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;