Changeset 2908 for code/branches/questsystem5/src/bullet/BulletCollision

Timestamp:

Apr 8, 2009, 12:58:47 AM (16 years ago)

Author:

dafrick

Message:

Reverted to revision 2906 (because I'm too stupid to merge correctly, 2nd try will follow shortly. )

Location:

code/branches/questsystem5

Files:

• . (modified) (1 prop)
• src/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp (modified) (1 diff)
• src/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h (modified) (10 diffs)
• src/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h (modified) (1 diff)
• src/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h (modified) (3 diffs)
• src/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp (modified) (3 diffs)
• src/bullet/BulletCollision/BroadphaseCollision/btDbvt.h (modified) (9 diffs)
• src/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp (modified) (9 diffs)
• src/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h (modified) (2 diffs)
• src/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp (modified) (1 diff)
• src/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h (modified) (1 diff)
• src/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp (modified) (9 diffs)
• src/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h (modified) (4 diffs)
• src/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp (modified) (5 diffs)
• src/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp (modified) (1 diff)
• src/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h (modified) (1 diff)
• src/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp (modified) (5 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp (modified) (1 diff)
• src/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h (modified) (3 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp (modified) (7 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h (modified) (14 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp (modified) (9 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp (modified) (6 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h (modified) (5 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp (modified) (5 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h (modified) (4 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp (modified) (1 diff)
• src/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h (modified) (1 diff)
• src/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp (modified) (1 diff)
• src/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp (modified) (8 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp (modified) (1 diff)
• src/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp (modified) (1 diff)
• src/bullet/BulletCollision/CollisionDispatch/btUnionFind.h (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionShapes/btBoxShape.h (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp (modified) (9 diffs)
• src/bullet/BulletCollision/CollisionShapes/btCompoundShape.h (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionShapes/btConeShape.cpp (modified) (1 diff)
• src/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp (modified) (1 diff)
• src/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp (modified) (1 diff)
• src/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp (modified) (3 diffs)
• src/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp (modified) (8 diffs)
• src/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp (modified) (1 diff)
• src/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h (modified) (3 diffs)
• src/bullet/BulletCollision/CollisionShapes/btSphereShape.h (modified) (1 diff)
• src/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h (modified) (2 diffs)
• src/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp (modified) (1 diff)
• src/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp (modified) (4 diffs)
• src/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h (modified) (1 diff)
• src/bullet/BulletCollision/Gimpact/btGImpactBvh.cpp (modified) (1 diff)
• src/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp (modified) (1 diff)
• src/bullet/BulletCollision/Gimpact/btGImpactShape.h (modified) (4 diffs)
• src/bullet/BulletCollision/Gimpact/gim_box_set.cpp (modified) (2 diffs)
• src/bullet/BulletCollision/Gimpact/gim_math.h (modified) (1 diff)
• src/bullet/BulletCollision/Gimpact/gim_tri_collision.h (modified) (1 diff)
• src/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp (modified) (2 diffs)
• src/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp (modified) (1 diff)
• src/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h (modified) (1 diff)
• src/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp (modified) (1 diff)
• src/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h (modified) (3 diffs)
• src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp (modified) (3 diffs)
• src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h (modified) (1 diff)
• src/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp (modified) (2 diffs)

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp

@@ -20 +20 @@
 #include "btAxisSweep3.h"
 
+#include <assert.h>
 
 btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h

@@ -43 +43 @@
 public:
         
- BT_DECLARE_ALIGNED_ALLOCATOR();
 
         class Edge
@@ -140 +139 @@
         SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
 
-        virtual void resetPool(btDispatcher* dispatcher);
+        void resetPool();
 
         void    processAllOverlappingPairs(btOverlapCallback* callback);
@@ -222 +221 @@
 
         if (checkCardinality)
-                btAssert(numEdges == m_numHandles*2+1);
+                assert(numEdges == m_numHandles*2+1);
 }
 #endif //DEBUG_BROADPHASE
@@ -348 +347 @@
         }
 
-        //btAssert(bounds.HasVolume());
+        //assert(bounds.HasVolume());
 
         // init bounds
@@ -454 +453 @@
 BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
 {
-        btAssert(m_firstFreeHandle);
+        assert(m_firstFreeHandle);
 
         BP_FP_INT_TYPE handle = m_firstFreeHandle;
@@ -466 +465 @@
 void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
 {
-        btAssert(handle > 0 && handle < m_maxHandles);
+        assert(handle > 0 && handle < m_maxHandles);
 
         getHandle(handle)->SetNextFree(m_firstFreeHandle);
@@ -589 +588 @@
 
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* dispatcher)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool()
 {
         if (m_numHandles == 0)
@@ -643 +642 @@
                         if (!isDuplicate)
                         {
-                                ///important to use an AABB test that is consistent with the broadphase
                                 bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
 
@@ -689 +687 @@
         }
 
+
+
+        
+
 }
 
@@ -729 +731 @@
 void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
 {
-//      btAssert(bounds.IsFinite());
-        //btAssert(bounds.HasVolume());
+//      assert(bounds.IsFinite());
+        //assert(bounds.HasVolume());
 
         Handle* pHandle = getHandle(handle);

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h

@@ -65 +65 @@
         virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
 
-        ///reset broadphase internal structures, to ensure determinism/reproducability
-        virtual void resetPool(btDispatcher* dispatcher) {};
-
         virtual void    printStats() = 0;
 

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -70 +70 @@
 
         SOFTBODY_SHAPE_PROXYTYPE,
-        HFFLUID_SHAPE_PROXYTYPE,
-        HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
+
         INVALID_SHAPE_PROXYTYPE,
 
@@ -189 +188 @@
 
                 //keep them sorted, so the std::set operations work
-                if (proxy0.m_uniqueId < proxy1.m_uniqueId)
+                if (&proxy0 < &proxy1)
         { 
             m_pProxy0 = &proxy0; 
@@ -230 +229 @@
                 bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
                 {
-                        const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
-                        const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
-                        const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
-                        const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
-
-                         return uidA0 > uidB0 || 
-                                (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
+                         return a.m_pProxy0 > b.m_pProxy0 || 
+                                (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 > b.m_pProxy1) ||
                                 (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
                 }

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp

@@ -394 +394 @@
 }
 
-#if 0
+//
 static DBVT_INLINE btDbvtNode*  walkup(btDbvtNode* n,int count)
 {
@@ -400 +400 @@
         return(n);
 }
-#endif
 
 //
@@ -425 +424 @@
 void                    btDbvt::clear()
 {
-        if(m_root)      
-                recursedeletenode(this,m_root);
+        if(m_root)      recursedeletenode(this,m_root);
         btAlignedFree(m_free);
         m_free=0;
-        m_lkhd          =       -1;
-        m_stkStack.clear();
-        m_opath         =       0;
-        
 }
 

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btDbvt.h

@@ -58 +58 @@
 
 //SSE gives errors on a MSVC 7.1
-#ifdef BT_USE_SSE
+#if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
 #define DBVT_SELECT_IMPL                DBVT_IMPL_SSE
 #define DBVT_MERGE_IMPL                 DBVT_IMPL_SSE
@@ -83 +83 @@
 #define DBVT_PREFIX                                     template <typename T>
 #define DBVT_IPOLICY                            T& policy
-#define DBVT_CHECKTYPE                          static const ICollide&  typechecker=*(T*)1;(void)typechecker;
+#define DBVT_CHECKTYPE                          static const ICollide&  typechecker=*(T*)0;
 #else
 #define DBVT_VIRTUAL_DTOR(a)            virtual ~a() {}
@@ -147 +147 @@
         DBVT_INLINE friend bool                 Intersect(      const btDbvtAabbMm& a,
                 const btDbvtAabbMm& b);
-        
+        DBVT_INLINE friend bool                 Intersect(      const btDbvtAabbMm& a,
+                const btDbvtAabbMm& b,
+                const btTransform& xform);
         DBVT_INLINE friend bool                 Intersect(      const btDbvtAabbMm& a,
                 const btVector3& b);
@@ -303 +305 @@
                   const btDbvtNode* root1,
                   DBVT_IPOLICY);
-#if 0
+
         DBVT_PREFIX
                 void            collideTT(      const btDbvtNode* root0,
@@ -315 +317 @@
                 const btTransform& xform1,
                 DBVT_IPOLICY);
-#endif
-
         DBVT_PREFIX
                 void            collideTV(      const btDbvtNode* root,
@@ -531 +531 @@
 }
 
