockTime(const std::string& name, 
-		BlockTimingMethod method=BLOCK_CYCLE_MILLISECONDS);
-
-	/// Defines the end of a profiling cycle.  Use this regularly if you 
-	/// want to generate detailed timing information.  This must not be 
-	/// called within a timing block.
-	inline static void endProfilingCycle();
-
-	/// A helper function that creates a string of statistics for 
-	/// each timing block.  This is mainly for printing an overall 
-	/// summary to the command line.
-	inline static std::string createStatsString(
-		BlockTimingMethod method=BLOCK_TOTAL_PERCENT);
-
-//private:
-	inline btProfiler();
-
-	inline ~btProfiler();
-
-	/// Prints an error message to standard output.
-	inline static void printError(const std::string& msg)
-	{
-		//btAssert(0);
-		std::cout << "[QuickProf error] " << msg << std::endl;
-	}
-
-	/// Determines whether the profiler is enabled.
-	static bool mEnabled;
-
-	/// The clock used to time profile blocks.
-	static btClock mClock;
-
-	/// The starting time (in us) of the current profiling cycle.
-	static unsigned long int mCurrentCycleStartMicroseconds;
-
-	/// The duration (in us) of the most recent profiling cycle.
-	static unsigned long int mLastCycleDurationMicroseconds;
-
-	/// Internal map of named profile blocks.
-	static std::map<std::string, hidden::ProfileBlock*> mProfileBlocks;
-
-	/// The data file used if this feature is enabled in 'init.'
-	static std::ofstream mOutputFile;
-
-	/// Tracks whether we have begun print data to the output file.
-	static bool mFirstFileOutput;
-
-	/// The method used when printing timing data to an output file.
-	static BlockTimingMethod mFileOutputMethod;
-
-	/// The number of the current profiling cycle.
-	static unsigned long int mCycleNumber;
 };
 
 
-btProfiler::btProfiler()
+/*
-{
+** The Manager for the Profile system
-	// This never gets called because a btProfiler instance is never 
+*/
-	// created.
+class	CProfileManager {
-}
+public:
+	static	void						Start_Profile( const char * name );
+	static	void						Stop_Profile( void );
 
-btProfiler::~btProfiler()
+	static	void						Reset( void );
-{
+	static	void						Increment_Frame_Counter( void );
-	// This never gets called because a btProfiler instance is never 
+	static	int						Get_Frame_Count_Since_Reset( void )		{ return FrameCounter; }
-	// created.
+	static	float						Get_Time_Since_Reset( void );
-}
 
-void btProfiler::init(const std::string outputFilename, 
+	static	CProfileIterator *	Get_Iterator( void )	{ return new CProfileIterator( &Root ); }
-	BlockTimingMethod outputMethod)
+	static	void						Release_Iterator( CProfileIterator * iterator ) { delete iterator; }
-{
+
-	mEnabled = true;
+private:
+	static	CProfileNode			Root;
+	static	CProfileNode *			CurrentNode;
+	static	int						FrameCounter;
+	static	unsigned long int					ResetTime;
+};
+
+
+/*
+** ProfileSampleClass is a simple way to profile a function's scope
+** Use the BT_PROFILE macro at the start of scope to time
+*/
+class	CProfileSample {
+public:
+	CProfileSample( const char * name )
+	{ 
+		CProfileManager::Start_Profile( name ); 
+	}
 	
-	if (!outputFilename.empty())
+	~CProfileSample( void )					
-	{
+	{ 
-		mOutputFile.open(outputFilename.c_str());
+		CProfileManager::Stop_Profile(); 
 	}
+};
 
