Fix btSoftBody issue, so it can interact with btCollisionObject and btGhostObject (and not just btRigidBody and btSoftBody)

Thank for the report mi076 http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2823

remove legacy.c from libxml
removed #include <math.h> from btQuadWord.h , it should be centralized in btScalar.h (to allow easier replacement with fastmath.h etc)

Demos/SoftDemo/SoftDemo.cpp

@@ -1724,9 +1724,16 @@ void	SoftDemo::initPhysics()
 	tr.setOrigin(btVector3(0,-12,0));
 
 
-
+#define USE_COLLISION_OBJECT 1
-	localCreateRigidBody(0.f,tr,m_collisionShapes[0]);
+#ifdef USE_COLLISION_OBJECT
-
+	btCollisionObject* newOb = new btCollisionObject();
+	newOb->setWorldTransform(tr);
+	newOb->setInterpolationWorldTransform( tr);
+	newOb->setCollisionShape(m_collisionShapes[0]);
+	m_dynamicsWorld->addCollisionObject(newOb);
+#else
+	this->localCreateRigidBody(0,tr,m_collisionShapes[0]);
+#endif //USE_COLLISION_OBJECT
 
 	//	clientResetScene();
 

Extras/LibXML/CMakeLists.txt

@@ -22,7 +22,6 @@ ADD_LIBRARY(XML
 			hash.c
 			HTMLparser.c
 			HTMLtree.c
-			legacy.c
 			list.c
 			nanoftp.c
 			nanohttp.c

Extras/LibXML/Makefile.am

@@ -27,7 +27,7 @@ libxml2_la_SOURCES = SAX.c entities.c encoding.c error.c parserInternals.c  \
 		catalog.c globals.c threads.c c14n.c xmlstring.c \
 		xmlregexp.c xmlschemas.c xmlschemastypes.c xmlunicode.c \
 		triostr.c trio.c xmlreader.c relaxng.c dict.c SAX2.c \
-		xmlwriter.c legacy.c chvalid.c pattern.c xmlsave.c \
+		xmlwriter.c  chvalid.c pattern.c xmlsave.c \
 		xmlmodule.c schematron.c
 else
 libxml2_la_SOURCES = SAX.c entities.c encoding.c error.c parserInternals.c  \
@@ -37,7 +37,7 @@ libxml2_la_SOURCES = SAX.c entities.c encoding.c error.c parserInternals.c  \
 		catalog.c globals.c threads.c c14n.c xmlstring.c \
 		xmlregexp.c xmlschemas.c xmlschemastypes.c xmlunicode.c \
 		xmlreader.c relaxng.c dict.c SAX2.c \
-		xmlwriter.c legacy.c chvalid.c pattern.c xmlsave.c \
+		xmlwriter.c  chvalid.c pattern.c xmlsave.c \
 		xmlmodule.c schematron.c
 endif
 

src/BulletSoftBody/btSoftBody.cpp

@@ -2600,7 +2600,7 @@ void			btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
 	case	fCollision::CL_RS:
 		{
 			btSoftColliders::CollideCL_RS	collider;
-			collider.Process(this,btRigidBody::upcast(pco));
+			collider.Process(this,pco);
 		}
 		break;
 	}

src/BulletSoftBody/btSoftBody.h

@@ -324,11 +324,17 @@ public:
 	/* Body			*/ 
 	struct	Body
 	{
-		Cluster*		m_soft;
+		Cluster*			m_soft;
-		btRigidBody*				m_rigid;
+		btRigidBody*		m_rigid;
-		Body() : m_soft(0),m_rigid(0)				{}
+		btCollisionObject*	m_collisionObject;
-		Body(Cluster* p) : m_soft(p),m_rigid(0)	{}
+
-		Body(btRigidBody* p) : m_soft(0),m_rigid(p)	{}
+		Body() : m_soft(0),m_rigid(0),m_collisionObject(0)				{}
+		Body(Cluster* p) : m_soft(p),m_rigid(0),m_collisionObject(0)	{}
+		Body(btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj)
+		{
+			m_rigid = btRigidBody::upcast(m_collisionObject);
+		}
+
 		void						activate() const
 		{
 			if(m_rigid) m_rigid->activate();
@@ -349,7 +355,7 @@ public:
 		const btTransform&			xform() const
 		{
 			static const btTransform	identity=btTransform::getIdentity();		
-			if(m_rigid) return(m_rigid->getInterpolationWorldTransform());
+			if(m_collisionObject) return(m_collisionObject->getInterpolationWorldTransform());
 			if(m_soft)	return(m_soft->m_framexform);
 			return(identity);
 		}