-
+//
+DBVT_INLINE bool                Intersect(      const btDbvtAabbMm& a,
+                                                                  const btDbvtAabbMm& b,
+                                                                  const btTransform& xform)
+{
+        const btVector3         d0=xform*b.Center()-a.Center();
+        const btVector3         d1=d0*xform.getBasis();
+        btScalar                        s0[2]={0,0};
+        btScalar                        s1[2]={dot(xform.getOrigin(),d0),s1[0]};
+        a.AddSpan(d0,s0[0],s0[1]);
+        b.AddSpan(d1,s1[0],s1[1]);
+        if(s0[0]>(s1[1])) return(false);
+        if(s0[1]<(s1[0])) return(false);
+        return(true);
+}
 
 //
@@ -835 +849 @@
 }
 
-#if 0
+
 //
 DBVT_PREFIX
@@ -891 +905 @@
                 }
 }
+
 //
 DBVT_PREFIX
@@ -902 +917 @@
         collideTT(root0,root1,xform,policy);
 }
-#endif 
 
 //

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp

@@ -101 +101 @@
                         btDbvtProxy*    pb=(btDbvtProxy*)nb->data;
 #if DBVT_BP_SORTPAIRS
-                        if(pa->m_uniqueId>pb->m_uniqueId) 
-                                btSwap(pa,pb);
+                        if(pa>pb) btSwap(pa,pb);
 #endif
                         pbp->m_paircache->addOverlappingPair(pa,pb);
@@ -134 +133 @@
         m_updates_done          =       0;
         m_updates_ratio         =       0;
-        m_paircache                     =       paircache? paircache    : new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
+        m_paircache                     =       paircache?
+paircache       :
+        new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
         m_gid                           =       0;
         m_pid                           =       0;
@@ -210 +211 @@
 }
 
-struct  BroadphaseRayTester : btDbvt::ICollide
-{
-        btBroadphaseRayCallback& m_rayCallback;
-        BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
-                :m_rayCallback(orgCallback)
-        {
-        }
-        void                                    Process(const btDbvtNode* leaf)
-        {
-                btDbvtProxy*    proxy=(btDbvtProxy*)leaf->data;
-                m_rayCallback.process(proxy);
-        }
-};      
-
 void    btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
 {
+
+        struct  BroadphaseRayTester : btDbvt::ICollide
+        {
+                btBroadphaseRayCallback& m_rayCallback;
+                BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
+                        :m_rayCallback(orgCallback)
+                {
+                }
+                void                                    Process(const btDbvtNode* leaf)
+                {
+                        btDbvtProxy*    proxy=(btDbvtProxy*)leaf->data;
+                        m_rayCallback.process(proxy);
+                }
+        };      
+
         BroadphaseRayTester callback(rayCallback);
 
@@ -340 +342 @@
         }
 #endif
-
-        performDeferredRemoval(dispatcher);
-
-}
-
-void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
-{
-
-        if (m_paircache->hasDeferredRemoval())
-        {
-
-                btBroadphasePairArray&  overlappingPairArray = m_paircache->getOverlappingPairArray();
-
-                //perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-                overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
-                int invalidPair = 0;
-
-                
-                int i;
-
-                btBroadphasePair previousPair;
-                previousPair.m_pProxy0 = 0;
-                previousPair.m_pProxy1 = 0;
-                previousPair.m_algorithm = 0;
-                
-                
-                for (i=0;i<overlappingPairArray.size();i++)
-                {
-                
-                        btBroadphasePair& pair = overlappingPairArray[i];
-
-                        bool isDuplicate = (pair == previousPair);
-
-                        previousPair = pair;
-
-                        bool needsRemoval = false;
-
-                        if (!isDuplicate)
-                        {
-                                //important to perform AABB check that is consistent with the broadphase
-                                btDbvtProxy*            pa=(btDbvtProxy*)pair.m_pProxy0;
-                                btDbvtProxy*            pb=(btDbvtProxy*)pair.m_pProxy1;
-                                bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume);
-
-                                if (hasOverlap)
-                                {
-                                        needsRemoval = false;
-                                } else
-                                {
-                                        needsRemoval = true;
-                                }
-                        } else
-                        {
-                                //remove duplicate
-                                needsRemoval = true;
-                                //should have no algorithm
-                                btAssert(!pair.m_algorithm);
-                        }
-                        
-                        if (needsRemoval)
-                        {
-                                m_paircache->cleanOverlappingPair(pair,dispatcher);
-
-                                pair.m_pProxy0 = 0;
-                                pair.m_pProxy1 = 0;
-                                invalidPair++;
-                        } 
-                        
-                }
-
-                //perform a sort, to sort 'invalid' pairs to the end
-                overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-                overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
-        }
 }
 
@@ -420 +347 @@
 void                                                    btDbvtBroadphase::collide(btDispatcher* dispatcher)
 {
-        /*printf("---------------------------------------------------------\n");
-        printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
-        printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
-        printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
-        {
-                int i;
-                for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
-                {
-                        printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
-                                getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
-                }
-                printf("\n");
-        }
-*/
-
-
-
         SPC(m_profiling.m_total);
         /* optimize                             */ 
@@ -492 +402 @@
                 if(pairs.size()>0)
                 {
-
-                        int                     ni=btMin(pairs.size(),btMax<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
+                        const int       ci=pairs.size();
+                        int                     ni=btMin(ci,btMax<int>(m_newpairs,(ci*m_cupdates)/100));
                         for(int i=0;i<ni;++i)
                         {
-                                btBroadphasePair&       p=pairs[(m_cid+i)%pairs.size()];
+                                btBroadphasePair&       p=pairs[(m_cid+i)%ci];
                                 btDbvtProxy*            pa=(btDbvtProxy*)p.m_pProxy0;
                                 btDbvtProxy*            pb=(btDbvtProxy*)p.m_pProxy1;
@@ -502 +412 @@
                                 {
 #if DBVT_BP_SORTPAIRS
-                                        if(pa->m_uniqueId>pb->m_uniqueId) 
-                                                btSwap(pa,pb);
+                                        if(pa>pb) btSwap(pa,pb);
 #endif
                                         m_paircache->removeOverlappingPair(pa,pb,dispatcher);
@@ -558 +467 @@
         aabbMin=bounds.Mins();
         aabbMax=bounds.Maxs();
-}
-
-void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
-{
-        
-        int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
-        if (!totalObjects)
-        {
-                //reset internal dynamic tree data structures
-                m_sets[0].clear();
-                m_sets[1].clear();
-                
-                m_deferedcollide        =       false;
-                m_needcleanup           =       true;
-                m_prediction            =       1/(btScalar)2;
-                m_stageCurrent          =       0;
-                m_fixedleft                     =       0;
-                m_fupdates                      =       1;
-                m_dupdates                      =       0;
-                m_cupdates                      =       10;
-                m_newpairs                      =       1;
-                m_updates_call          =       0;
-                m_updates_done          =       0;
-                m_updates_ratio         =       0;
-                
-                m_gid                           =       0;
-                m_pid                           =       0;
-                m_cid                           =       0;
-                for(int i=0;i<=STAGECOUNT;++i)
-                {
-                        m_stageRoots[i]=0;
-                }
-        }
 }
 
@@ -725 +601 @@
 #undef  SPC
 #endif
-

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h

@@ -25 +25 @@
 
 #define DBVT_BP_PROFILE                                 0
-//#define DBVT_BP_SORTPAIRS                             1
+#define DBVT_BP_SORTPAIRS                               1
 #define DBVT_BP_PREVENTFALSEUPDATE              0
 #define DBVT_BP_ACCURATESLEEPING                0
@@ -115 +115 @@
         void                                                    printStats();
         static void                                             benchmark(btBroadphaseInterface*);
-
-
-        void    performDeferredRemoval(btDispatcher* dispatcher);
-
-        ///reset broadphase internal structures, to ensure determinism/reproducability
-        virtual void resetPool(btDispatcher* dispatcher);
-
 };
 

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp

@@ -483 +483 @@
 
 }
-
-void btMultiSapBroadphase::resetPool(btDispatcher* dispatcher)
-{
-        // not yet
-}

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h

@@ -144 +144 @@
         void quicksort (btBroadphasePairArray& a, int lo, int hi);
 
-        ///reset broadphase internal structures, to ensure determinism/reproducability
-        virtual void resetPool(btDispatcher* dispatcher);
-
 };
 

