ASSERT -> btAssert

Added btStackAlloc to Bullet (right now only used by btGjkEpa)
removed default constructors of btCollisionWorld/btDiscreteDynamicsWorld, to reduce link-time dependencies

src/BulletDynamics/ConstraintSolver/btJacobianEntry.h

@@ -50,7 +50,7 @@ public:
 		m_1MinvJt = inertiaInvB * m_bJ;
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
 
-		ASSERT(m_Adiag > 0.0f);
+		btAssert(m_Adiag > 0.0f);
 	}
 
 	//angular constraint between two different rigidbodies
@@ -67,7 +67,7 @@ public:
 		m_1MinvJt = inertiaInvB * m_bJ;
 		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 
-		ASSERT(m_Adiag > 0.0f);
+		btAssert(m_Adiag > 0.0f);
 	}
 
 	//angular constraint between two different rigidbodies
@@ -83,7 +83,7 @@ public:
 		m_1MinvJt = inertiaInvB * m_bJ;
 		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 
-		ASSERT(m_Adiag > 0.0f);
+		btAssert(m_Adiag > 0.0f);
 	}
 
 	//constraint on one rigidbody
@@ -101,7 +101,7 @@ public:
 		m_1MinvJt = btVector3(0.f,0.f,0.f);
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
 
-		ASSERT(m_Adiag > 0.0f);
+		btAssert(m_Adiag > 0.0f);
 	}
 
 	btScalar	getDiagonal() const { return m_Adiag; }

src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp

@@ -51,7 +51,7 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
 	if (fabs(len) >= SIMD_EPSILON)
 		return;
 
-	ASSERT(len < SIMD_EPSILON);
+	btAssert(len < SIMD_EPSILON);
 
 
 	//this jacobian entry could be re-used for all iterations
@@ -133,7 +133,7 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
 	if (fabs(len) >= SIMD_EPSILON)
 		return;
 
-	ASSERT(len < SIMD_EPSILON);
+	btAssert(len < SIMD_EPSILON);
 
 
 	//this jacobian entry could be re-used for all iterations

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -57,19 +57,6 @@ subject to the following restrictions:
 #include <algorithm>
 
 
-btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btConstraintSolver* constraintSolver)
-:btDynamicsWorld(),
-m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
-m_debugDrawer(0),
-m_gravity(0,-10,0),
-m_localTime(1.f/60.f),
-m_profileTimings(0)
-{
-	m_islandManager = new btSimulationIslandManager();
-	m_ownsIslandManager = true;
-	m_ownsConstraintSolver = (constraintSolver==0);
-}
-
 
 btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
 :btDynamicsWorld(dispatcher,pairCache),
@@ -267,27 +254,27 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
 	///apply gravity, predict motion
 	predictUnconstraintMotion(timeStep);
 
-	btDispatcherInfo	dispatchInfo;
+	btDispatcherInfo& dispatchInfo = getDispatchInfo();
+
 	dispatchInfo.m_timeStep = timeStep;
 	dispatchInfo.m_stepCount = 0;
 	dispatchInfo.m_debugDraw = getDebugDrawer();
 
-
 	///perform collision detection
 	performDiscreteCollisionDetection(dispatchInfo);
 
 	calculateSimulationIslands();
 
-	btContactSolverInfo infoGlobal;
-	infoGlobal.m_timeStep = timeStep;
+	
+	getSolverInfo().m_timeStep = timeStep;
 	
 
 
 	///solve non-contact constraints
-	solveNoncontactConstraints(infoGlobal);
+	solveNoncontactConstraints(getSolverInfo());
 	
 	///solve contact constraints
-	solveContactConstraints(infoGlobal);
+	solveContactConstraints(getSolverInfo());
 
 	///CallbackTriggers();
 

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -23,7 +23,8 @@ class btOverlappingPairCache;
 class btConstraintSolver;
 class btSimulationIslandManager;
 class btTypedConstraint;
-struct btContactSolverInfo;
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+
 class btRaycastVehicle;
 class btIDebugDraw;
 
@@ -52,6 +53,9 @@ protected:
 	bool	m_ownsIslandManager;
 	bool	m_ownsConstraintSolver;
 
+	btContactSolverInfo	m_solverInfo;
+
+
 	std::vector<btRaycastVehicle*>	m_vehicles;
 
 	int	m_profileTimings;
@@ -83,11 +87,8 @@ public:
 
 
 	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
-	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver=0);
+	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);
 
-	///this btDiscreteDynamicsWorld will create and own dispatcher, pairCache and constraintSolver, and deletes it in the destructor.
-	btDiscreteDynamicsWorld(btConstraintSolver* constraintSolver = 0);
-		
 	virtual ~btDiscreteDynamicsWorld();
 
 	///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
@@ -144,6 +145,11 @@ public:
 
 	virtual const btTypedConstraint* getConstraint(int index) const;
 
+	btContactSolverInfo& getSolverInfo()
+	{
+		return m_solverInfo;
+	}
+
 
 };
 

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -27,9 +27,6 @@ class btDynamicsWorld : public btCollisionWorld
 {
 	public:
 		
-		btDynamicsWorld()
-		{
-		}
 
 		btDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
 		:btCollisionWorld(dispatcher,pairCache)

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -22,13 +22,7 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 
 
-btSimpleDynamicsWorld::btSimpleDynamicsWorld()
-:m_constraintSolver(new btSequentialImpulseConstraintSolver),
-m_ownsConstraintSolver(true),
-m_debugDrawer(0),
-m_gravity(0,0,-10)
-{
-}
+
 
 btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
 :btDynamicsWorld(dispatcher,pairCache),

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -46,8 +46,6 @@ protected:
 public:
 
 
-	///this btSimpleDynamicsWorld constructor creates and owns dispatcher, broadphase pairCache and constraintSolver
-	btSimpleDynamicsWorld();
 
 	///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
 	btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);

src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -386,21 +386,21 @@ void	btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
 
 const btWheelInfo&	btRaycastVehicle::getWheelInfo(int index) const
 {
-	ASSERT((index >= 0) && (index < 	getNumWheels()));
+	btAssert((index >= 0) && (index < 	getNumWheels()));
 	
 	return m_wheelInfo[index];
 }
 
 btWheelInfo&	btRaycastVehicle::getWheelInfo(int index) 
 {
-	ASSERT((index >= 0) && (index < 	getNumWheels()));
+	btAssert((index >= 0) && (index < 	getNumWheels()));
 	
 	return m_wheelInfo[index];
 }
 
 void btRaycastVehicle::setBrake(float brake,int wheelIndex)
 {
-	ASSERT((wheelIndex >= 0) && (wheelIndex < 	getNumWheels()));
+	btAssert((wheelIndex >= 0) && (wheelIndex < 	getNumWheels()));
 	getWheelInfo(wheelIndex).m_brake;
 }