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/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);