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp

@@ -20 +20 @@
 #include "btDispatcher.h"
 #include "btCollisionAlgorithm.h"
-#include "LinearMath/btAabbUtil2.h"
 
 #include <stdio.h>
@@ -137 +136 @@
 {
         gFindPairs++;
-        if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
-                btSwap(proxy0,proxy1);
+        if(proxy0>proxy1) btSwap(proxy0,proxy1);
         int proxyId1 = proxy0->getUid();
         int proxyId2 = proxy1->getUid();
@@ -214 +212 @@
 btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
-        if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
-                btSwap(proxy0,proxy1);
+        if(proxy0>proxy1) btSwap(proxy0,proxy1);
         int proxyId1 = proxy0->getUid();
         int proxyId2 = proxy1->getUid();
@@ -274 +271 @@
 {
         gRemovePairs++;
-        if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
-                btSwap(proxy0,proxy1);
+        if(proxy0>proxy1) btSwap(proxy0,proxy1);
         int proxyId1 = proxy0->getUid();
         int proxyId2 = proxy1->getUid();
@@ -397 +393 @@
 }
 
-void    btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
-{
-        ///need to keep hashmap in sync with pair address, so rebuild all
-        btBroadphasePairArray tmpPairs;
-        int i;
-        for (i=0;i<m_overlappingPairArray.size();i++)
-        {
-                tmpPairs.push_back(m_overlappingPairArray[i]);
-        }
-
-        for (i=0;i<tmpPairs.size();i++)
-        {
-                removeOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1,dispatcher);
-        }
-        
-        for (i = 0; i < m_next.size(); i++)
-        {
-                m_next[i] = BT_NULL_PAIR;
-        }
-
-        tmpPairs.quickSort(btBroadphasePairSortPredicate());
-
-        for (i=0;i<tmpPairs.size();i++)
-        {
-                addOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1);
-        }
-
-        
-}
 
 
@@ -463 +430 @@
 {
         //don't add overlap with own
-        btAssert(proxy0 != proxy1);
+        assert(proxy0 != proxy1);
 
         if (!needsBroadphaseCollision(proxy0,proxy1))
@@ -494 +461 @@
         if (findIndex < m_overlappingPairArray.size())
         {
-                //btAssert(it != m_overlappingPairSet.end());
+                //assert(it != m_overlappingPairSet.end());
                  btBroadphasePair* pair = &m_overlappingPairArray[findIndex];
                 return pair;
@@ -524 +491 @@
                 {
                         cleanOverlappingPair(*pair,dispatcher);
-                        pair->m_pProxy0 = 0;
-                        pair->m_pProxy1 = 0;
-                        m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+
+                        m_overlappingPairArray.swap(i,m_overlappingPairArray.capacity()-1);
                         m_overlappingPairArray.pop_back();
                         gOverlappingPairs--;
@@ -626 +592 @@
         processAllOverlappingPairs(&removeCallback,dispatcher);
 }
-
-void    btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
-{
-        //should already be sorted
-}
-

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h

@@ -84 +84 @@
 
         virtual void    setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0;
-
-        virtual void    sortOverlappingPairs(btDispatcher* dispatcher) = 0;
-
 
 };
@@ -263 +260 @@
         }
 
-        virtual void    sortOverlappingPairs(btDispatcher* dispatcher);
-        
-
-protected:
+public:
         
         btAlignedObjectArray<int>       m_hashTable;
@@ -376 +370 @@
                 }
 
-                virtual void    sortOverlappingPairs(btDispatcher* dispatcher);
-                
 
 };
@@ -456 +448 @@
         }
         
-        virtual void    sortOverlappingPairs(btDispatcher* dispatcher)
-        {
-        }
 
 

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp

@@ -470 +470 @@
 
 #ifdef RAYAABB2
+        btVector3 rayFrom = raySource;
         btVector3 rayDir = (rayTarget-raySource);
         rayDir.normalize ();
@@ -558 +559 @@
 
 #ifdef RAYAABB2
+        btVector3 rayFrom = raySource;
         btVector3 rayDirection = (rayTarget-raySource);
         rayDirection.normalize ();
@@ -816 +818 @@
 #include <new>
 
-#if 0
 //PCK: consts
 static const unsigned BVH_ALIGNMENT = 16;
@@ -822 +823 @@
 
 static const unsigned BVH_ALIGNMENT_BLOCKS = 2;
-#endif
+
 
 
@@ -1146 +1147 @@
 
 
-

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp

@@ -325 +325 @@
 }
 
-void    btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
-{
-        //not yet
-}
+
+

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h

@@ -109 +109 @@
         }
 
-        ///reset broadphase internal structures, to ensure determinism/reproducability
-        virtual void resetPool(btDispatcher* dispatcher);
-
 
         void    validate();

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -53 +53 @@
                 {
                         m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
-                        btAssert(m_doubleDispatch[i][j]);
+                        assert(m_doubleDispatch[i][j]);
                 }
         }
@@ -80 +80 @@
         btCollisionObject* body1 = (btCollisionObject*)b1;
 
-        //test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
-        //btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
-        btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
-
-        btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
-                
+        btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
+        
         void* mem = 0;
         
@@ -96 +92 @@
 
         }
-        btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
+        btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold);
         manifold->m_index1a = m_manifoldsPtr.size();
         m_manifoldsPtr.push_back(manifold);
@@ -147 +143 @@
         return algo;
 }
+
 
 
@@ -164 +161 @@
 bool    btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
 {
-        btAssert(body0);
-        btAssert(body1);
+        assert(body0);
+        assert(body1);
 
         bool needsCollision = true;

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -18 +18 @@
 
 btCollisionObject::btCollisionObject()
-        :       m_anisotropicFriction(1.f,1.f,1.f),
-        m_hasAnisotropicFriction(false),
-        m_contactProcessingThreshold(1e30f),
-                m_broadphaseHandle(0),
+        :       m_broadphaseHandle(0),
                 m_collisionShape(0),
                 m_rootCollisionShape(0),

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -53 +53 @@
         btVector3       m_interpolationLinearVelocity;
         btVector3       m_interpolationAngularVelocity;
-        
-        btVector3               m_anisotropicFriction;
-        bool                            m_hasAnisotropicFriction;
-        btScalar                m_contactProcessingThreshold;   
-
         btBroadphaseProxy*              m_broadphaseHandle;
         btCollisionShape*               m_collisionShape;
@@ -120 +115 @@
                 CO_COLLISION_OBJECT =1,
                 CO_RIGID_BODY,
+                CO_SOFT_BODY,
                 ///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
                 ///It is useful for collision sensors, explosion objects, character controller etc.
-                CO_GHOST_OBJECT,
-                CO_SOFT_BODY,
-                CO_HF_FLUID
+                CO_GHOST_OBJECT
         };
 
@@ -133 +127 @@
         }
 
-        const btVector3& getAnisotropicFriction() const
-        {
-                return m_anisotropicFriction;
-        }
-        void    setAnisotropicFriction(const btVector3& anisotropicFriction)
-        {
-                m_anisotropicFriction = anisotropicFriction;
-                m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
-        }
-        bool    hasAnisotropicFriction() const
-        {
-                return m_hasAnisotropicFriction;
-        }
-
-        ///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
-        ///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
-        void    setContactProcessingThreshold( btScalar contactProcessingThreshold)
-        {
-                m_contactProcessingThreshold = contactProcessingThreshold;
-        }
-        btScalar        getContactProcessingThreshold() const
-        {
-                return m_contactProcessingThreshold;
-        }
 
         SIMD_FORCE_INLINE bool          isStaticObject() const {

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -70 +70 @@
                         getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
                         getBroadphase()->destroyProxy(bp,m_dispatcher1);
-                        collisionObject->setBroadphaseHandle(0);
                 }
         }
@@ -120 +119 @@
 
 
-void    btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
-{
-        btVector3 minAabb,maxAabb;
-        colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
-        //need to increase the aabb for contact thresholds
-        btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
-        minAabb -= contactThreshold;
-        maxAabb += contactThreshold;
-
-        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::updateAabbs()
 {
@@ -165 +131 @@
                 if (colObj->isActive())
                 {
-                        updateSingleAabb(colObj);
-                }
-        }
+                        btVector3 minAabb,maxAabb;
+                        colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+                        //need to increase the aabb for contact thresholds
+                        btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
+                        minAabb -= contactThreshold;
+                        maxAabb += contactThreshold;
+
+                        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");
+                                }
+                        }
+                }
+        }
+
 }
 
