perform GrahamScanConvexHull2D around an arbitrary oriented 2D plane in 3D, to fix some convex hull face merging problems

add compound shape support to BulletXmlWorldImporter and fix some compile issue under Debian (hopefully)
object picking change in the demos: create a ball-socket picking constraint when holding shift while mouse dragging, otherwise a fixed (6dof) constraint
add assert in constraint solver, when both objects have their inertia tensor rows set to zero
btPolyhedralContactClipping: add edge-edge contact point in  findSeparatingAxis (similar to the default GJK case)

Demos/BasicDemo/BasicDemo.cpp

@@ -34,6 +34,9 @@ subject to the following restrictions:
 #include "btBulletDynamicsCommon.h"
 
 #include <stdio.h> //printf debugging
+#include "GLDebugDrawer.h"
+
+static GLDebugDrawer gDebugDraw;
 
 
 void BasicDemo::clientMoveAndDisplay()
@@ -100,11 +103,13 @@ void	BasicDemo::initPhysics()
 	m_solver = sol;
 
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
 	
 	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
 
 	///create a few basic rigid bodies
-	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	//groundShape->initializePolyhedralFeatures();
 //	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
 	
 	m_collisionShapes.push_back(groundShape);
@@ -138,7 +143,7 @@ void	BasicDemo::initPhysics()
 		//create a few dynamic rigidbodies
 		// Re-using the same collision is better for memory usage and performance
 
-		btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
+		btBoxShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
 		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
 		m_collisionShapes.push_back(colShape);
 

Demos/BasicDemo/main.cpp

@@ -19,8 +19,6 @@ subject to the following restrictions:
 #include "LinearMath/btHashMap.h"
 
 
-
-
 	
 int main(int argc,char** argv)
 {

Demos/BulletXmlImportDemo/BulletXmlImportDemo.cpp

@@ -28,15 +28,24 @@ subject to the following restrictions:
 #include <stdio.h> //printf debugging
 
 
+
+#include "GLDebugDrawer.h"
+GLDebugDrawer	gDebugDrawer;
+
+
 void BulletXmlImportDemo::initPhysics()
 {
-		setTexturing(true);
+	setTexturing(true);
 	setShadows(true);
 
-	setCameraDistance(btScalar(30.));
+	
 
 	setupEmptyDynamicsWorld();
 
+	
+	m_dynamicsWorld->setDebugDrawer(&gDebugDrawer);
+
+
 	btBulletXmlWorldImporter* importer = new btBulletXmlWorldImporter(m_dynamicsWorld);
 	importer->loadFile("bullet_basic.xml");
 //	importer->loadFile("bulletser.xml");
@@ -54,6 +63,8 @@ void BulletXmlImportDemo::clientMoveAndDisplay()
 	///step the simulation
 	if (m_dynamicsWorld)
 	{
+	
+
 		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
 		m_dynamicsWorld->debugDrawWorld();
 	}
@@ -90,6 +101,7 @@ void	BulletXmlImportDemo::setupEmptyDynamicsWorld()
 
 	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
+
 	btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher);
 
 	m_broadphase = new btDbvtBroadphase();
@@ -101,7 +113,7 @@ void	BulletXmlImportDemo::setupEmptyDynamicsWorld()
 
 	//btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)m_dynamicsWorld->getDispatcher());
 
-	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+	
 
 }
 
@@ -115,7 +127,11 @@ BulletXmlImportDemo::~BulletXmlImportDemo()
 	exitPhysics();
 }
 
-
+void BulletXmlImportDemo::clientResetScene()
+{
+	exitPhysics();
+	initPhysics();
+}
 
 
 void	BulletXmlImportDemo::exitPhysics()

Demos/BulletXmlImportDemo/BulletXmlImportDemo.h

@@ -55,9 +55,13 @@ class BulletXmlImportDemo : public PlatformDemoApplication
 
 	BulletXmlImportDemo()
 	{
+		//m_idle=true;
+		setCameraDistance(btScalar(30.));
 	}
 	virtual ~BulletXmlImportDemo();
 
+	virtual void clientResetScene();
+
 	void	initPhysics();
 
 	void	setupEmptyDynamicsWorld();

Demos/BulletXmlImportDemo/CMakeLists.txt

@@ -11,9 +11,6 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 # You shouldn't have to modify anything below this line 
 ########################################################
 
-IF(BUILD_AMD_OPENCL_DEMOS)
-	SUBDIRS(AMD)
-ENDIF()
 
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 

Demos/BulletXmlImportDemo/main.cpp

@@ -15,12 +15,11 @@ subject to the following restrictions:
 
 #include "BulletXmlImportDemo.h"
 #include "GlutStuff.h"
-#include "GLDebugDrawer.h"
+
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btHashMap.h"
 
 
-
 #ifdef USE_AMD_OPENCL
 
 
@@ -84,7 +83,7 @@ bool initCL( void* glCtx, void* glDC )
 	
 int main(int argc,char** argv)
 {
-	GLDebugDrawer	gDebugDrawer;
+	
 #ifdef USE_AMD_OPENCL
 	
 	bool initialized = initCL(0,0);
@@ -94,8 +93,7 @@ int main(int argc,char** argv)
 	
 	BulletXmlImportDemo serializeDemo;
 	serializeDemo.initPhysics();
-	serializeDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
-
+	
 
 #ifdef CHECK_MEMORY_LEAKS
 	serializeDemo.exitPhysics();

Demos/FractureDemo/CMakeLists.txt

@@ -62,6 +62,7 @@ ENDIF()
 					POST_BUILD
 #		  		COMMAND copy /Y ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
 					COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
+					COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}/Debug
 				)
 			ENDIF(CMAKE_CL_64)
 		ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)

Demos/FractureDemo/btFractureBody.cpp

@@ -22,12 +22,13 @@ void	btFractureBody::recomputeConnectivity(btCollisionWorld* world)
 				struct   MyContactResultCallback : public btCollisionWorld::ContactResultCallback
 				{
 					bool m_connected;
-					MyContactResultCallback() :m_connected(false)
+					btScalar m_margin;
+					MyContactResultCallback() :m_connected(false),m_margin(0.05)
 					{
 					}
 					virtual   btScalar   addSingleResult(btManifoldPoint& cp,   const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
 					{
-						if (cp.getDistance()<=0)
+						if (cp.getDistance()<=m_margin)
 							m_connected = true;
 						return 1.f;
 					}

Demos/OpenGL/DemoApplication.cpp

@@ -33,7 +33,7 @@ subject to the following restrictions:
 #include "LinearMath/btSerializer.h"
 #include "GLDebugFont.h"
 
-static bool use6Dof = false;
+
 extern bool gDisableDeactivation;
 int numObjects = 0;
 const int maxNumObjects = 16384;
@@ -535,7 +535,7 @@ void	DemoApplication::setShootBoxShape ()
 	if (!m_shootBoxShape)
 	{
 		btBoxShape* box = new btBoxShape(btVector3(0.5,0.5,0.5));
-        box->initializePolyhedralFeatures();
+      //  box->initializePolyhedralFeatures();
 		m_shootBoxShape = box;
 	}
 }
@@ -776,7 +776,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 								
 
 
-								if (use6Dof)
+								if ((m_modifierKeys& BT_ACTIVE_SHIFT)==0)
 								{
 									btTransform tr;
 									tr.setIdentity();
@@ -822,8 +822,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 									
 
 								}
-								use6Dof = !use6Dof;
-
+					
 								//save mouse position for dragging
 								gOldPickingPos = rayTo;
 								gHitPos = pickPos;