improved performance, and allowed custom friction and contact solver models. See CcdPhysicsDemo #define USER_DEFINED_FRICTION_MODEL

Bullet/BroadphaseCollision/AxisSweep3.cpp

@@ -47,17 +47,14 @@ void	AxisSweep3::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const
 
 
 
-AxisSweep3::AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles, int maxOverlaps)
-:OverlappingPairCache(maxOverlaps)
+AxisSweep3::AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles)
+:OverlappingPairCache()
 {
 	//assert(bounds.HasVolume());
 
 	// 1 handle is reserved as sentinel
 	assert(maxHandles > 1 && maxHandles < 32767);
 
-	// doesn't need this limit right now, but I may want to use unsigned short indexes into overlaps array
-	assert(maxOverlaps > 0 && maxOverlaps < 65536);
-
 	// init bounds
 	m_worldAabbMin = worldAabbMin;
 	m_worldAabbMax = worldAabbMax;

Bullet/BroadphaseCollision/AxisSweep3.h

@@ -91,7 +91,7 @@ private:
 	void SortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);
 
 public:
-	AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 20000, int maxOverlaps = 60000);
+	AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 16384);
 	virtual	~AxisSweep3();
 
 	virtual void	RefreshOverlappingPairs()

Bullet/BroadphaseCollision/OverlappingPairCache.cpp

@@ -21,11 +21,11 @@ subject to the following restrictions:
 #include "Dispatcher.h"
 #include "CollisionAlgorithm.h"
 
+int	gOverlappingPairs = 0;
 
-OverlappingPairCache::OverlappingPairCache(int maxOverlap):
-m_blockedForChanges(false),
-//m_NumOverlapBroadphasePair(0),
-m_maxOverlap(maxOverlap)
+OverlappingPairCache::OverlappingPairCache():
+m_blockedForChanges(false)
+//m_NumOverlapBroadphasePair(0)
 {
 }
 
@@ -36,14 +36,17 @@ OverlappingPairCache::~OverlappingPairCache()
 }
 
 
-void	OverlappingPairCache::RemoveOverlappingPair(BroadphasePair& pair)
+void	OverlappingPairCache::RemoveOverlappingPair(BroadphasePair& findPair)
 {
-	CleanOverlappingPair(pair);
-	std::set<BroadphasePair>::iterator it = m_overlappingPairSet.find(pair);
+	
+	std::set<BroadphasePair>::iterator it = m_overlappingPairSet.find(findPair);
 //	assert(it != m_overlappingPairSet.end());
 
 	if (it != m_overlappingPairSet.end())
 	{
+		gOverlappingPairs--;
+		BroadphasePair* pair = (BroadphasePair*)(&(*it));
+		CleanOverlappingPair(*pair);	
 		m_overlappingPairSet.erase(it);
 	}
 }
@@ -79,6 +82,7 @@ void	OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,Broadphase
 	BroadphasePair pair(*proxy0,*proxy1);
 	
 	m_overlappingPairSet.insert(pair);
+	gOverlappingPairs++;
 	
 }
 
@@ -179,10 +183,17 @@ void	OverlappingPairCache::ProcessAllOverlappingPairs(OverlapCallback* callback)
 			CleanOverlappingPair(*pair);
 
 			std::set<BroadphasePair>::iterator it2 = it;
-			it++;
 			//why does next line not compile under OS X??
-			//it = m_overlappingPairSet.erase(it2);
+#ifdef MAC_OSX_FIXED_STL_SET
+			it2++;
+			it = m_overlappingPairSet.erase(it);
+			assert(it == it2);
+#else
+			it++;
 			m_overlappingPairSet.erase(it2);
+#endif //MAC_OSX_FIXED_STL_SET
+
+			gOverlappingPairs--;
 		} else
 		{
 			it++;

Bullet/BroadphaseCollision/OverlappingPairCache.h

@@ -37,14 +37,12 @@ class	OverlappingPairCache : public BroadphaseInterface
 	//avoid brute-force finding all the time
 	std::set<BroadphasePair>	m_overlappingPairSet;
 	
-	int m_maxOverlap;
-	
 	//during the dispatch, check that user doesn't destroy/create proxy
 	bool		m_blockedForChanges;
 	
 	public:
 		
-	OverlappingPairCache(int maxOverlap);	
+	OverlappingPairCache();	
 	virtual ~OverlappingPairCache();
 
 	void	ProcessAllOverlappingPairs(OverlapCallback*);

Bullet/BroadphaseCollision/SimpleBroadphase.cpp

@@ -35,8 +35,8 @@ void	SimpleBroadphase::validate()
 	
 }
 
-SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap)
-	:OverlappingPairCache(maxOverlap),
+SimpleBroadphase::SimpleBroadphase(int maxProxies)
+	:OverlappingPairCache(),
 	m_firstFreeProxy(0),
 	m_numProxies(0),
 	m_maxProxies(maxProxies)

Bullet/BroadphaseCollision/SimpleBroadphase.h

@@ -66,7 +66,7 @@ protected:
 
 	virtual void	RefreshOverlappingPairs();
 public:
-	SimpleBroadphase(int maxProxies=4096,int maxOverlap=8192);
+	SimpleBroadphase(int maxProxies=16384);
 	virtual ~SimpleBroadphase();