@@ -299 +294 @@
                                         BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
                                                 btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*    triangleMesh):
-                  //@BP Mod
-                                                btTriangleRaycastCallback(from,to, resultCallback->m_flags),
+                                                btTriangleRaycastCallback(from,to),
                                                         m_resultCallback(resultCallback),
                                                         m_collisionObject(collisionObject),
@@ -349 +343 @@
                                         BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
                                                 btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh):
-                  //@BP Mod
-                  btTriangleRaycastCallback(from,to, resultCallback->m_flags),
+                                                btTriangleRaycastCallback(from,to),
                                                         m_resultCallback(resultCallback),
                                                         m_collisionObject(collisionObject),
@@ -671 +664 @@
                         //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
                         //btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-#if 0
+                        
 #ifdef RECALCULATE_AABB
                         btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
@@ -679 +672 @@
                         const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
                         const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
-#endif
 #endif
                         //btScalar hitLambda = m_resultCallback.m_closestHitFraction;

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -59 +59 @@
  * 
  */
-
-
  
  
@@ -82 +80 @@
 {
 
-
         
 protected:
 
         btAlignedObjectArray<btCollisionObject*>        m_collisionObjects;
-
         
         btDispatcher*   m_dispatcher1;
@@ -99 +95 @@
         btIDebugDraw*   m_debugDrawer;
 
-
         
 public:
@@ -138 +133 @@
                 return m_dispatcher1;
         }
-
-        void    updateSingleAabb(btCollisionObject* colObj);
 
         virtual void    updateAabbs();
@@ -161 +154 @@
                 int     m_shapePart;
                 int     m_triangleIndex;
-
                 
                 //const btCollisionShape*       m_shapeTemp;
@@ -194 +186 @@
                 short int       m_collisionFilterGroup;
                 short int       m_collisionFilterMask;
-      //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
-      unsigned int m_flags;
 
                 virtual ~RayResultCallback()
@@ -209 +199 @@
                         m_collisionObject(0),
                         m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
-                        m_collisionFilterMask(btBroadphaseProxy::AllFilter),
-         //@BP Mod
-         m_flags(0)
+                        m_collisionFilterMask(btBroadphaseProxy::AllFilter)
                 {
                 }
@@ -239 +227 @@
                 btVector3       m_hitNormalWorld;
                 btVector3       m_hitPointWorld;
-
                         
                 virtual btScalar        addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
@@ -245 +232 @@
                         //caller already does the filter on the m_closestHitFraction
                         btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
-
                         
                         m_closestHitFraction = rayResult.m_hitFraction;
@@ -292 +278 @@
                 short int       m_collisionFilterGroup;
                 short int       m_collisionFilterMask;
-
                 
                 ConvexResultCallback()
@@ -304 +289 @@
                 {
                 }
-
                 
                 bool    hasHit() const
@@ -310 +294 @@
                         return (m_closestHitFraction < btScalar(1.));
                 }
-
 
                 
@@ -339 +322 @@
                 btVector3       m_hitPointWorld;
                 btCollisionObject*      m_hitCollisionObject;
-
                 
                 virtual btScalar        addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
@@ -345 +327 @@
 //caller already does the filter on the m_closestHitFraction
                         btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
-
                                                 
                         m_closestHitFraction = convexResult.m_hitFraction;

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -20 +20 @@
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btAabbUtil2.h"
-#include "btManifoldResult.h"
 
 btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
@@ -30 +29 @@
 
         btCollisionObject* colObj = m_isSwapped? body1 : body0;
-        btAssert (colObj->getCollisionShape()->isCompound());
+        btCollisionObject* otherObj = m_isSwapped? body0 : body1;
+        assert (colObj->getCollisionShape()->isCompound());
         
         btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
-        m_compoundShapeRevision = compoundShape->getUpdateRevision();
-        
-        preallocateChildAlgorithms(body0,body1);
-}
-
-void    btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1)
-{
-        btCollisionObject* colObj = m_isSwapped? body1 : body0;
-        btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-        btAssert (colObj->getCollisionShape()->isCompound());
-        
-        btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
-
         int numChildren = compoundShape->getNumChildShapes();
         int i;
@@ -60 +47 @@
                         btCollisionShape* childShape = compoundShape->getChildShape(i);
                         colObj->internalSetTemporaryCollisionShape( childShape );
-                        m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold);
+                        m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj,m_sharedManifold);
                         colObj->internalSetTemporaryCollisionShape( tmpShape );
                 }
@@ -66 +53 @@
 }
 
-void    btCompoundCollisionAlgorithm::removeChildAlgorithms()
+
+btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
 {
         int numChildren = m_childCollisionAlgorithms.size();
@@ -78 +66 @@
                 }
         }
-}
-
-btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
-{
-        removeChildAlgorithms();
 }
 
@@ -185 +168 @@
         btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-        
-
-        btAssert (colObj->getCollisionShape()->isCompound());
+        assert (colObj->getCollisionShape()->isCompound());
         btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
-
-        ///btCompoundShape might have changed:
-        ////make sure the internal child collision algorithm caches are still valid
-        if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
-        {
-                ///clear and update all
-                removeChildAlgorithms();
-                
-                preallocateChildAlgorithms(body0,body1);
-        }
-
 
         btDbvt* tree = compoundShape->getDynamicAabbTree();
@@ -205 +175 @@
         btCompoundLeafCallback  callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
 
-        ///we need to refresh all contact manifolds
-        ///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
-        ///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
-        {
-                int i;
-                btManifoldArray manifoldArray;
-                for (i=0;i<m_childCollisionAlgorithms.size();i++)
-                {
-                        if (m_childCollisionAlgorithms[i])
-                        {
-                                m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
-                                for (int m=0;m<manifoldArray.size();m++)
-                                {
-                                        if (manifoldArray[m]->getNumContacts())
-                                        {
-                                                resultOut->setPersistentManifold(manifoldArray[m]);
-                                                resultOut->refreshContactPoints();
-                                                resultOut->setPersistentManifold(0);//??necessary?
-                                        }
-                                }
-                                manifoldArray.clear();
-                        }
-                }
-        }
 
         if (tree)
@@ -297 +243 @@
         btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-        btAssert (colObj->getCollisionShape()->isCompound());
+        assert (colObj->getCollisionShape()->isCompound());
         
         btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
@@ -340 +286 @@
 
 
-

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h

@@ -27 +27 @@
 #include "LinearMath/btAlignedObjectArray.h"
 class btDispatcher;
-class btCollisionObject;
 
 /// btCompoundCollisionAlgorithm  supports collision between CompoundCollisionShapes and other collision shapes
@@ -37 +36 @@
         class btPersistentManifold*     m_sharedManifold;
         bool                                    m_ownsManifold;
-
-        int     m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
         
-        void    removeChildAlgorithms();
-        
-        void    preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1);
-
 public:
 

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -52 +52 @@
 btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*                       simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 {
-        m_numPerturbationIterations = 0;
-        m_minimumPointsPerturbationThreshold = 3;
         m_simplexSolver = simplexSolver;
         m_pdSolver = pdSolver;
@@ -62 +60 @@
 }
 
-btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 : btActivatingCollisionAlgorithm(ci,body0,body1),
 m_simplexSolver(simplexSolver),
@@ -68 +66 @@
 m_ownManifold (false),
 m_manifoldPtr(mf),
-m_lowLevelOfDetail(false),
+m_lowLevelOfDetail(false)
 #ifdef USE_SEPDISTANCE_UTIL2
 ,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
-                          (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
+                          (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc())
 #endif
-m_numPerturbationIterations(numPerturbationIterations),
-m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
         (void)body0;
@@ -98 +94 @@
 
