remove btContinuousDynamicsWorld, it is obsolete and was never completed.

If you need tunneling prevention, one option is to use the CCD motion clamping in btDiscreteDynamicsWorld. See also Bullet/Demos/CcdPhysicsDemo.
You can use an embedded sphere that prevents tunneling, using the following settings:

		body->setCcdMotionThreshold(0.5);
		body->setCcdSweptSphereRadius(0.9f);


Add a camera zoom setting for the demos, thanks to ejtttje, fixes Issue 543

Demos/OpenGL/DemoApplication.cpp

@@ -74,7 +74,8 @@ m_modifierKeys(0),
 m_scaleBottom(0.5f),
 m_scaleFactor(2.f),
 m_cameraUp(0,1,0),
-m_forwardAxis(2),	
+m_forwardAxis(2),
+m_zoomStepSize(0.4),	
 m_glutScreenWidth(0),
 m_glutScreenHeight(0),
 m_frustumZNear(1.f),
@@ -271,14 +272,14 @@ void DemoApplication::stepBack()
 }
 void DemoApplication::zoomIn() 
 { 
-	m_cameraDistance -= btScalar(0.4); updateCamera(); 
+	m_cameraDistance -= btScalar(m_zoomStepSize); updateCamera(); 
 	if (m_cameraDistance < btScalar(0.1))
 		m_cameraDistance = btScalar(0.1);
 
 }
 void DemoApplication::zoomOut() 
 { 
-	m_cameraDistance += btScalar(0.4); updateCamera(); 
+	m_cameraDistance += btScalar(m_zoomStepSize); updateCamera(); 
 
 }
 

Demos/OpenGL/DemoApplication.h

@@ -78,6 +78,7 @@ protected:
 	float m_scaleFactor;
 	btVector3 m_cameraUp;
 	int	m_forwardAxis;
+	float m_zoomStepSize;
 
 	int m_glutScreenWidth;
 	int m_glutScreenHeight;

Demos/SerializeDemo/SerializeDemo.cpp

@@ -291,8 +291,8 @@ public:
 				if (softBodyData->m_pose)
 				{
 					psb->m_pose.m_aqq.deSerializeFloat(  softBodyData->m_pose->m_aqq);
-					psb->m_pose.m_bframe = softBodyData->m_pose->m_bframe;
+					psb->m_pose.m_bframe = (softBodyData->m_pose->m_bframe!=0);
-					psb->m_pose.m_bvolume = softBodyData->m_pose->m_bvolume;
+					psb->m_pose.m_bvolume = (softBodyData->m_pose->m_bvolume!=0);
 					psb->m_pose.m_com.deSerializeFloat(softBodyData->m_pose->m_com);
 					
 					psb->m_pose.m_pos.resize(softBodyData->m_pose->m_numPositions);
@@ -349,9 +349,9 @@ public:
 						psb->m_clusters[i]->m_adamping = softBodyData->m_clusters[i].m_adamping;
 						psb->m_clusters[i]->m_av.deSerializeFloat(softBodyData->m_clusters[i].m_av);
 						psb->m_clusters[i]->m_clusterIndex = softBodyData->m_clusters[i].m_clusterIndex;
-						psb->m_clusters[i]->m_collide = softBodyData->m_clusters[i].m_collide;
+						psb->m_clusters[i]->m_collide = (softBodyData->m_clusters[i].m_collide!=0);
 						psb->m_clusters[i]->m_com.deSerializeFloat(softBodyData->m_clusters[i].m_com);
-						psb->m_clusters[i]->m_containsAnchor = softBodyData->m_clusters[i].m_containsAnchor;
+						psb->m_clusters[i]->m_containsAnchor = (softBodyData->m_clusters[i].m_containsAnchor!=0);
 						psb->m_clusters[i]->m_dimpulses[0].deSerializeFloat(softBodyData->m_clusters[i].m_dimpulses[0]);
 						psb->m_clusters[i]->m_dimpulses[1].deSerializeFloat(softBodyData->m_clusters[i].m_dimpulses[1]);
 

