Synchronized changes of Bullet, from Blender.

Added optional flag btSoftBody::appendAnchor(	int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false), to disable collision between soft body and rigid body, when pinned
Added btCollisionObject::setAnisotropicFriction, to scale friction in x,y,z direction.
Added btCollisionObject::setContactProcessingThreshold(float threshold), to avoid collision resolution of contact above a certain distance.
Avoid collisions between static objects (causes the CharacterDemo to assert, when a dynamic object hits character)

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -82,7 +82,9 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* 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());
+		
 	void* mem = 0;
 	
 	if (m_persistentManifoldPoolAllocator->getFreeCount())
@@ -93,7 +95,7 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 		mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
 
 	}
-	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold);
+	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
 	manifold->m_index1a = m_manifoldsPtr.size();
 	m_manifoldsPtr.push_back(manifold);
 

src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -17,7 +17,10 @@ subject to the following restrictions:
 #include "btCollisionObject.h"
 
 btCollisionObject::btCollisionObject()
-	:	m_broadphaseHandle(0),
+	:	m_anisotropicFriction(1.f,1.f,1.f),
+	m_hasAnisotropicFriction(false),
+	m_contactProcessingThreshold(1e30f),
+		m_broadphaseHandle(0),
 		m_collisionShape(0),
 		m_rootCollisionShape(0),
 		m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -52,6 +52,11 @@ protected:
 	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
 	btVector3	m_interpolationLinearVelocity;
 	btVector3	m_interpolationAngularVelocity;
+	
+	btVector3		m_anisotropicFriction;
+	bool				m_hasAnisotropicFriction;
+	btScalar		m_contactProcessingThreshold;	
+
 	btBroadphaseProxy*		m_broadphaseHandle;
 	btCollisionShape*		m_collisionShape;
 	
@@ -127,6 +132,30 @@ public:
 		return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
 	}
 
+	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 {
 		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;

src/BulletCollision/CollisionShapes/btSphereShape.h

@@ -47,6 +47,12 @@ public:
 
 	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";}
 

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -55,6 +55,7 @@ ATTRIBUTE_ALIGNED16( class) btPersistentManifold
 	int	m_cachedPoints;
 
 	btScalar	m_contactBreakingThreshold;
+	btScalar	m_contactProcessingThreshold;
 
 	
 	/// sort cached points so most isolated points come first
@@ -70,9 +71,10 @@ public:
 
 	btPersistentManifold();
 
-	btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold)
+	btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
 		: m_body0(body0),m_body1(body1),m_cachedPoints(0),
-		m_contactBreakingThreshold(contactBreakingThreshold)
+		m_contactBreakingThreshold(contactBreakingThreshold),
+		m_contactProcessingThreshold(contactProcessingThreshold)
 	{
 		
 	}
@@ -111,6 +113,11 @@ public:
 
 	///@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;
 

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -246,6 +246,21 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel,
 
 
 
+void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection);
+void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection)
+{
+	if (colObj && colObj->hasAnisotropicFriction())
+	{
+		// transform to local coordinates
+		btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis();
+		const btVector3& friction_scaling = colObj->getAnisotropicFriction();
+		//apply anisotropic friction
+		loc_lateral *= friction_scaling;
+		// ... and transform it back to global coordinates
+		frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
+	}
+}
+
 
 
 btSolverConstraint&	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation)
@@ -379,6 +394,10 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 		solverBodyIdB = getOrInitSolverBody(*colObj1);
 	}
 
+	///avoid collision response between two static objects
+	if (!solverBodyIdA && !solverBodyIdB)
+		return;
+
 	btVector3 rel_pos1;
 	btVector3 rel_pos2;
 	btScalar relaxation;
@@ -388,9 +407,7 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 
 		btManifoldPoint& cp = manifold->getContactPoint(j);
 