 
-struct btPerturbedContactResult : public btManifoldResult
-{
-        btManifoldResult* m_originalManifoldResult;
-        btTransform m_transformA;
-        btTransform m_transformB;
-        btTransform     m_unPerturbedTransform;
-        bool    m_perturbA;
-        btIDebugDraw*   m_debugDrawer;
-
-
-        btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer)
-                :m_originalManifoldResult(originalResult),
-                m_transformA(transformA),
-                m_transformB(transformB),
-                m_perturbA(perturbA),
-                m_unPerturbedTransform(unPerturbedTransform),
-                m_debugDrawer(debugDrawer)
-        {
-        }
-        virtual ~ btPerturbedContactResult()
-        {
-        }
-
-        virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth)
-        {
-                btVector3 endPt,startPt;
-                btScalar newDepth;
-                btVector3 newNormal;
-
-                if (m_perturbA)
-                {
-                        btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
-                        endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
-                        newDepth = (endPt -  pointInWorld).dot(normalOnBInWorld);
-                        startPt = endPt+normalOnBInWorld*newDepth;
-                } else
-                {
-                        endPt = pointInWorld + normalOnBInWorld*orgDepth;
-                        startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld);
-                        newDepth = (endPt -  startPt).dot(normalOnBInWorld);
-                        
-                }
-
-//#define DEBUG_CONTACTS 1
-#ifdef DEBUG_CONTACTS
-                m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0));
-                m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0));
-                m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1));
-#endif //DEBUG_CONTACTS
-
-                
-                m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth);
-        }
-
-};
-
-extern btScalar gContactBreakingThreshold;
+
+
 
 //
@@ -170 +111 @@
         resultOut->setPersistentManifold(m_manifoldPtr);
 
-        //comment-out next line to test multi-contact generation
-        //resultOut->getPersistentManifold()->clearManifold();
         
 
@@ -208 +147 @@
 
         gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+
         btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
-
-        //now perturbe directions to get multiple contact points
-        btVector3 v0,v1;
-        btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
-        btPlaneSpace1(sepNormalWorldSpace,v0,v1);
-        //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
-        
-        //perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
-        if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
-        {
-                
-                int i;
-
-                bool perturbeA = true;
-                const btScalar angleLimit = 0.125f * SIMD_PI;
-                btScalar perturbeAngle;
-                btScalar radiusA = min0->getAngularMotionDisc();
-                btScalar radiusB = min1->getAngularMotionDisc();
-                if (radiusA < radiusB)
-                {
-                        perturbeAngle = gContactBreakingThreshold /radiusA;
-                        perturbeA = true;
-                } else
-                {
-                        perturbeAngle = gContactBreakingThreshold / radiusB;
-                        perturbeA = false;
-                }
-                if ( perturbeAngle > angleLimit ) 
-                                perturbeAngle = angleLimit;
-
-                btTransform unPerturbedTransform;
-                if (perturbeA)
-                {
-                        unPerturbedTransform = input.m_transformA;
-                } else
-                {
-                        unPerturbedTransform = input.m_transformB;
-                }
-                
-                for ( i=0;i<m_numPerturbationIterations;i++)
-                {
-                        btQuaternion perturbeRot(v0,perturbeAngle);
-                        btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
-                        btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
-                        
-                        
-                        if (perturbeA)
-                        {
-                                input.m_transformA.setBasis(  btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
-                                input.m_transformB = body1->getWorldTransform();
-#ifdef DEBUG_CONTACTS
-                                dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
-#endif //DEBUG_CONTACTS
-                        } else
-                        {
-                                input.m_transformA = body0->getWorldTransform();
-                                input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
-#ifdef DEBUG_CONTACTS
-                                dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
-#endif
-                        }
-                        
-                        btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
-                        gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
-                        
-                        
-                }
-        }
-
-        
 
 #ifdef USE_SEPDISTANCE_UTIL2

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h

@@ -34 +34 @@
 ///#define USE_SEPDISTANCE_UTIL2 1
 
-///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
-///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
-///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
+///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
 class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
 {
@@ -50 +48 @@
         bool                    m_lowLevelOfDetail;
         
-        int m_numPerturbationIterations;
-        int m_minimumPointsPerturbationThreshold;
-
-
         ///cache separating vector to speedup collision detection
         
@@ -59 +53 @@
 public:
 
-        btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
-
+        btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
 
         virtual ~btConvexConvexAlgorithm();
@@ -86 +79 @@
         struct CreateFunc :public       btCollisionAlgorithmCreateFunc
         {
-
                 btConvexPenetrationDepthSolver*         m_pdSolver;
                 btSimplexSolverInterface*                       m_simplexSolver;
-                int m_numPerturbationIterations;
-                int m_minimumPointsPerturbationThreshold;
-
+                
                 CreateFunc(btSimplexSolverInterface*                    simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
                 
@@ -99 +89 @@
                 {
                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
-                        return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+                        return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
                 }
         };

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp

@@ -5 +5 @@
 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,
+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:
 
@@ -23 +23 @@
 //#include <stdio.h>
 
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
 : btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf),
-m_isSwapped(isSwapped),
-m_numPerturbationIterations(numPerturbationIterations),
-m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
+m_isSwapped(isSwapped)
 {
         btCollisionObject* convexObj = m_isSwapped? col1 : col0;
         btCollisionObject* planeObj = m_isSwapped? col0 : col1;
-
+        
         if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
         {
@@ -51 +49 @@
 }
 
-void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+
+
+void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+        (void)dispatchInfo;
+        (void)resultOut;
+        if (!m_manifoldPtr)
+                return;
+
+        btCollisionObject* convexObj = m_isSwapped? body1 : body0;
         btCollisionObject* planeObj = m_isSwapped? body0: body1;
 
@@ -59 +64 @@
         btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
 
-    bool hasCollision = false;
+        bool hasCollision = false;
         const btVector3& planeNormal = planeShape->getPlaneNormal();
         const btScalar& planeConstant = planeShape->getPlaneConstant();
-        
-        btTransform convexWorldTransform = convexObj->getWorldTransform();
+        btTransform planeInConvex;
+        planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
         btTransform convexInPlaneTrans;
-        convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
-        //now perturbe the convex-world transform
-        convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
-        btTransform planeInConvex;
-        planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
-        
+        convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
+
         btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
-
         btVector3 vtxInPlane = convexInPlaneTrans(vtx);
         btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
@@ -88 +88 @@
                 resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
         }
-}
-
-
-void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-        (void)dispatchInfo;
-        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();
-
-        //first perform a collision query with the non-perturbated collision objects
-        {
-                btQuaternion rotq(0,0,0,1);
-                collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
-        }
-
-        if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
-        {
-                btVector3 v0,v1;
-                btPlaneSpace1(planeNormal,v0,v1);
-                //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
-
-                const btScalar angleLimit = 0.125f * SIMD_PI;
-                btScalar perturbeAngle;
-                btScalar radius = convexShape->getAngularMotionDisc();
-                perturbeAngle = gContactBreakingThreshold / radius;
-                if ( perturbeAngle > angleLimit ) 
-                                perturbeAngle = angleLimit;
-
-                btQuaternion perturbeRot(v0,perturbeAngle);
-                for (int i=0;i<m_numPerturbationIterations;i++)
-                {
-                        btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
-                        btQuaternion rotq(planeNormal,iterationAngle);
-                        collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
-                }
-        }
-
         if (m_ownManifold)
         {

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h

@@ -5 +5 @@
 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,
+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:
 
@@ -29 +29 @@
 class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
 {
-        bool            m_ownManifold;
+        bool    m_ownManifold;
         btPersistentManifold*   m_manifoldPtr;
-        bool            m_isSwapped;
-        int                     m_numPerturbationIterations;
-        int                     m_minimumPointsPerturbationThreshold;
-
+        bool    m_isSwapped;
+        
 public:
 
-        btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
+        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);
-
-        void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
         virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -57 +53 @@
         struct CreateFunc :public       btCollisionAlgorithmCreateFunc
         {
-                int     m_numPerturbationIterations;
-                int m_minimumPointsPerturbationThreshold;
-                        
-                CreateFunc() 
-                        : m_numPerturbationIterations(3),
-                        m_minimumPointsPerturbationThreshold(3)
-                {
-                }
-                
                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
                 {
@@ -71 +58 @@
                         if (!m_swapped)
                         {
-                                return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+                                return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false);
                         } else
                         {
-                                return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+                                return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true);
                         }
                 }

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -289 +289 @@
         return m_emptyCreateFunc;
 }
-
-void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-{
-        btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*) m_convexConvexCreateFunc;
-        convexConvex->m_numPerturbationIterations = numPerturbationIterations;
-        convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
-}

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -112 +112 @@
         virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
 
-        ///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm.
-        ///By default, this feature is disabled for best performance.
-        ///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature.
-        ///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled
-        ///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first.
-        ///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points.
-        ///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
-        void    setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
 
 };

