more fixes, related to introduction of btMotionState, and using realtime timestep

Demos/BasicDemo/BasicDemo.cpp

@@ -63,6 +63,10 @@ void BasicDemo::clientMoveAndDisplay()
 	//simple dynamics world doesn't handle fixed-time-stepping
 	float ms = m_clock.getTimeMilliseconds();
 	m_clock.reset();
+	float minFPS = 1000.f/60.f;
+	if (ms > minFPS)
+		ms = minFPS;
+
 	if (m_dynamicsWorld)
 		m_dynamicsWorld->stepSimulation(ms / 1000.f);
 		

Demos/BspDemo/BspDemo.cpp

@@ -185,7 +185,9 @@ void BspDemo::clientMoveAndDisplay()
 {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	m_dynamicsWorld->stepSimulation(deltaTime);
+	float dt = m_clock.getTimeMilliseconds() * 0.001f;
+	m_clock.reset();
+	m_dynamicsWorld->stepSimulation(dt);
 
 	renderme();
 

Demos/ColladaDemo/ColladaConverter.cpp

@@ -29,6 +29,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
 //#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "LinearMath/btDefaultMotionState.h"
 
 
 
@@ -542,14 +543,18 @@ void	ColladaConverter::prepareConstraints(ConstraintInput& input)
 					
 					for (int i=0;i<m_numObjects;i++)
 					{
-						char* bodyName = (char*)m_rigidBodies[i]->m_userObjectPointer;
+						if (m_rigidBodies[i]->m_userObjectPointer)
-						if (!strcmp(bodyName,orgUri0))
 						{
-							body0=m_rigidBodies[i];
+							btDefaultMotionState* ms = (btDefaultMotionState*)m_rigidBodies[i]->m_userObjectPointer;
-						}
+							char* bodyName = (char*)ms->m_userPointer;
-						if (!strcmp(bodyName,orgUri1))
+							if (!strcmp(bodyName,orgUri0))
-						{
+							{
-							body1=m_rigidBodies[i];
+								body0=m_rigidBodies[i];
+							}
+							if (!strcmp(bodyName,orgUri1))
+							{
+								body1=m_rigidBodies[i];
+							}
 						}
 					}
 
@@ -700,10 +705,11 @@ void	ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
 
 
 	btRigidBody* body= createRigidBody(isDynamics,mass,startTransform,colShape);
-	if (body)
+	if (body && body->m_userObjectPointer)
 	{
 		//for bodyName lookup in constraints
-		body->m_userObjectPointer = (void*)input.m_bodyName;
+		btDefaultMotionState* ms = (btDefaultMotionState*)body->m_userObjectPointer;
+		ms->m_userPointer = (void*)input.m_bodyName;
 		m_rigidBodies[m_numObjects] = body;
 		m_numObjects++;
 	}

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -181,9 +181,10 @@ void ConcaveDemo::clientMoveAndDisplay()
 {
 	 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	float deltaTime = 1.f/60.f;
+	float dt = m_clock.getTimeMilliseconds() * 0.001f;
+	m_clock.reset();
 	
-	m_dynamicsWorld->stepSimulation(deltaTime);
+	m_dynamicsWorld->stepSimulation(dt);
 	
 	renderme();
 

Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp

@@ -30,7 +30,7 @@ static const int NUM_TRIANGLES=4;
 
 btVector3	gVertices[NUM_VERTICES];
 int	gIndices[NUM_TRIANGLES*3];
-const float TRIANGLE_SIZE=20.f;
+const float TRIANGLE_SIZE=10.f;
 
 
 ///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
@@ -143,9 +143,12 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
 {
 	 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	float deltaTime = 1.f/60.f;
 	
-	m_dynamicsWorld->stepSimulation(deltaTime);
+	float dt = m_clock.getTimeMilliseconds() * 0.001f;
+	m_clock.reset();
+	
+
+	m_dynamicsWorld->stepSimulation(dt);
 	
 	renderme();
 

src/BulletCollision/CollisionDispatch/btManifoldResult.cpp

@@ -96,7 +96,9 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 			   (m_body1->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
 		{
 			//experimental feature info, for per-triangle material etc.
-			(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
+			btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
+			btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
+			(*gContactAddedCallback)(newPt,obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
 		}
 
 		m_manifoldPtr->AddManifoldPoint(newPt);

src/LinearMath/btDefaultMotionState.h

@@ -7,11 +7,13 @@ struct	btDefaultMotionState : public btMotionState
 	btTransform m_graphicsWorldTrans;
 	btTransform	m_centerOfMassOffset;
 	btTransform m_startWorldTrans;
+	void*		m_userPointer;
 
 	btDefaultMotionState(const btTransform& startTrans,const btTransform& centerOfMassOffset = btTransform::getIdentity())
 		: m_graphicsWorldTrans(startTrans),
 		m_centerOfMassOffset(centerOfMassOffset),
-		m_startWorldTrans(startTrans)
+		m_startWorldTrans(startTrans),
+		m_userPointer(0)
 
 	{
 	}