-		///this is a bad test and results in jitter -> always solve for those zero-distanc contacts! 
-		///-> if (cp.getDistance() <= btScalar(0.))
-		//if (cp.getDistance() <= manifold->getContactBreakingThreshold())
+		if (cp.getDistance() <= manifold->getContactProcessingThreshold())
 		{
 
 			const btVector3& pos1 = cp.getPositionWorldOnA();
@@ -526,11 +543,15 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 						if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
 						{
 							cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
+							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
 							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 							{
 								cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
 								cp.m_lateralFrictionDir2.normalize();//??
+								applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
+								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
 								addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							}
 							cp.m_lateralFrictionInitialized = true;
@@ -538,9 +559,14 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 						{
 							//re-calculate friction direction every frame, todo: check if this is really needed
 							btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
+							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
+
 							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 							{
+								applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
+								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
 								addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							}
 							cp.m_lateralFrictionInitialized = true;

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -24,10 +24,7 @@ class btIDebugDraw;
 
 
 
-///The btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
-///The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
-///Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
-///Applies impulses for combined restitution and penetration recovery and to simulate friction
+///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
 class btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
 protected:

src/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -1,218 +1,218 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef RAYCASTVEHICLE_H
-#define RAYCASTVEHICLE_H
-
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "btVehicleRaycaster.h"
-class btDynamicsWorld;
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btWheelInfo.h"
-
-class btVehicleTuning;
-
-///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
-class btRaycastVehicle : public btTypedConstraint
-{
-
-		btAlignedObjectArray<btVector3>	m_forwardWS;
-		btAlignedObjectArray<btVector3>	m_axle;
-		btAlignedObjectArray<btScalar>	m_forwardImpulse;
-		btAlignedObjectArray<btScalar>	m_sideImpulse;
-
-public:
-	class btVehicleTuning
-		{
-			public:
-
-			btVehicleTuning()
-				:m_suspensionStiffness(btScalar(5.88)),
-				m_suspensionCompression(btScalar(0.83)),
-				m_suspensionDamping(btScalar(0.88)),
-				m_maxSuspensionTravelCm(btScalar(500.)),
-				m_frictionSlip(btScalar(10.5))
-			{
-			}
-			btScalar	m_suspensionStiffness;
-			btScalar	m_suspensionCompression;
-			btScalar	m_suspensionDamping;
-			btScalar	m_maxSuspensionTravelCm;
-			btScalar	m_frictionSlip;
-
-		};
-private:
-
-	btScalar	m_tau;
-	btScalar	m_damping;
-	btVehicleRaycaster*	m_vehicleRaycaster;
-	btScalar		m_pitchControl;
-	btScalar	m_steeringValue; 
-	btScalar m_currentVehicleSpeedKmHour;
-
-	btRigidBody* m_chassisBody;
-
-	int m_indexRightAxis;
-	int m_indexUpAxis;
-	int	m_indexForwardAxis;
-
-	void defaultInit(const btVehicleTuning& tuning);
-
-public:
-
-	//constructor to create a car from an existing rigidbody
-	btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster );
-
-	virtual ~btRaycastVehicle() ;
-
-		
-	const btTransform& getChassisWorldTransform() const;
-	
-	btScalar rayCast(btWheelInfo& wheel);
-
-	virtual void updateVehicle(btScalar step);
-
-	void resetSuspension();
-
-	btScalar	getSteeringValue(int wheel) const;
-
-	void	setSteeringValue(btScalar steering,int wheel);
-
-
-	void	applyEngineForce(btScalar force, int wheel);
-
-	const btTransform&	getWheelTransformWS( int wheelIndex ) const;
-
-	void	updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
-	
-	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
-
-	btWheelInfo&	addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
-
-	inline int		getNumWheels() const {
-		return int (m_wheelInfo.size());
-	}
-	
-	btAlignedObjectArray<btWheelInfo>	m_wheelInfo;
-
-
-	const btWheelInfo&	getWheelInfo(int index) const;
-
-	btWheelInfo&	getWheelInfo(int index);
-
-	void	updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
-
-	
-	void setBrake(btScalar brake,int wheelIndex);
-
-	void	setPitchControl(btScalar pitch)
-	{
-		m_pitchControl = pitch;
-	}
-	
-	void	updateSuspension(btScalar deltaTime);
-
-	virtual void	updateFriction(btScalar	timeStep);
-
-
-
-	inline btRigidBody* getRigidBody()
-	{