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp

@@ -64 +64 @@
 btPairCachingGhostObject::~btPairCachingGhostObject()
 {
-        m_hashPairCache->~btHashedOverlappingPairCache();
         btAlignedFree( m_hashPairCache );
 }

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp

@@ -56 +56 @@
 void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
 {
-        btAssert(m_manifoldPtr);
+        assert(m_manifoldPtr);
         //order in manifold needs to match
         
@@ -93 +93 @@
    newPt.m_index0  = m_index0;
    newPt.m_index1  = m_index1;
-        //printf("depth=%f\n",depth);
+        
         ///@todo, check this for any side effects
         if (insertIndex >= 0)

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h

@@ -46 +46 @@
         int m_index0;
         int m_index1;
-        
-
 public:
 
@@ -80 +78 @@
         }
 
-
         virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
 

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ -25 +25 @@
 #include "LinearMath/btQuickprof.h"
 
-btSimulationIslandManager::btSimulationIslandManager():
-m_splitIslands(true)
+btSimulationIslandManager::btSimulationIslandManager()
 {
 }
@@ -45 +44 @@
         
         {
-                
+                btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
+
                 for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
                 {
-                        btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
                         const btBroadphasePair& collisionPair = pairPtr[i];
                         btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
@@ -187 +186 @@
                         }
 
-                        btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+                        assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
                         if (colObj0->getIslandTag() == islandId)
                         {
@@ -214 +213 @@
                                 }
 
-                                btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+                                assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
                                 if (colObj0->getIslandTag() == islandId)
@@ -235 +234 @@
                                 }
 
-                                btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+                                assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
                                 if (colObj0->getIslandTag() == islandId)
@@ -253 +252 @@
         int maxNumManifolds = dispatcher->getNumManifolds();
 
-//#define SPLIT_ISLANDS 1
-//#ifdef SPLIT_ISLANDS
-
-        
-//#endif //SPLIT_ISLANDS
+#define SPLIT_ISLANDS 1
+#ifdef SPLIT_ISLANDS
+
+        
+#endif //SPLIT_ISLANDS
 
         
@@ -281 +280 @@
                                 colObj0->activate();
                         }
-                        if(m_splitIslands)
-                        { 
-                                //filtering for response
-                                if (dispatcher->needsResponse(colObj0,colObj1))
-                                        m_islandmanifold.push_back(manifold);
-                        }
+#ifdef SPLIT_ISLANDS
+        //              //filtering for response
+                        if (dispatcher->needsResponse(colObj0,colObj1))
+                                m_islandmanifold.push_back(manifold);
+#endif //SPLIT_ISLANDS
                 }
         }
@@ -306 +304 @@
         BT_PROFILE("processIslands");
 
-        if(!m_splitIslands)
-        {
-                btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
-                int maxNumManifolds = dispatcher->getNumManifolds();
-                callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
-        }
-        else
-        {
-                // Sort manifolds, based on islands
-                // Sort the vector using predicate and std::sort
-                //std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
-
-                int numManifolds = int (m_islandmanifold.size());
-
-                //we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
-                m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
-
-                //now process all active islands (sets of manifolds for now)
-
-                int startManifoldIndex = 0;
-                int endManifoldIndex = 1;
-
-                //int islandId;
-
-                
-
-        //      printf("Start Islands\n");
-
-                //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
-                for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
-                {
-                        int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-
-
-                           bool islandSleeping = false;
-                        
-                                        for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
-                                        {
-                                                        int i = getUnionFind().getElement(endIslandIndex).m_sz;
-                                                        btCollisionObject* colObj0 = collisionObjects[i];
-                                                        m_islandBodies.push_back(colObj0);
-                                                        if (!colObj0->isActive())
-                                                                        islandSleeping = true;
-                                        }
-                        
-
-                        //find the accompanying contact manifold for this islandId
-                        int numIslandManifolds = 0;
-                        btPersistentManifold** startManifold = 0;
-
-                        if (startManifoldIndex<numManifolds)
-                        {
-                                int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
-                                if (curIslandId == islandId)
-                                {
-                                        startManifold = &m_islandmanifold[startManifoldIndex];
-                                
-                                        for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
-                                        {
-
-                                        }
-                                        /// Process the actual simulation, only if not sleeping/deactivated
-                                        numIslandManifolds = endManifoldIndex-startManifoldIndex;
-                                }
-
-                        }
-
-                        if (!islandSleeping)
-                        {
-                                callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
-        //                      printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
-                        }
+#ifndef SPLIT_ISLANDS
+        btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
+        
+        callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
+#else
+        // Sort manifolds, based on islands
+        // Sort the vector using predicate and std::sort
+        //std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
+
+        int numManifolds = int (m_islandmanifold.size());
+
+        //we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
+        m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
+
+        //now process all active islands (sets of manifolds for now)
+
+        int startManifoldIndex = 0;
+        int endManifoldIndex = 1;
+
+        //int islandId;
+
+        
+
+//      printf("Start Islands\n");
+
+        //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
+        for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
+        {
+                int islandId = getUnionFind().getElement(startIslandIndex).m_id;
+
+
+               bool islandSleeping = false;
+                
+                for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
+                {
+                        int i = getUnionFind().getElement(endIslandIndex).m_sz;
+                        btCollisionObject* colObj0 = collisionObjects[i];
+                                                m_islandBodies.push_back(colObj0);
+                        if (!colObj0->isActive())
+                                islandSleeping = true;
+                }
+                
+
+                //find the accompanying contact manifold for this islandId
+                int numIslandManifolds = 0;
+                btPersistentManifold** startManifold = 0;
+
+                if (startManifoldIndex<numManifolds)
+                {
+                        int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
+                        if (curIslandId == islandId)
+                        {
+                                startManifold = &m_islandmanifold[startManifoldIndex];
                         
-                        if (numIslandManifolds)
-                        {
-                                startManifoldIndex = endManifoldIndex;
-                        }
-
-                        m_islandBodies.resize(0);
-                }
-        } // else if(!splitIslands) 
-
-}
+                                for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
+                                {
+
+                                }
+                                /// Process the actual simulation, only if not sleeping/deactivated
+                                numIslandManifolds = endManifoldIndex-startManifoldIndex;
+                        }
+
+                }
+
+                if (!islandSleeping)
+                {
+                        callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
+//                      printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
+                }
+                
+                if (numIslandManifolds)
+                {
+                        startManifoldIndex = endManifoldIndex;
+                }
+
+                m_islandBodies.resize(0);
+        }
+#endif //SPLIT_ISLANDS
+
+
+}

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h

@@ -36 +36 @@
         btAlignedObjectArray<btCollisionObject* >  m_islandBodies;
         
-        bool m_splitIslands;
         
 public:
@@ -67 +66 @@
         void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
 
-        bool getSplitIslands()
-        {
-                return m_splitIslands;
-        }
-        void setSplitIslands(bool doSplitIslands)
-        {
-                m_splitIslands = doSplitIslands;
-        }
-
 };
 

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp

@@ -79 +79 @@
 
         ///point on A (worldspace)
-        ///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
+        btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
         ///point on B (worldspace)
         btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp

@@ -15 +15 @@
 
 #include "btUnionFind.h"
+#include <assert.h>
+
 
 

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btUnionFind.h

@@ -99 +99 @@
                 int find(int x)
                 { 
-                        //btAssert(x < m_N);
-                        //btAssert(x >= 0);
+                        //assert(x < m_N);
+                        //assert(x >= 0);
 
                         while (x != m_elements[x].m_id) 
@@ -111 +111 @@
                 #endif //
                                 x = m_elements[x].m_id;
-                                //btAssert(x < m_N);
-                                //btAssert(x >= 0);
+                                //assert(x < m_N);
+                                //assert(x >= 0);
 
                         }

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btBoxShape.h

@@ -162 +162 @@
                 {
                 case 0:
-                        plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+                        plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
+                        plane[3] = -halfExtents.x();
                         break;
                 case 1:
-                        plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+                        plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
+                        plane[3] = -halfExtents.x();
                         break;
                 case 2:
-                        plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
+                        plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
+                        plane[3] = -halfExtents.y();
                         break;
                 case 3:
-                        plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
+                        plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
+                        plane[3] = -halfExtents.y();
                         break;
                 case 4:
-                        plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
+                        plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
+                        plane[3] = -halfExtents.z();
                         break;
                 case 5:
-                        plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
+                        plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
+                        plane[3] = -halfExtents.z();
                         break;
                 default:
-                        btAssert(0);
+                        assert(0);
                 }
         }
@@ -307 +313 @@
                         break;
                 default:
-                        btAssert(0);
+                        assert(0);
                 }
         }

