fix in btParallelConstraintSolver to support double precision

fixes in SAT/polyhedral contact clipping, avoid adding GJK contacts (the contact margin causes different contact depths)
add polyhedral convex shape in InternalEdgeDemo as example of the new SAT/polyhedral contact clipping (added reference to Manual/what's new)
avoid glueing objecs with contacts that are positive (no gaps)

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -376,7 +376,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	input.m_transformA = body0->getWorldTransform();
 	input.m_transformB = body1->getWorldTransform();
 
-	gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+
 
 	
 
@@ -396,10 +396,29 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 
 	if (min0->isPolyhedral() && min1->isPolyhedral())
 	{
+
+
+		struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
+		{
+			virtual void setShapeIdentifiersA(int partId0,int index0){}
+			virtual void setShapeIdentifiersB(int partId1,int index1){}
+			virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) 
+			{
+			}
+		};
+		
+		btDummyResult dummy;
+
+
 		btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
 		btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
 		if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
 		{
+
+
+			gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
+			
+
 			btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
 
 			btScalar minDist = 0.f;
@@ -438,7 +457,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 			//we can also deal with convex versus triangle (without connectivity data)
 			if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
 			{
-
+				gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
+		
 				btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
 
 				btVertexArray vertices;
@@ -453,16 +473,20 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 					body0->getWorldTransform(), vertices, minDist-threshold, threshold, *resultOut);
 				
 				
+				if (m_ownManifold)
+				{
+					resultOut->refreshContactPoints();
+				}
+				
+				return;
 			}
-			if (m_ownManifold)
-			{
-				resultOut->refreshContactPoints();
-			}
+			
 		}
 
-		return;
 
 	}
+	
+	gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 
 	//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
 	

src/BulletMultiThreaded/btParallelConstraintSolver.cpp

@@ -20,6 +20,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
 #include "LinearMath/btPoolAllocator.h"
 
+#include "BulletMultiThreaded/vectormath2bullet.h"
 
 #include "LinearMath/btQuickprof.h"
 #include "BulletMultiThreaded/btThreadSupportInterface.h"
@@ -53,8 +54,8 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
 {
 
 	btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
-	const btScalar deltaVel1Dotn	=	c.m_contactNormal.dot((btVector3&)body1.mDeltaLinearVelocity) 	+ c.m_relpos1CrossNormal.dot((btVector3&)body1.mDeltaAngularVelocity);
-	const btScalar deltaVel2Dotn	=	-c.m_contactNormal.dot((btVector3&)body2.mDeltaLinearVelocity) + c.m_relpos2CrossNormal.dot((btVector3&)body2.mDeltaAngularVelocity);
+	const btScalar deltaVel1Dotn	=	c.m_contactNormal.dot(getBtVector3(body1.mDeltaLinearVelocity)) 	+ c.m_relpos1CrossNormal.dot(getBtVector3(body1.mDeltaAngularVelocity));
+	const btScalar deltaVel2Dotn	=	-c.m_contactNormal.dot(getBtVector3(body2.mDeltaLinearVelocity)) + c.m_relpos2CrossNormal.dot(getBtVector3(body2.mDeltaAngularVelocity));
 
 //	const btScalar delta_rel_vel	=	deltaVel1Dotn-deltaVel2Dotn;
 	deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
@@ -80,15 +81,17 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
 	if (body1.mMassInv)
 	{
 		btVector3 linearComponent = c.m_contactNormal*body1.mMassInv;
-		((btVector3&)body1.mDeltaLinearVelocity) += linearComponent*deltaImpulse;
-		((btVector3&)body1.mDeltaAngularVelocity) += c.m_angularComponentA*(btVector3(deltaImpulse,deltaImpulse,deltaImpulse));//*m_angularFactor);
+		body1.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
+		btVector3 tmp=c.m_angularComponentA*(btVector3(deltaImpulse,deltaImpulse,deltaImpulse));
+		body1.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
 	}
 
 	if (body2.mMassInv)
 	{
 		btVector3 linearComponent = -c.m_contactNormal*body2.mMassInv;
-		((btVector3&)body2.mDeltaLinearVelocity) += linearComponent*deltaImpulse;
-		((btVector3&)body2.mDeltaAngularVelocity) += c.m_angularComponentB*((btVector3(deltaImpulse,deltaImpulse,deltaImpulse)));//*m_angularFactor);
+		body2.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
+		btVector3 tmp = c.m_angularComponentB*((btVector3(deltaImpulse,deltaImpulse,deltaImpulse)));//*m_angularFactor);
+		body2.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
 	}
 
 	//body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
@@ -1035,7 +1038,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
 		state.reset();
 		const btQuaternion& orgOri = obj->getWorldTransform().getRotation();
 		vmQuat orn(orgOri.getX(),orgOri.getY(),orgOri.getZ(),orgOri.getW());
-		state.setPosition((vmVector3&) obj->getWorldTransform().getOrigin());
+		state.setPosition(getVmVector3(obj->getWorldTransform().getOrigin()));
 		state.setOrientation(orn);
 		state.setPosition(state.getPosition());
 		state.setRigidBodyId(i);
@@ -1140,7 +1143,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
 				int contactId = m-offsetContactManifolds;
 				//likely the contact pool is not contiguous, make sure to allocate large enough contact pool
 				btAssert(contactId>=0);
-				btAssert(contactId<dispatcher->getInternalManifoldPool()->getUsedCount());
+				btAssert(contactId<dispatcher->getInternalManifoldPool()->getMaxCount());
 				
 				pfxSetContactId(pair,contactId);
 				pfxSetNumConstraints(pair,numPosPoints);//manifoldPtr[i]->getNumContacts());

src/LinearMath/btPoolAllocator.h

@@ -62,6 +62,11 @@ public:
 		return m_maxElements - m_freeCount;
 	}
 
+	int getMaxCount() const
+	{
+		return m_maxElements;
+	}
+
 	void*	allocate(int size)
 	{
 		// release mode fix