- DemoApplication, debug text rendering was broken, glLoadIdentity() missing

- copy user data over to child shape
- added applied impulse to btManifoldPoint
- add ContactProcessedCallback (needs test/demo)
- didn't copy over m_additionalDampingFactor into btRigidBody.

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -109,9 +109,12 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 	{
 		btTriangleShape tm(triangle[0],triangle[1],triangle[2]);	
 		tm.setMargin(m_collisionMarginTriangle);
-	
-		
 		btCollisionShape* tmpShape = ob->getCollisionShape();
+
+		//copy over user pointers to temporary shape
+		tm.setTypedUserInfo(tmpShape->getTypedUserInfo());
+		tm.setUserPointer(tmpShape->getUserPointer());
+		
 		ob->setCollisionShape( &tm );
 		
 

src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

@@ -30,6 +30,7 @@ class btManifoldPoint
 		public:
 			btManifoldPoint()
 				:m_userPersistentData(0),
+				m_appliedImpulse(0.f),
 				m_lifeTime(0)
 			{
 			}
@@ -43,7 +44,8 @@ class btManifoldPoint
 					m_distance1( distance ),
 					m_combinedFriction(btScalar(0.)),
 					m_combinedRestitution(btScalar(0.)),
-					m_userPersistentData(0),					
+					m_userPersistentData(0),
+					m_appliedImpulse(0.f),
 					m_lifeTime(0)
 			{
 				
@@ -65,6 +67,7 @@ class btManifoldPoint
 
 				
 			mutable void*	m_userPersistentData;
+			btScalar		m_appliedImpulse;
 
 			int		m_lifeTime;//lifetime of the contactpoint in frames
 			

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp

@@ -20,6 +20,7 @@ subject to the following restrictions:
 
 btScalar					gContactBreakingThreshold = btScalar(0.02);
 ContactDestroyedCallback	gContactDestroyedCallback = 0;
+ContactProcessedCallback	gContactProcessedCallback = 0;
 
 
 
@@ -234,6 +235,11 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT
 			if (distance2d  > getContactBreakingThreshold()*getContactBreakingThreshold() )
 			{
 				removeContactPoint(i);
+			} else
+			{
+				//contact point processed callback
+				if (gContactProcessedCallback)
+					(*gContactProcessedCallback)(manifoldPoint,m_body0,m_body1);
 			}
 		}
 	}

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -28,6 +28,7 @@ struct btCollisionResult;
 extern btScalar gContactBreakingThreshold;
 
 typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
+typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
 extern ContactDestroyedCallback	gContactDestroyedCallback;
 
 
@@ -123,6 +124,7 @@ public:
 			m_pointCache[index] = m_pointCache[lastUsedIndex]; 
 			//get rid of duplicated userPersistentData pointer
 			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
+			m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
 			m_pointCache[lastUsedIndex].m_lifeTime = 0;
 		}
 
@@ -136,12 +138,14 @@ public:
 #define MAINTAIN_PERSISTENCY 1
 #ifdef MAINTAIN_PERSISTENCY
 		int	lifeTime = m_pointCache[insertIndex].getLifeTime();
+		btScalar	appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
 		btAssert(lifeTime>=0);
 		void* cache = m_pointCache[insertIndex].m_userPersistentData;
 		
 		m_pointCache[insertIndex] = newPoint;
 
 		m_pointCache[insertIndex].m_userPersistentData = cache;
+		m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
 		m_pointCache[insertIndex].m_lifeTime = lifeTime;
 #else
 		clearUserCache(m_pointCache[insertIndex]);

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -106,7 +106,7 @@ bool  MyContactDestroyedCallback(void* userPersistentData)
 
 
 btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
-:m_solverMode(SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY), //not using SOLVER_USE_WARMSTARTING,
+:m_solverMode(SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING ),
 m_btSeed2(0)
 {
 	gContactDestroyedCallback = &MyContactDestroyedCallback;
@@ -386,6 +386,7 @@ void	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
 	solverConstraint.m_frictionIndex = frictionIndex;
 
 	solverConstraint.m_friction = cp.m_combinedFriction;
+	solverConstraint.m_originalContactPoint = 0;
 
 	solverConstraint.m_appliedImpulse = btScalar(0.);
 	solverConstraint.m_appliedVelocityImpulse = 0.f;
@@ -609,6 +610,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 							solverConstraint.m_solverBodyIdB = solverBodyIdB;
 							solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_CONTACT_1D;
 
+							solverConstraint.m_originalContactPoint = &cp;
+
 							btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
 							solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0 : btVector3(0,0,0);
 							btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);		
@@ -668,7 +671,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 							
 							
 
-							solverConstraint.m_appliedImpulse = 0.f;
+							///warm starting (or zero if disabled)
+							if (m_solverMode & SOLVER_USE_WARMSTARTING)
+							{
+								solverConstraint.m_appliedImpulse = cp.m_appliedImpulse;
+							} else
+							{
+								solverConstraint.m_appliedImpulse = 0.f;
+							}
 							solverConstraint.m_appliedVelocityImpulse = 0.f;
 							
 					
@@ -830,6 +840,20 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
 		}
 	}
 
+	{
+		int numPoolConstraints = m_tmpSolverConstraintPool.size();
+		int j;
+		for (j=0;j<numPoolConstraints;j++)
+		{
+			
+			const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[j];
+			btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
+			btAssert(pt);
+			pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
+			//do a callback here?
+
+		}
+	}
 	
 		return 0.f;
 }

src/BulletDynamics/ConstraintSolver/btSolverConstraint.h

@@ -50,7 +50,9 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverConstraint
 	
 	int			m_constraintType;
 	int			m_frictionIndex;
-	int			m_unusedPadding[2];
+	void*		m_originalContactPoint;
+	int			m_unusedPadding[1];
+
 
 	enum		btSolverConstraintType
 	{

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -54,7 +54,7 @@ void	btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
 	m_contactSolverType = 0;
 	m_frictionSolverType = 0;
 	m_additionalDamping = constructionInfo.m_additionalDamping;
-
+	m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
 	m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
 	m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
 	m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;