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp

@@ -15 +15 @@
 
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
-
-
-btScalar gContactThresholdFactor=btScalar(0.02);
 
 
@@ -48 +45 @@
 btScalar        btCollisionShape::getContactBreakingThreshold() const
 {
-        return getAngularMotionDisc() * gContactThresholdFactor;
+        ///@todo make this 0.1 configurable
+        return getAngularMotionDisc() * btScalar(0.1);
 }
 btScalar        btCollisionShape::getAngularMotionDisc() const

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -23 +23 @@
 m_collisionMargin(btScalar(0.)),
 m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
-m_dynamicAabbTree(0),
-m_updateRevision(1)
+m_dynamicAabbTree(0)
 {
         m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
@@ -48 +47 @@
 void    btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
 {
-        m_updateRevision++;
         //m_childTransforms.push_back(localTransform);
         //m_childShapes.push_back(shape);
@@ -57 +55 @@
         child.m_childMargin = shape->getMargin();
 
-        
+        m_children.push_back(child);
+
         //extend the local aabbMin/aabbMax
         btVector3 localAabbMin,localAabbMax;
@@ -76 +75 @@
         {
                 const btDbvtVolume      bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
-                int index = m_children.size();
+                int index = m_children.size()-1;
                 child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index);
         }
-
-        m_children.push_back(child);
 
 }
@@ -103 +100 @@
 void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
 {
-        m_updateRevision++;
         btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
         if (m_dynamicAabbTree)
@@ -118 +114 @@
 void btCompoundShape::removeChildShape(btCollisionShape* shape)
 {
-        m_updateRevision++;
         // Find the children containing the shape specified, and remove those children.
         //note: there might be multiple children using the same shape!
@@ -145 +140 @@
         // Recalculate the local aabb
         // Brute force, it iterates over all the shapes left.
-
         m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
         m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
@@ -168 +162 @@
 {
         btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
+        localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
         btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
-        
-        //avoid an illegal AABB when there are no children
-        if (!m_children.size())
-        {
-                localHalfExtents.setValue(0,0,0);
-                localCenter.setValue(0,0,0);
-        }
-        localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
-                
 
         btMatrix3x3 abs_b = trans.getBasis().absolute();  
@@ -188 +174 @@
         aabbMin = center-extent;
         aabbMax = center+extent;
-        
+
 }
 

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btCompoundShape.h

@@ -59 +59 @@
 
         btDbvt*                                                 m_dynamicAabbTree;
-
-        ///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
-        int                                                             m_updateRevision;
 
 public:
@@ -156 +153 @@
         void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;
 
-        int     getUpdateRevision() const
-        {
-                return m_updateRevision;
-        }
 
 private:

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btConeShape.cpp

@@ -61 +61 @@
                 break;
         default:
-                btAssert(0);
+                assert(0);
         };
 }

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp

@@ -182 +182 @@
 bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
 {
-        btAssert(0);
+        assert(0);
         return false;
 }

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp

@@ -151 +151 @@
 bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
 {
-        btAssert(0);
+        assert(0);
         return false;
 }

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp

@@ -155 +155 @@
 
                 btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+                btVector3 halfExtents = capsuleShape->getImplicitShapeDimensions();
                 btScalar halfHeight = capsuleShape->getHalfHeight();
                 int capsuleUpAxis = capsuleShape->getUpAxis();
@@ -301 +302 @@
         {
                 btSphereShape* sphereShape = (btSphereShape*)this;
-                btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
-                btScalar margin = radius + sphereShape->getMarginNonVirtual();
+                float radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
+                float margin = radius + sphereShape->getMarginNonVirtual();
                 const btVector3& center = t.getOrigin();
                 btVector3 extent(margin,margin,margin);
@@ -314 +315 @@
         {
                 btBoxShape* convexShape = (btBoxShape*)this;
-                btScalar margin=convexShape->getMarginNonVirtual();
+                float margin=convexShape->getMarginNonVirtual();
                 btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
                 halfExtents += btVector3(margin,margin,margin);

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -145 +145 @@
 }
 
-
-/// This returns the "raw" (user's initial) height, not the actual height.
-/// The actual height needs to be adjusted to be relative to the center
-///   of the heightfield's AABB.
-btScalar
-btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const
+btScalar        btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const
 {
         btScalar val = 0.f;
@@ -187 +182 @@
 
 
-/// this returns the vertex in bullet-local coordinates
+
 void    btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
 {
+
         btAssert(x>=0);
         btAssert(y>=0);
@@ -195 +191 @@
         btAssert(y<m_heightStickLength);
 
-        btScalar        height = getRawHeightFieldValue(x,y);
+
+        btScalar        height = getHeightFieldValue(x,y);
 
         switch (m_upAxis)
@@ -202 +199 @@
                 {
                 vertex.setValue(
-                        height - m_localOrigin.getX(),
+                        height,
                         (-m_width/btScalar(2.0)) + x,
                         (-m_length/btScalar(2.0) ) + y
@@ -212 +209 @@
                         vertex.setValue(
                         (-m_width/btScalar(2.0)) + x,
-                        height - m_localOrigin.getY(),
+                        height,
                         (-m_length/btScalar(2.0)) + y
                         );
@@ -222 +219 @@
                         (-m_width/btScalar(2.0)) + x,
                         (-m_length/btScalar(2.0)) + y,
-                        height - m_localOrigin.getZ()
+                        height
                         );
                         break;
@@ -234 +231 @@
 
         vertex*=m_localScaling;
+        
 }
 
@@ -241 +239 @@
 getQuantized
 (
-btScalar x
+float x
 )
 {

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h

@@ -30 +30 @@
   center (as determined by width and length and height, with each
   axis multiplied by the localScaling).
-
-  \b NOTE: be careful with coordinates.  If you have a heightfield with a local
-  min height of -100m, and a max height of +500m, you may be tempted to place it
-  at the origin (0,0) and expect the heights in world coordinates to be
-  -100 to +500 meters.
-  Actually, the heights will be -300 to +300m, because bullet will re-center
-  the heightfield based on its AABB (which is determined by the min/max
-  heights).  So keep in mind that once you create a btHeightfieldTerrainShape
-  object, the heights will be adjusted relative to the center of the AABB.  This
-  is different to the behavior of many rendering engines, but is useful for
-  physics engines.
 
   Most (but not all) rendering and heightfield libraries assume upAxis = 1
@@ -100 +89 @@
         btVector3       m_localScaling;
 
-        virtual btScalar        getRawHeightFieldValue(int x,int y) const;
+        virtual btScalar        getHeightFieldValue(int x,int y) const;
         void            quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
         void            getVertex(int x,int y,btVector3& vertex) const;

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp

@@ -29 +29 @@
 btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
 {
-        btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
-        btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));
+        btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis()));
+        btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
         return  supVertexA - supVertexB;
 }

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h

@@ -32 +32 @@
         BT_DECLARE_ALIGNED_ALLOCATOR();
 
-    btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;}
+    btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {}
     btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true):
         btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
         {
-            m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
-
             btVector3 m_triangle[3];
             const unsigned char *vertexbase;
@@ -70 +68 @@
         btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh)
         {
-            m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
-
             btVector3 m_triangle[3];
             const unsigned char *vertexbase;
@@ -112 +108 @@
 */
     }
+        virtual int     getShapeType() const
+        {
+                return MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
+        }
+        
         //debugging
         virtual const char*     getName()const {return "MULTIMATERIALTRIANGLEMESH";}

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btSphereShape.h

@@ -48 +48 @@
         btScalar        getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
 
-        void    setUnscaledRadius(btScalar      radius)
-        {
-                m_implicitShapeDimensions.setX(radius);
-                btConvexInternalShape::setMargin(radius);
-        }
-
         //debugging
         virtual const char*     getName()const {return "SPHERE";}

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp

@@ -83 +83 @@
 }
 
-
-void    btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
+void    btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax )
 {
         m_aabbMin = aabbMin;
@@ -97 +96 @@
 }
 