-	mFileOutputMethod = outputMethod;
+#if !defined(BT_NO_PROFILE)
-
+#define	BT_PROFILE( name )			CProfileSample __profile( name )
-	mClock.reset();
+#else
-
+#define	BT_PROFILE( name )
-	// Set the start time for the first cycle.
+#endif
-	mCurrentCycleStartMicroseconds = mClock.getTimeMicroseconds();
-}
-
-void btProfiler::destroy()
-{
-	if (!mEnabled)
-	{
-		return;
-	}
-
-	if (mOutputFile.is_open())
-	{
-		mOutputFile.close();
-	}
-
-	// Destroy all ProfileBlocks.
-	while (!mProfileBlocks.empty())
-	{
-		delete (*mProfileBlocks.begin()).second;
-		mProfileBlocks.erase(mProfileBlocks.begin());
-	}
-}
-
-void btProfiler::beginBlock(const std::string& name)
-{
-	if (!mEnabled)
-	{
-		return;
-	}
-
-	if (name.empty())
-	{
-		printError("Cannot allow unnamed profile blocks.");
-		return;
-	}
-
-	hidden::ProfileBlock* block = mProfileBlocks[name];
-
-	if (!block)
-	{
-		// Create a new ProfileBlock.
-		mProfileBlocks[name] = new hidden::ProfileBlock();
-		block = mProfileBlocks[name];
-	}
-
-	// We do this at the end to get more accurate results.
-	block->currentBlockStartMicroseconds = mClock.getTimeMicroseconds();
-}
-
-void btProfiler::endBlock(const std::string& name)
-{
-	if (!mEnabled)
-	{
-		return;
-	}
-
-	// We do this at the beginning to get more accurate results.
-	unsigned long int endTick = mClock.getTimeMicroseconds();
-
-	hidden::ProfileBlock* block = mProfileBlocks[name];
-
-	if (!block)
-	{
-		// The named block does not exist.  Print an error.
-		printError("The profile block named '" + name + 
-			"' does not exist.");
-		return;
-	}
-
-	unsigned long int blockDuration = endTick - 
-		block->currentBlockStartMicroseconds;
-	block->currentCycleTotalMicroseconds += blockDuration;
-	block->totalMicroseconds += blockDuration;
-}
-
-double btProfiler::getBlockTime(const std::string& name, 
-	BlockTimingMethod method)
-{
-	if (!mEnabled)
-	{
-		return 0;
-	}
-
-	hidden::ProfileBlock* block = mProfileBlocks[name];
-
-	if (!block)
-	{
-		// The named block does not exist.  Print an error.
-		printError("The profile block named '" + name + 
-			"' does not exist.");
-		return 0;
-	}
-
-	double result = 0;
-
-	switch(method)
-	{
-		case BLOCK_TOTAL_SECONDS:
-			result = (double)block->totalMicroseconds * (double)0.000001;
-			break;
-		case BLOCK_TOTAL_MILLISECONDS:
-			result = (double)block->totalMicroseconds * (double)0.001;
-			break;
-		case BLOCK_TOTAL_MICROSECONDS:
-			result = (double)block->totalMicroseconds;
-			break;
-		case BLOCK_TOTAL_PERCENT:
-		{
-			double timeSinceInit = (double)mClock.getTimeMicroseconds();
-			if (timeSinceInit <= 0)
-			{
-				result = 0;
-			}
-			else
-			{
-				result = 100.0 * (double)block->totalMicroseconds / 
-					timeSinceInit;
-			}
-			break;
-		}
-		case BLOCK_CYCLE_SECONDS:
-			result = (double)block->lastCycleTotalMicroseconds * 
-				(double)0.000001;
-			break;
-		case BLOCK_CYCLE_MILLISECONDS:
-			result = (double)block->lastCycleTotalMicroseconds * 
-				(double)0.001;
-			break;
-		case BLOCK_CYCLE_MICROSECONDS:
-			result = (double)block->lastCycleTotalMicroseconds;
-			break;
-		case BLOCK_CYCLE_PERCENT:
-		{
-			if (0 == mLastCycleDurationMicroseconds)
-			{
-				// We have not yet finished a cycle, so just return zero 
-				// percent to avoid a divide by zero error.
-				result = 0;
-			}
-			else
-			{
-				result = 100.0 * (double)block->lastCycleTotalMicroseconds / 
-					mLastCycleDurationMicroseconds;
-			}
-			break;
-		}
-		default:
-			break;
-	}
-
-	return result;
-}
-
-void btProfiler::endProfilingCycle()
-{
-	if (!mEnabled)
-	{
-		return;
-	}
-
-	// Store the duration of the cycle that just finished.
-	mLastCycleDurationMicroseconds = mClock.getTimeMicroseconds() - 
-		mCurrentCycleStartMicroseconds;
-
-	// For each block, update data for the cycle that just finished.
-	std::map<std::string, hidden::ProfileBlock*>::iterator iter;
-	for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); ++iter)
-	{
-		hidden::ProfileBlock* block = (*iter).second;
-		block->lastCycleTotalMicroseconds = 
-			block->currentCycleTotalMicroseconds;
-		block->currentCycleTotalMicroseconds = 0;
-	}
-
-	if (mOutputFile.is_open())
-	{
-		// Print data to the output file.
-		if (mFirstFileOutput)
-		{
-			// On the first iteration, print a header line that shows the 
-			// names of each profiling block.
-			mOutputFile << "#cycle, ";
-
-			for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); 
-				++iter)
-			{
-				mOutputFile << (*iter).first << ", ";
-			}
-
-			mOutputFile << std::endl;
-			mFirstFileOutput = false;
-		}
-
-		mOutputFile << mCycleNumber << ", ";
-
-		for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); 
-			++iter)
-		{
-			mOutputFile << getBlockTime((*iter).first, mFileOutputMethod) 
-				<< ", ";
-		}
-
-		mOutputFile << std::endl;
-	}
-
-	++mCycleNumber;
-	mCurrentCycleStartMicroseconds = mClock.getTimeMicroseconds();
-}
-
-std::string btProfiler::createStatsString(BlockTimingMethod method)
-{
-	if (!mEnabled)
-	{
-		return "";
-	}
-
-	std::string s;
-	std::string suffix;
-
-	switch(method)
-	{
-		case BLOCK_TOTAL_SECONDS:
-			suffix = "s";
-			break;
-		case BLOCK_TOTAL_MILLISECONDS:
-			suffix = "ms";
-			break;
-		case BLOCK_TOTAL_MICROSECONDS:
-			suffix = "us";
-			break;
-		case BLOCK_TOTAL_PERCENT:
-		{
-			suffix = "%";
-			break;
-		}
-		case BLOCK_CYCLE_SECONDS:
-			suffix = "s";
-			break;
-		case BLOCK_CYCLE_MILLISECONDS:
-			suffix = "ms";
-			break;
-		case BLOCK_CYCLE_MICROSECONDS:
-			suffix = "us";
-			break;
-		case BLOCK_CYCLE_PERCENT:
-		{
-			suffix = "%";
-			break;
-		}
-		default:
-			break;
-	}
-
-	std::map<std::string, hidden::ProfileBlock*>::iterator iter;
-	for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); ++iter)
-	{
-		if (iter != mProfileBlocks.begin())
-		{
-			s += "\n";
-		}
-
-		char blockTime[64];
-		sprintf(blockTime, "%lf", getBlockTime((*iter).first, method));
-
-		s += (*iter).first;
-		s += ": ";
-		s += blockTime;
-		s += " ";
-		s += suffix;
-	}
-
-	return s;
-}
 