-		return m_chassisBody;
-	}
-
-	const btRigidBody* getRigidBody() const
-	{
-		return m_chassisBody;
-	}
-
-	inline int	getRightAxis() const
-	{
-		return m_indexRightAxis;
-	}
-	inline int getUpAxis() const
-	{
-		return m_indexUpAxis;
-	}
-
-	inline int getForwardAxis() const
-	{
-		return m_indexForwardAxis;
-	}
-
-	
-	///Worldspace forward vector
-	btVector3 getForwardVector() const
-	{
-		const btTransform& chassisTrans = getChassisWorldTransform(); 
-
-		btVector3 forwardW ( 
-			  chassisTrans.getBasis()[0][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[1][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[2][m_indexForwardAxis]); 
-
-		return forwardW;
-	}
-
-	///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
-	btScalar	getCurrentSpeedKmHour() const
-	{
-		return m_currentVehicleSpeedKmHour;
-	}
-
-	virtual void	setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
-	{
-		m_indexRightAxis = rightIndex;
-		m_indexUpAxis = upIndex;
-		m_indexForwardAxis = forwardIndex;
-	}
-
-	virtual void	buildJacobian()
-	{
-		//not yet
-	}
-
+/*
+ * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef RAYCASTVEHICLE_H
+#define RAYCASTVEHICLE_H
+
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "btVehicleRaycaster.h"
+class btDynamicsWorld;
+#include "LinearMath/btAlignedObjectArray.h"
+#include "btWheelInfo.h"
+
+class btVehicleTuning;
+
+///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
+class btRaycastVehicle : public btTypedConstraint
+{
+
+		btAlignedObjectArray<btVector3>	m_forwardWS;
+		btAlignedObjectArray<btVector3>	m_axle;
+		btAlignedObjectArray<btScalar>	m_forwardImpulse;
+		btAlignedObjectArray<btScalar>	m_sideImpulse;
+
+public:
+	class btVehicleTuning
+		{
+			public:
+
+			btVehicleTuning()
+				:m_suspensionStiffness(btScalar(5.88)),
+				m_suspensionCompression(btScalar(0.83)),
+				m_suspensionDamping(btScalar(0.88)),
+				m_maxSuspensionTravelCm(btScalar(500.)),
+				m_frictionSlip(btScalar(10.5))
+			{
+			}
+			btScalar	m_suspensionStiffness;
+			btScalar	m_suspensionCompression;
+			btScalar	m_suspensionDamping;
+			btScalar	m_maxSuspensionTravelCm;
+			btScalar	m_frictionSlip;
+
+		};
+private:
+
+	btScalar	m_tau;
+	btScalar	m_damping;
+	btVehicleRaycaster*	m_vehicleRaycaster;
+	btScalar		m_pitchControl;
+	btScalar	m_steeringValue; 
+	btScalar m_currentVehicleSpeedKmHour;
+
+	btRigidBody* m_chassisBody;
+
+	int m_indexRightAxis;
+	int m_indexUpAxis;
+	int	m_indexForwardAxis;
+
+	void defaultInit(const btVehicleTuning& tuning);
+
+public:
+
+	//constructor to create a car from an existing rigidbody
+	btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster );
+
+	virtual ~btRaycastVehicle() ;
+
+		
+	const btTransform& getChassisWorldTransform() const;
+	
+	btScalar rayCast(btWheelInfo& wheel);
+
+	virtual void updateVehicle(btScalar step);
+
+	void resetSuspension();
+
+	btScalar	getSteeringValue(int wheel) const;
+
+	void	setSteeringValue(btScalar steering,int wheel);
+
+
+	void	applyEngineForce(btScalar force, int wheel);
+
+	const btTransform&	getWheelTransformWS( int wheelIndex ) const;
+
+	void	updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
+	
+	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
+
+	btWheelInfo&	addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
+
+	inline int		getNumWheels() const {
+		return int (m_wheelInfo.size());
+	}
+	
+	btAlignedObjectArray<btWheelInfo>	m_wheelInfo;
+
+
+	const btWheelInfo&	getWheelInfo(int index) const;
+
+	btWheelInfo&	getWheelInfo(int index);
+
+	void	updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
+
+	
+	void setBrake(btScalar brake,int wheelIndex);
+
+	void	setPitchControl(btScalar pitch)
+	{
+		m_pitchControl = pitch;
+	}
+	
+	void	updateSuspension(btScalar deltaTime);
+
+	virtual void	updateFriction(btScalar	timeStep);
+
+
+
+	inline btRigidBody* getRigidBody()
+	{
+		return m_chassisBody;
+	}
+
+	const btRigidBody* getRigidBody() const
+	{
+		return m_chassisBody;
+	}
+
+	inline int	getRightAxis() const
+	{
+		return m_indexRightAxis;
+	}
+	inline int getUpAxis() const
+	{
+		return m_indexUpAxis;
+	}
+
+	inline int getForwardAxis() const
+	{
+		return m_indexForwardAxis;
+	}
+
+	
+	///Worldspace forward vector
+	btVector3 getForwardVector() const
+	{
+		const btTransform& chassisTrans = getChassisWorldTransform(); 
+
+		btVector3 forwardW ( 
+			  chassisTrans.getBasis()[0][m_indexForwardAxis], 
+			  chassisTrans.getBasis()[1][m_indexForwardAxis], 
+			  chassisTrans.getBasis()[2][m_indexForwardAxis]); 
+
+		return forwardW;
+	}
+
+	///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
+	btScalar	getCurrentSpeedKmHour() const
+	{
+		return m_currentVehicleSpeedKmHour;
+	}
+
+	virtual void	setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
+	{
+		m_indexRightAxis = rightIndex;
+		m_indexUpAxis = upIndex;
+		m_indexForwardAxis = forwardIndex;
+	}
+
+	virtual void	buildJacobian()
+	{
+		//not yet
+	}
+
 	virtual void getInfo1 (btConstraintInfo1* info)
 	{
 		info->m_numConstraintRows = 0;
 		info->nub = 0;
 	}
 