src/BulletDynamics/CMakeLists.txt

@@ -16,7 +16,6 @@ SET(BulletDynamics_SRCS
 	ConstraintSolver/btSolve2LinearConstraint.cpp
 	ConstraintSolver/btTypedConstraint.cpp
 	ConstraintSolver/btUniversalConstraint.cpp
-	Dynamics/btContinuousDynamicsWorld.cpp
 	Dynamics/btDiscreteDynamicsWorld.cpp
 	Dynamics/btRigidBody.cpp
 	Dynamics/btSimpleDynamicsWorld.cpp
@@ -50,7 +49,6 @@ SET(ConstraintSolver_HDRS
 )
 SET(Dynamics_HDRS
 	Dynamics/btActionInterface.h
-	Dynamics/btContinuousDynamicsWorld.h
 	Dynamics/btDiscreteDynamicsWorld.h
 	Dynamics/btDynamicsWorld.h
 	Dynamics/btSimpleDynamicsWorld.h

src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp

@@ -1,196 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "btContinuousDynamicsWorld.h"
-#include "LinearMath/btQuickprof.h"
-
-//collision detection
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-
-//rigidbody & constraints
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-
-
-
-#include <stdio.h>
-
-btContinuousDynamicsWorld::btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
-:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
-{
-}
-
-btContinuousDynamicsWorld::~btContinuousDynamicsWorld()
-{
-}
-
-	
-void	btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
-{
-	
-	startProfiling(timeStep);
-	
-	if(0 != m_internalPreTickCallback) {
-		(*m_internalPreTickCallback)(this, timeStep);
-	}
-
-
-	///update aabbs information
-	updateAabbs();
-	//static int frame=0;
-//	printf("frame %d\n",frame++);
-
-	///apply gravity, predict motion
-	predictUnconstraintMotion(timeStep);
-
-	btDispatcherInfo& dispatchInfo = getDispatchInfo();
-
-	dispatchInfo.m_timeStep = timeStep;
-	dispatchInfo.m_stepCount = 0;
-	dispatchInfo.m_debugDraw = getDebugDrawer();
-
-	///perform collision detection
-	performDiscreteCollisionDetection();
-
-	calculateSimulationIslands();
-
-	
-	getSolverInfo().m_timeStep = timeStep;
-	
-
-
-	///solve contact and other joint constraints
-	solveConstraints(getSolverInfo());
-	
-	///CallbackTriggers();
-	calculateTimeOfImpacts(timeStep);
-
-	btScalar toi = dispatchInfo.m_timeOfImpact;
-//	if (toi < 1.f)
-//		printf("toi = %f\n",toi);
-	if (toi < 0.f)
-		printf("toi = %f\n",toi);
-
-
-	///integrate transforms
-	integrateTransforms(timeStep * toi);
-
-	///update vehicle simulation
-	updateActions(timeStep);
-
-	updateActivationState( timeStep );
-	
-	if(0 != m_internalTickCallback) {
-		(*m_internalTickCallback)(this, timeStep);
-	}
-}
-
-void	btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
-{
-		///these should be 'temporal' aabbs!
-		updateTemporalAabbs(timeStep);
-		
-		///'toi' is the global smallest time of impact. However, we just calculate the time of impact for each object individually.
-		///so we handle the case moving versus static properly, and we cheat for moving versus moving
-		btScalar toi = 1.f;
-		
-	
-		btDispatcherInfo& dispatchInfo = getDispatchInfo();
-		dispatchInfo.m_timeStep = timeStep;
-		dispatchInfo.m_timeOfImpact = 1.f;
-		dispatchInfo.m_stepCount = 0;
-		dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_CONTINUOUS;
-
-		///calculate time of impact for overlapping pairs
-
-
-		btDispatcher* dispatcher = getDispatcher();
-		if (dispatcher)
-			dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
-
-		toi = dispatchInfo.m_timeOfImpact;
-
-		dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_DISCRETE;
-
-}
-
-void	btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
-{
-
-	btVector3 temporalAabbMin,temporalAabbMax;
-
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			body->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),temporalAabbMin,temporalAabbMax);
-			const btVector3& linvel = body->getLinearVelocity();
-
-			//make the AABB temporal
-			btScalar temporalAabbMaxx = temporalAabbMax.getX();
-			btScalar temporalAabbMaxy = temporalAabbMax.getY();
-			btScalar temporalAabbMaxz = temporalAabbMax.getZ();
-			btScalar temporalAabbMinx = temporalAabbMin.getX();
-			btScalar temporalAabbMiny = temporalAabbMin.getY();
-			btScalar temporalAabbMinz = temporalAabbMin.getZ();
-
-			// add linear motion
-			btVector3 linMotion = linvel*timeStep;
-		
-			if (linMotion.x() > 0.f)
-				temporalAabbMaxx += linMotion.x(); 
-			else
-				temporalAabbMinx += linMotion.x();
-			if (linMotion.y() > 0.f)
-				temporalAabbMaxy += linMotion.y(); 
-			else
-				temporalAabbMiny += linMotion.y();
-			if (linMotion.z() > 0.f)
-				temporalAabbMaxz += linMotion.z(); 
-			else
-				temporalAabbMinz += linMotion.z();
-
-			//add conservative angular motion
-			btScalar angularMotion(0);// = angvel.length() * GetAngularMotionDisc() * timeStep;
-			btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
-			temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
-			temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
-
-			temporalAabbMin -= angularMotion3d;
-			temporalAabbMax += angularMotion3d;
-
-			m_broadphasePairCache->setAabb(body->getBroadphaseHandle(),temporalAabbMin,temporalAabbMax,m_dispatcher1);
-		}
-	}
-
-	//update aabb (of all moved objects)
-
-	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
-	
-
-
-}
-
-
-