 
-#define BEGIN_PROFILE(a) btProfiler::beginBlock(a)
-#define END_PROFILE(a) btProfiler::endBlock(a)
 
-#else //USE_QUICKPROF
-#define BEGIN_PROFILE(a)
-#define END_PROFILE(a)
-
-#endif //USE_QUICKPROF
 
 #endif //QUICK_PROF_H
 

src/bullet/src/LinearMath/btScalar.h

@@ -23,12 +23,18 @@ subject to the following restrictions:
 #include <cfloat>
 #include <float.h>
 
+#define BT_BULLET_VERSION 266
 
 inline int	btGetVersion()
 {
-	return 264;
+	return BT_BULLET_VERSION;
 }
 
+#if defined(DEBUG) || defined (_DEBUG)
+#define BT_DEBUG
+#endif
+
+
 #ifdef WIN32
 
 		#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
@@ -110,6 +116,8 @@ inline int	btGetVersion()
 		#define btAssert assert
 		//btFullAssert is optional, slows down a lot
 		#define btFullAssert(x)
+		#define btLikely(_c)  _c
+		#define btUnlikely(_c) _c
 
 
 #endif // LIBSPE2

src/bullet/src/Makefile.am

@@ -41,6 +41,8 @@ libbulletcollision_a_SOURCES := \
 	BulletCollision/CollisionDispatch/btCollisionWorld.h			 \
 	BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp	 \
 	BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h	 \
+	BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp	 \
+	BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm..h	 \
 	BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp	 \
 	BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h	 \
 	BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp		 \

src/ide/vc8/bullet_lib.vcproj

@@ -226,6 +226,10 @@
 						RelativePath="..\..\bullet\src\BulletCollision\CollisionDispatch\btConvexConvexAlgorithm.cpp"
 						>
 					</File>
+					<File
+						RelativePath="..\..\bullet\src\BulletCollision\CollisionDispatch\btConvexPlaneCollisionAlgorithm.cpp"
+						>
+					</File>
 					<File
 						RelativePath="..\..\bullet\src\BulletCollision\CollisionDispatch\btDefaultCollisionConfiguration.cpp"
 						>
@@ -744,6 +748,10 @@
 						RelativePath="..\..\bullet\src\BulletCollision\CollisionDispatch\btConvexConvexAlgorithm.h"
 						>
 					</File>
+					<File
+						RelativePath="..\..\bullet\src\BulletCollision\CollisionDispatch\btConvexPlaneCollisionAlgorithm.h"
+						>
+					</File>
 					<File
 						RelativePath="..\..\bullet\src\BulletCollision\CollisionDispatch\btDefaultCollisionConfiguration.h"
 						>