-

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h

@@ -53 +53 @@
         IndexedMeshArray        m_indexedMeshes;
         int m_pad[2];
-        mutable int m_hasAabb; // using int instead of bool to maintain alignment
-        mutable btVector3 m_aabbMin;
-        mutable btVector3 m_aabbMax;
+        int m_hasAabb; // using int instead of bool to maintain alignment
+        btVector3 m_aabbMin;
+        btVector3 m_aabbMax;
 
 public:
@@ -107 +107 @@
 
         virtual bool    hasPremadeAabb() const;
-        virtual void    setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const;
+        virtual void    setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax );
         virtual void    getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const;
 

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp

@@ -1 @@
-
 /*
 Bullet Continuous Collision Detection and Physics Library

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp

@@ -36 +36 @@
         {
                 m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3;
-                m_indexedMeshes[0].m_triangleIndexBase = 0;
+                m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
                 m_indexedMeshes[0].m_indexType = PHY_INTEGER;
                 m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int);
@@ -42 +42 @@
         {
                 m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3;
-                m_indexedMeshes[0].m_triangleIndexBase = 0;
+                m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0];
                 m_indexedMeshes[0].m_indexType = PHY_SHORT;
                 m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int);
@@ -50 +50 @@
         {
                 m_indexedMeshes[0].m_numVertices = m_4componentVertices.size();
-                m_indexedMeshes[0].m_vertexBase = 0;
+                m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
                 m_indexedMeshes[0].m_vertexStride = sizeof(btVector3);
         } else
         {
                 m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3;
-                m_indexedMeshes[0].m_vertexBase = 0;
+                m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
                 m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar);
         }
@@ -112 +112 @@
                         }
         }
-                m_3componentVertices.push_back((float)vertex.getX());
-                m_3componentVertices.push_back((float)vertex.getY());
-                m_3componentVertices.push_back((float)vertex.getZ());
+                m_3componentVertices.push_back(vertex.getX());
+                m_3componentVertices.push_back(vertex.getY());
+                m_3componentVertices.push_back(vertex.getZ());
                 m_indexedMeshes[0].m_numVertices++;
                 m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];

code/branches/questsystem5/src/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h

@@ -41 +41 @@
         virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const
         {
-                btAssert(0);
+                assert(0);
                 return localGetSupportingVertex(vec);
         }

code/branches/questsystem5/src/bullet/BulletCollision/Gimpact/btGImpactBvh.cpp

@@ -151 +151 @@
         }
 
-        btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
+        bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
+        btAssert(!unbal);
 
         return splitIndex;

code/branches/questsystem5/src/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp

@@ -172 +172 @@
         }
 
-        btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
+        bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
+        btAssert(!unbal);
 
         return splitIndex;

code/branches/questsystem5/src/bullet/BulletCollision/Gimpact/btGImpactShape.h

@@ -882 +882 @@
 class btGImpactMeshShape : public btGImpactShapeInterface
 {
-        btStridingMeshInterface* m_meshInterface;
-
 protected:
         btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts;
@@ -910 +908 @@
         btGImpactMeshShape(btStridingMeshInterface * meshInterface)
         {
-                m_meshInterface = meshInterface;
                 buildMeshParts(meshInterface);
         }
@@ -926 +923 @@
 
 
-        btStridingMeshInterface* getMeshInterface()
-        {
-                return m_meshInterface;
-        }
-
-        const btStridingMeshInterface* getMeshInterface() const
-        {
-                return m_meshInterface;
-        }
 
         int getMeshPartCount() const
@@ -1046 +1034 @@
 
         //! call when reading child shapes
-        virtual void lockChildShapes() const
-        {
-                btAssert(0);
-        }
-
-        virtual void unlockChildShapes() const
+        virtual void lockChildShapes()
+        {
+                btAssert(0);
+        }
+
+        virtual void unlockChildShapes()
         {
                 btAssert(0);

code/branches/questsystem5/src/bullet/BulletCollision/Gimpact/gim_box_set.cpp

@@ -111 +111 @@
         }
 
-        btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
+        bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
+        btAssert(!unbal);
 
         return splitIndex;
@@ -180 +181 @@
 }
 
-

code/branches/questsystem5/src/bullet/BulletCollision/Gimpact/gim_math.h

@@ -108 +108 @@
 #define GIM_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))
 
-#define GIM_GREATER(x, y)       btFabs(x) > (y)
+#define GIM_GREATER(x, y)       fabsf(x) > (y)
 
 ///Swap numbers

code/branches/questsystem5/src/bullet/BulletCollision/Gimpact/gim_tri_collision.h

@@ -276 +276 @@
                 else
                 {
-                        btScalar sumuv;
+                        float sumuv;
                         sumuv = u+v;
                         if(sumuv<-G_EPSILON)

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp

@@ -136 +136 @@
                         //btScalar clippedDist  = dist;
                         
-                        //don't report time of impact for motion away from the contact normal (or causes minor penetration)
-                        if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
-                                return false;
                         
                         dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
@@ -200 +197 @@
 
                 }
-        
+
+                //don't report time of impact for motion away from the contact normal (or causes minor penetration)
                 if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON)
                         return false;
-                        
+
                 result.m_fraction = lambda;
                 result.m_normal = n;

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -151 +151 @@
                         if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) 
                         {
-                                checkSimplex=true;
-                                //checkPenetration = false;
+                                checkPenetration = false;
                                 break;
                         }

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

@@ -113 +113 @@
                         }
                         
-                        ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
-                        btScalar        getAppliedImpulse() const
-                        {
-                                return m_appliedImpulse;
-                        }
-
                         
 

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp

@@ -184 +184 @@
                 
         }
-        if (insertIndex<0)
-                insertIndex=0;
-
         btAssert(m_pointCache[insertIndex].m_userPersistentData==0);
         m_pointCache[insertIndex] = newPoint;

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -56 +56 @@
 
         btScalar        m_contactBreakingThreshold;
-        btScalar        m_contactProcessingThreshold;
 
         
@@ -72 +71 @@
         btPersistentManifold();
 
-        btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
+        btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold)
                 : m_body0(body0),m_body1(body1),m_cachedPoints(0),
-                m_contactBreakingThreshold(contactBreakingThreshold),
-                m_contactProcessingThreshold(contactProcessingThreshold)
+                m_contactBreakingThreshold(contactBreakingThreshold)
         {
                 
@@ -114 +112 @@
         ///@todo: get this margin from the current physics / collision environment
         btScalar        getContactBreakingThreshold() const;
-
-        btScalar        getContactProcessingThreshold() const
-        {
-                return m_contactProcessingThreshold;
-        }
         
         int getCacheEntry(const btManifoldPoint& newPoint) const;

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp

@@ -24 +24 @@
 #include "btRaycastCallback.h"
 
-btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags)
+btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
         :
         m_from(from),
         m_to(to),
-   //@BP Mod
-   m_flags(flags),
         m_hitFraction(btScalar(1.))
 {
@@ -58 +56 @@
                 return ; // same sign
         }
-   //@BP Mod - Backface filtering
-   if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
-   {
-      // Backface, skip check
-      return;
-   }
         
         const btScalar proj_length=dist_a-dist_b;
@@ -98 +90 @@
                                         if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
                                         {
-                  //@BP Mod
-                  // Triangle normal isn't normalized
-                                      triangleNormal.normalize();
 
-                  //@BP Mod - Allow for unflipped normal when raycasting against backfaces
-                  if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0)))
+                                                if ( dist_a > 0 )
                                                 {
-                                                        m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
+                                                        m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
                                                 }
                                                 else
                                                 {
-                     m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
+                                                        m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
                                                 }
                                         }

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h

@@ -30 +30 @@
         btVector3 m_to;
 
-   //@BP Mod - allow backface filtering and unflipped normals
-   enum EFlags
-   {
-      kF_None                 = 0,
-      kF_FilterBackfaces      = 1 << 0,
-      kF_KeepUnflippedNormal  = 1 << 1,   // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
-
-      kF_Terminator        = 0xFFFFFFFF
-   };
-   unsigned int m_flags;
-
         btScalar        m_hitFraction;
 
-        btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags=0);
+        btTriangleRaycastCallback(const btVector3& from,const btVector3& to);
         
         virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp

@@ -26 +26 @@
 
 #include "btVoronoiSimplexSolver.h"
+#include <assert.h>
+//#include <stdio.h>
 
 #define VERTA  0
@@ -36 +38 @@
 {
         
-        btAssert(m_numVertices>0);
+        assert(m_numVertices>0);
         m_numVertices--;
         m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];