src/BulletSoftBody/btSoftBodyInternals.h

@@ -708,23 +708,24 @@ struct btSoftColliders
 	struct	CollideCL_RS : ClusterBase
 	{
 		btSoftBody*		psb;
-		btRigidBody*	prb;
+		
+		btCollisionObject*	m_colObj;
 		void		Process(const btDbvtNode* leaf)
 		{
 			btSoftBody::Cluster*		cluster=(btSoftBody::Cluster*)leaf->data;
 			btSoftClusterCollisionShape	cshape(cluster);
-			const btConvexShape*		rshape=(const btConvexShape*)prb->getCollisionShape();
+			const btConvexShape*		rshape=(const btConvexShape*)m_colObj->getCollisionShape();
 			btGjkEpaSolver2::sResults	res;		
 			if(btGjkEpaSolver2::SignedDistance(	&cshape,btTransform::getIdentity(),
-				rshape,prb->getInterpolationWorldTransform(),
+				rshape,m_colObj->getInterpolationWorldTransform(),
 				btVector3(1,0,0),res))
 			{
 				btSoftBody::CJoint	joint;
-				if(SolveContact(res,cluster,prb,joint))
+				if(SolveContact(res,cluster,m_colObj,joint))//prb,joint))
 				{
 					btSoftBody::CJoint*	pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
 					*pj=joint;psb->m_joints.push_back(pj);
-					if(prb->isStaticOrKinematicObject())
+					if(m_colObj->isStaticOrKinematicObject())
 					{
 						pj->m_erp	*=	psb->m_cfg.kSKHR_CL;
 						pj->m_split	*=	psb->m_cfg.kSK_SPLT_CL;
@@ -737,19 +738,19 @@ struct btSoftColliders
 				}
 			}
 		}
-		void		Process(btSoftBody* ps,btRigidBody* pr)
+		void		Process(btSoftBody* ps,btCollisionObject* colOb)
 		{
 			psb			=	ps;
-			prb			=	pr;
+			m_colObj			=	colOb;
 			idt			=	ps->m_sst.isdt;
-			margin		=	ps->getCollisionShape()->getMargin()+
+			margin		=	m_colObj->getCollisionShape()->getMargin()+
-				pr->getCollisionShape()->getMargin();
+				m_colObj->getCollisionShape()->getMargin();
-			friction	=	btMin(psb->m_cfg.kDF,prb->getFriction());
+			friction	=	btMin(psb->m_cfg.kDF,m_colObj->getFriction());
 			btVector3			mins;
 			btVector3			maxs;
 
 			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume;
-			pr->getCollisionShape()->getAabb(pr->getInterpolationWorldTransform(),mins,maxs);
+			colOb->getCollisionShape()->getAabb(colOb->getInterpolationWorldTransform(),mins,maxs);
 			volume=btDbvtVolume::FromMM(mins,maxs);
 			volume.Expand(btVector3(1,1,1)*margin);
 			ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root,volume,*this);

src/LinearMath/btQuadWord.h

@@ -18,7 +18,7 @@ subject to the following restrictions:
 
 #include "btScalar.h"
 #include "btMinMax.h"
-#include <math.h>
+
 
 #if defined (__CELLOS_LV2) && defined (__SPU__)
 #include <altivec.h>

src/LinearMath/btScalar.h

@@ -18,6 +18,7 @@ subject to the following restrictions:
 #define SIMD___SCALAR_H
 
 #include <math.h>
+
 #include <stdlib.h>//size_t for MSVC 6.0
 
 #include <cstdlib>