+ Internal improvements for collision shapes

1) add AabbCaching versions of btPolyhedralConvexShape and btMultiSphereShape (this speeds up btMultiSphereShape 'getAabb', and reduces size of btBoxShape)
2) btCylinderShape doesn't derive from btBoxShape anymore
+ Minor fixes in drawing for btMultiSphereShape, btBoxShape.
+ Don't re-generate btDebugFont every frame
+ Disabled velocity prediction for btDbvtBroadphase. Previous default can be restored using btDbvtBroadphase->setVelocityPrediction(1./2.);

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -440,6 +440,9 @@ int maxNumOutstandingTasks = 4;
 		btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
 		m_dynamicsWorld = world;
 
+		///SOLVER_RANDMIZE_ORDER makes cylinder stacking a bit more stable
+		world->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
+
 #ifdef	USER_DEFINED_FRICTION_MODEL
 	//user defined friction model is not supported in 'cache friendly' solver yet, so switch to old solver
 

Demos/Gpu2dDemo/BasicDemo.cpp

@@ -32,8 +32,8 @@ subject to the following restrictions:
 #define OECAKE_LOADER 1
 
 #ifdef _DEBUG
-	#define LARGE_DEMO 0
-//	#define LARGE_DEMO 1
+//	#define LARGE_DEMO 0
+	#define LARGE_DEMO 1
 #else
 	#define LARGE_DEMO 1
 #endif
@@ -323,10 +323,8 @@ void	BasicDemo::initPhysics()
 		// Re-using the same collision is better for memory usage and performance
 
 
-		//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,0.1));//SCALING*1));
-//		btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*.7,SCALING*.7,0.1));//SCALING*1));
 
-#if 0
+#if 1
 		#define SPRADIUS btScalar(SCALING*0.1f)
 		#define SPRPOS btScalar(SCALING*0.05f)
 		static btVector3 sSphPos[8];

Demos/Gpu2dDemo/BasicDemo.h

@@ -66,6 +66,9 @@ class BasicDemo : public GlutDemoApplication
 
 	void	exitPhysics();
 
+	///don't shoot a box in this demo ;-)
+	virtual void	shootBox(const btVector3& dest) {}
+
 	virtual void clientMoveAndDisplay();
 
 	virtual void displayCallback();

Demos/OpenGL/DemoApplication.h

@@ -187,7 +187,7 @@ public:
 
 	///Demo functions
 	virtual void setShootBoxShape ();
-	void	shootBox(const btVector3& destination);
+	virtual void	shootBox(const btVector3& destination);
 
 
 	btVector3	getRayTo(int x,int y);

Demos/OpenGL/GLDebugFont.cpp

@@ -20,13 +20,16 @@ subject to the following restrictions:
 
 extern unsigned char sFontData[];
 static GLuint sTexture = -1;
-static int sScreenWidth = 0;
-static int sScreenHeight = 0;
+static int sScreenWidth = -1;
+static int sScreenHeight = -1;
 
 
 void GLDebugResetFont(int screenWidth,int screenHeight)
 {
 	
+	if ((sScreenWidth == screenWidth) && (sScreenHeight == screenHeight))
+		return;
+
 	sScreenWidth = screenWidth;
 	sScreenHeight = screenHeight;
 

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -34,6 +34,9 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
+
+
 ///
 #include "BulletCollision/CollisionShapes/btShapeHull.h"
 
@@ -269,6 +272,34 @@ public:
 	}
 };
 