-	virtual void getInfo2 (btConstraintInfo2* info)
-	{
-		btAssert(0);
-	}
-
-	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
-	{
-		(void)timeStep;
-		//not yet
-	}
-
-
-};
-
-class btDefaultVehicleRaycaster : public btVehicleRaycaster
-{
-	btDynamicsWorld*	m_dynamicsWorld;
-public:
-	btDefaultVehicleRaycaster(btDynamicsWorld* world)
-		:m_dynamicsWorld(world)
-	{
-	}
-
-	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
-
-};
-
-
-#endif //RAYCASTVEHICLE_H
-
+	virtual void getInfo2 (btConstraintInfo2* info)
+	{
+		btAssert(0);
+	}
+
+	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
+	{
+		(void)timeStep;
+		//not yet
+	}
+
+
+};
+
+class btDefaultVehicleRaycaster : public btVehicleRaycaster
+{
+	btDynamicsWorld*	m_dynamicsWorld;
+public:
+	btDefaultVehicleRaycaster(btDynamicsWorld* world)
+		:m_dynamicsWorld(world)
+	{
+	}
+
+	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
+
+};
+
+
+#endif //RAYCASTVEHICLE_H
+

src/BulletSoftBody/btSoftBody.cpp

@@ -87,7 +87,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo*	worldInfo,int node_count,  const btV
 	}
 	updateBounds();	
 
-
+	m_initialWorldTransform.setIdentity();
 }
 
 //
@@ -306,8 +306,16 @@ void			btSoftBody::appendFace(int node0,int node1,int node2,Material* mat)
 }
 