src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h

@@ -1,46 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONTINUOUS_DYNAMICS_WORLD_H
-#define BT_CONTINUOUS_DYNAMICS_WORLD_H
-
-#include "btDiscreteDynamicsWorld.h"
-
-///btContinuousDynamicsWorld adds optional (per object) continuous collision detection for fast moving objects to the btDiscreteDynamicsWorld.
-///This copes with fast moving objects that otherwise would tunnel/miss collisions.
-///Under construction, don't use yet! Please use btDiscreteDynamicsWorld instead.
-class btContinuousDynamicsWorld : public btDiscreteDynamicsWorld
-{
-
-	void	updateTemporalAabbs(btScalar timeStep);
-
-	public:
-
-		btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
-		virtual ~btContinuousDynamicsWorld();
-		
-		///time stepping with calculation of time of impact for selected fast moving objects
-		virtual void	internalSingleStepSimulation( btScalar timeStep);
-
-		virtual void	calculateTimeOfImpacts(btScalar timeStep);
-
-		virtual btDynamicsWorldType	getWorldType() const
-		{
-			return BT_CONTINUOUS_DYNAMICS_WORLD;
-		}
-
-};
-
-#endif //BT_CONTINUOUS_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -23,7 +23,7 @@ class btOverlappingPairCache;
 class btConstraintSolver;
 
 ///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
-///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished).
+///Please use btDiscreteDynamicsWorld instead
 class btSimpleDynamicsWorld : public btDynamicsWorld
 {
 protected:

src/Makefile.am

@@ -305,7 +305,6 @@ libBulletCollision_la_SOURCES = \
                 BulletCollision/Gimpact/gim_tri_collision.cpp
 
 libBulletDynamics_la_SOURCES = \
-		BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp \
 		BulletDynamics/Dynamics/btRigidBody.cpp \
 		BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp \
 		BulletDynamics/Dynamics/Bullet-C-API.cpp \
@@ -328,7 +327,6 @@ libBulletDynamics_la_SOURCES = \
 		BulletDynamics/Character/btKinematicCharacterController.h \
 		BulletDynamics/Character/btCharacterControllerInterface.h \
 		BulletDynamics/Dynamics/btActionInterface.h \
-		BulletDynamics/Dynamics/btContinuousDynamicsWorld.h \
 		BulletDynamics/Dynamics/btSimpleDynamicsWorld.h \
 		BulletDynamics/Dynamics/btRigidBody.h \
 		BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h \
@@ -389,7 +387,6 @@ nobase_bullet_include_HEADERS += \
 	BulletDynamics/Vehicle/btWheelInfo.h \
 	BulletDynamics/Vehicle/btVehicleRaycaster.h \
 	BulletDynamics/Dynamics/btActionInterface.h \
-	BulletDynamics/Dynamics/btContinuousDynamicsWorld.h \
 	BulletDynamics/Dynamics/btRigidBody.h \
 	BulletDynamics/Dynamics/btDynamicsWorld.h \
 	BulletDynamics/Dynamics/btSimpleDynamicsWorld.h \

src/btBulletDynamicsCommon.h

@@ -20,7 +20,6 @@ subject to the following restrictions:
 #include "btBulletCollisionCommon.h"
 
 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
-#include "BulletDynamics/Dynamics/btContinuousDynamicsWorld.h"
 
 #include "BulletDynamics/Dynamics/btSimpleDynamicsWorld.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"