+
+void GL_ShapeDrawer::drawSphere(btScalar r, int lats, int longs) 
+{
+	int i, j;
+	for(i = 0; i <= lats; i++) {
+		btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
+		btScalar z0  = sin(lat0);
+		btScalar zr0 =  cos(lat0);
+
+		btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
+		btScalar z1 = sin(lat1);
+		btScalar zr1 = cos(lat1);
+
+		glBegin(GL_QUAD_STRIP);
+		for(j = 0; j <= longs; j++) {
+			btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
+			btScalar x = cos(lng);
+			btScalar y = sin(lng);
+
+			glNormal3f(x * zr0, y * zr0, z0);
+			glVertex3f(x * zr0, y * zr0, z0);
+			glNormal3f(x * zr1, y * zr1, z1);
+			glVertex3f(x * zr1, y * zr1, z1);
+		}
+		glEnd();
+	}
+}
+
 void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
 {
 
@@ -538,30 +569,66 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			///you can comment out any of the specific cases, and use the default
 
 			///the benefit of 'default' is that it approximates the actual collision shape including collision margin
-			int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
+			//int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
+			int shapetype=shape->getShapeType();
 			switch (shapetype)
 			{
-#if 0
-			case BOX_SHAPE_PROXYTYPE:
-				{
-					const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
-					btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
-					glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
-					glutSolidCube(1.0);
-					useWireframeFallback = false;
-					break;
-				}
 
-
-			case SPHERE_SHAPE_PROXYTYPE:
+				case SPHERE_SHAPE_PROXYTYPE:
 				{
 					const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
 					float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
-					glutSolidSphere(radius,10,10);
+					drawSphere(radius,10,10);
 					useWireframeFallback = false;
 					break;
 				}
 
+				case BOX_SHAPE_PROXYTYPE:
+				{
+					const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+					btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
+					
+					static int indices[36] = {
+						0,1,2,
+						3,2,1,
+						4,0,6,
+						6,0,2,
+						5,1,4,
+						4,1,0,
+						7,3,1,
+						7,1,5,
+						5,4,7,
+						7,4,6,
+						7,2,3,
+						7,6,2};
+
+					static btVector3 vertices[8]={	btVector3(1,1,1),btVector3(-1,1,1),	btVector3(1,-1,1),	btVector3(-1,-1,1),	btVector3(1,1,-1),	btVector3(-1,1,-1),	btVector3(1,-1,-1),	btVector3(-1,-1,-1)};
+					glBegin (GL_TRIANGLES);
+					int si=36;
+					for (int i=0;i<si;i+=3)
+					{
+						btVector3 v1 = vertices[indices[i]]*halfExtent;
+						btVector3 v2 = vertices[indices[i+1]]*halfExtent;
+						btVector3 v3 = vertices[indices[i+2]]*halfExtent;
+						btVector3 normal = (v3-v1).cross(v2-v1);
+						normal.normalize ();
+
+						glNormal3f(normal.getX(),normal.getY(),normal.getZ());
+						glVertex3f (v1.x(), v1.y(), v1.z());
+						glVertex3f (v2.x(), v2.y(), v2.z());
+						glVertex3f (v3.x(), v3.y(), v3.z());
+						
+					}
+					glEnd();
+
+					useWireframeFallback = false;
+					break;
+				}
+
+
+
+#if 0
+			
 			case CONE_SHAPE_PROXYTYPE:
 				{
 					const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
@@ -630,6 +697,26 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 					break;
 				}
 
+			case MULTI_SPHERE_SHAPE_PROXYTYPE:
+			{
+				const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
+
+				btTransform childTransform;
+				childTransform.setIdentity();
+
+				
+				for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
+				{
+					btSphereShape sc(multiSphereShape->getSphereRadius(i));
+					childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
+					btScalar childMat[16];
+					childTransform.getOpenGLMatrix(childMat);
+					drawOpenGL(childMat,&sc,color,debugMode,worldBoundsMin,worldBoundsMax);
+				}
+
+				break;
+			}
+
 			default:
 				{
 

Demos/OpenGL/GL_ShapeDrawer.h

@@ -58,6 +58,7 @@ public:
 		}
 		
 		static void		drawCylinder(float radius,float halfHeight, int upAxis);
+		void			drawSphere(btScalar r, int lats, int longs);
 		static void		drawCoordSystem();
 		
 };