make relative contact breaking threshold optional (use dispatcher->setDispatcherFlags(0) to turn off feature)

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -34,9 +34,7 @@ int gNumManifold = 0;
 
 
 btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration): 
-	m_count(0),
+m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
-	m_useIslands(true),
-	m_staticWarningReported(false),
 	m_collisionConfiguration(collisionConfiguration)
 {
 	int i;
@@ -79,9 +77,11 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 	btCollisionObject* body0 = (btCollisionObject*)b0;
 	btCollisionObject* body1 = (btCollisionObject*)b1;
 
-	//test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
+	//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
-	//btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
+	
-	btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
+	btScalar contactBreakingThreshold =  (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? 
+		btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
+		: gContactBreakingThreshold ;
 
 	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
 		
@@ -169,13 +169,13 @@ bool	btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
 	bool needsCollision = true;
 
 #ifdef BT_DEBUG
-	if (!m_staticWarningReported)
+	if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
 	{
 		//broadphase filtering already deals with this
 		if ((body0->isStaticObject() || body0->isKinematicObject()) &&
 			(body1->isStaticObject() || body1->isKinematicObject()))
 		{
-			m_staticWarningReported = true;
+			m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
 			printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
 		}
 	}

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h

@@ -42,14 +42,10 @@ typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispa
 ///Time of Impact, Closest Points and Penetration Depth.
 class btCollisionDispatcher : public btDispatcher
 {
-	int m_count;
+	int		m_dispatcherFlags;
 	
 	btAlignedObjectArray<btPersistentManifold*>	m_manifoldsPtr;
 
-	bool m_useIslands;
-
-	bool	m_staticWarningReported;
-	
 	btManifoldResult	m_defaultManifoldResult;
 
 	btNearCallback		m_nearCallback;
@@ -59,13 +55,28 @@ class btCollisionDispatcher : public btDispatcher
 	btPoolAllocator*	m_persistentManifoldPoolAllocator;
 
 	btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
-	
 
 	btCollisionConfiguration*	m_collisionConfiguration;
 
 
 public:
 
+	enum DispatcherFlags
+	{
+		CD_STATIC_STATIC_REPORTED = 1,
+		CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2
+	};
+
+	int	getDispatherFlags() const
+	{
+		return m_dispatcherFlags;
+	}
+
+	void	setDispatcherFlags(int flags)
+	{
+		m_dispatcherFlags = 0;
+	}
+
 	///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
 	void	registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
 

src/BulletCollision/CollisionShapes/btCollisionShape.cpp

@@ -15,9 +15,6 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 
 
-btScalar gContactThresholdFactor=btScalar(0.02);
-
-
 /*
   Make sure this dummy function never changes so that it
   can be used by probes that are checking whether the
@@ -45,10 +42,11 @@ void	btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) con
 }
 
 
-btScalar	btCollisionShape::getContactBreakingThreshold() const
+btScalar	btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
 {
-	return getAngularMotionDisc() * gContactThresholdFactor;
+	return getAngularMotionDisc() * defaultContactThreshold;
 }
+
 btScalar	btCollisionShape::getAngularMotionDisc() const
 {
 	///@todo cache this value, to improve performance

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -48,7 +48,7 @@ public:
 	///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
 	virtual btScalar	getAngularMotionDisc() const;
 
-	virtual btScalar	getContactBreakingThreshold() const;
+	virtual btScalar	getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
 
 
 	///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)