 //
-void			btSoftBody::appendAnchor(int node,btRigidBody* body)
+void			btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies)
 {
+	if (disableCollisionBetweenLinkedBodies)
+	{
+		if (m_collisionDisabledObjects.findLinearSearch(body)==m_collisionDisabledObjects.size())
+		{
+			m_collisionDisabledObjects.push_back(body);
+		}
+	}
+
 	Anchor	a;
 	a.m_node			=	&m_nodes[node];
 	a.m_body			=	body;
@@ -501,6 +509,7 @@ void			btSoftBody::transform(const btTransform& trs)
 	updateNormals();
 	updateBounds();
 	updateConstants();
+	m_initialWorldTransform = trs;
 }
 
 //
@@ -2662,22 +2671,26 @@ void			btSoftBody::defaultCollisionHandler(btSoftBody* psb)
 		break;
 	case	fCollision::VF_SS:
 		{
-			btSoftColliders::CollideVF_SS	docollide;
-			/* common					*/ 
-			docollide.mrg=	getCollisionShape()->getMargin()+
-				psb->getCollisionShape()->getMargin();
-			/* psb0 nodes vs psb1 faces	*/ 
-			docollide.psb[0]=this;
-			docollide.psb[1]=psb;
-			docollide.psb[0]->m_ndbvt.collideTT(	docollide.psb[0]->m_ndbvt.m_root,
-				docollide.psb[1]->m_fdbvt.m_root,
-				docollide);
-			/* psb1 nodes vs psb0 faces	*/ 
-			docollide.psb[0]=psb;
-			docollide.psb[1]=this;
-			docollide.psb[0]->m_ndbvt.collideTT(	docollide.psb[0]->m_ndbvt.m_root,
-				docollide.psb[1]->m_fdbvt.m_root,
-				docollide);
+			//only self-collision for Cluster, not Vertex-Face yet
+			if (this!=psb)
+			{
+				btSoftColliders::CollideVF_SS	docollide;
+				/* common					*/ 
+				docollide.mrg=	getCollisionShape()->getMargin()+
+					psb->getCollisionShape()->getMargin();
+				/* psb0 nodes vs psb1 faces	*/ 
+				docollide.psb[0]=this;
+				docollide.psb[1]=psb;
+				docollide.psb[0]->m_ndbvt.collideTT(	docollide.psb[0]->m_ndbvt.m_root,
+					docollide.psb[1]->m_fdbvt.m_root,
+					docollide);
+				/* psb1 nodes vs psb0 faces	*/ 
+				docollide.psb[0]=psb;
+				docollide.psb[1]=this;
+				docollide.psb[0]->m_ndbvt.collideTT(	docollide.psb[0]->m_ndbvt.m_root,
+					docollide.psb[1]->m_fdbvt.m_root,
+					docollide);
+			}
 		}
 		break;
 	}

src/BulletSoftBody/btSoftBody.h

@@ -49,6 +49,8 @@ struct	btSoftBodyWorldInfo
 class	btSoftBody : public btCollisionObject
 {
 public:
+	btAlignedObjectArray<class btCollisionObject*> m_collisionDisabledObjects;
+
 	//
 	// Enumerations
 	//
@@ -604,8 +606,11 @@ public:
 	btDbvt					m_fdbvt;		// Faces tree
 	btDbvt					m_cdbvt;		// Clusters tree
 	tClusterArray			m_clusters;		// Clusters
+
 	btAlignedObjectArray<bool>m_clusterConnectivity;//cluster connectivity, for self-collision
 
+	btTransform			m_initialWorldTransform;
+
 	//
 	// Api
 	//
@@ -678,7 +683,7 @@ public:
 		Material* mat=0);
 	/* Append anchor														*/ 
 	void				appendAnchor(	int node,
-		btRigidBody* body);
+		btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false);
 	/* Append linear joint													*/ 
 	void				appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1);
 	void				appendLinearJoint(const LJoint::Specs& specs,Body body=Body());

src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp

@@ -58,8 +58,11 @@ void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,b
 
 	btSoftBody* softBody =  m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0;
 	btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
-
-	softBody->defaultCollisionHandler(rigidCollisionObject);
+	
+	if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObject)==softBody->m_collisionDisabledObjects.size())
+	{
+		softBody->defaultCollisionHandler(rigidCollisionObject);
+	}
 
 
 }