+ Fix btSubsimplexConvexCast

Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
Fix in rendering, GL_STENCIL
+ btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
+ Made InternalProcessAllTriangles virtual, thanks to 
Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
+clamp impulse for btPoint2PointConstraint
Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
+ Free memory of bvh, pass in scaling factor (optional)
Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375

Demos/AllBulletDemos/Main.cpp

@@ -335,7 +335,7 @@ int main(int argc, char** argv)
 	printf("Bullet version %d\n",bulletVersion);
 
 	glutInit(&argc, argv);
-	glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE |GLUT_DEPTH);
+	glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE |GLUT_DEPTH | GLUT_STENCIL);
 	glutInitWindowSize(width, height);
 	mainWindow = glutCreateWindow("http://bulletphysics.com");
 #ifdef BT_USE_FREEGLUT

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -184,7 +184,9 @@ void	ConcaveDemo::initPhysics()
 //comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
 #define SERIALIZE_TO_DISK 1
 #ifdef SERIALIZE_TO_DISK
-	trimeshShape  = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
+	btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
+	
+	trimeshShape  = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
 	m_collisionShapes.push_back(trimeshShape);
 	
 	
@@ -295,7 +297,7 @@ void	ConcaveDemo::initPhysics()
 	startTransform.setIdentity();
 	staticBody = localCreateRigidBody(mass, startTransform,groundShape);
 
-	staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
+	staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
 
 	//enable custom material callback
 	staticBody->setCollisionFlags(staticBody->getCollisionFlags()  | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);

Demos/ConcaveDemo/main.cpp

@@ -2,13 +2,17 @@
 #include "ConcaveDemo.h"
 #include "GlutStuff.h"
 
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
 
+GLDebugDrawer	gDebugDrawer;
 int main(int argc,char** argv)
 {
 
         ConcaveDemo* concaveDemo = new ConcaveDemo();
         concaveDemo->initPhysics();
         concaveDemo->setCameraDistance(30.f);
+		concaveDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
         return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",concaveDemo);
 }

Demos/OpenGL/DemoApplication.cpp

@@ -599,6 +599,8 @@ btVector3	DemoApplication::getRayTo(int x,int y)
 	return rayTo;
 }
 
+btScalar mousePickClamping = 3.f;
+
 
 void DemoApplication::mouseFunc(int button, int state, int x, int y)
 {
@@ -686,6 +688,8 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 								btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
 
 								btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
+								p2p->m_setting.m_impulseClamp = mousePickClamping;
+
 								m_dynamicsWorld->addConstraint(p2p);
 								m_pickConstraint = p2p;
 								
@@ -965,6 +969,8 @@ for(int i=0;i<numObjects;i++)
 //
 void DemoApplication::renderme()
 {
+	myinit();
+
 	updateCamera();
 
 	if (m_dynamicsWorld)

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -443,7 +443,13 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 
 		//glPushMatrix();
 		glEnable(GL_COLOR_MATERIAL);
-		if(m_textureenabled) glEnable(GL_TEXTURE_2D);
+		if(m_textureenabled) 
+		{
+			glEnable(GL_TEXTURE_2D);
+			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
+		}
+
+		
 		glColor3f(color.x(),color.y(), color.z());		
 
 		bool useWireframeFallback = true;

Extras/BulletColladaConverter/ColladaConverter.cpp

@@ -1597,7 +1597,7 @@ ColladaConverter::addConcaveMesh(btCollisionShape* shape, const char* nodeName)
 		{
 			for (int t = 0; t < numFaces; t++)
 			{
-				short int* index = (short int*)indexBase;
+				unsigned short int* index = (unsigned short int*)indexBase;
 				indices.append3( index[0], index[1], index[2]);
 				indexBase += indexStride;
 			}
@@ -1605,7 +1605,7 @@ ColladaConverter::addConcaveMesh(btCollisionShape* shape, const char* nodeName)
 		{
 			for (int t = 0; t < numFaces; t++)
 			{
-				int* index = (int*)indexBase;
+				unsigned int* index = (unsigned int*)indexBase;
 				indices.append3( index[0], index[1], index[2]);
 				indexBase += indexStride;
 			}

Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp

@@ -181,6 +181,9 @@ void	SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPai
 				{
 					btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
 					btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+
+					if (dispatcher->needsCollision(colObj0,colObj1))
+					{
 						btManifoldResult contactPointResult(colObj0,colObj1);
 						
 						if (dispatchInfo.m_dispatchFunc == 		btDispatcherInfo::DISPATCH_DISCRETE)
@@ -198,6 +201,7 @@ void	SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPai
 					}
 				}
 			}
+		}
 
 		//make sure all SPU work is done
 		m_spuCollisionTaskProcess->flush2();

Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp

@@ -270,20 +270,20 @@ public:
 		// ugly solution to support both 16bit and 32bit indices
 		if (m_lsMemPtr->bvhShapeData.gIndexMesh.m_indexType == PHY_SHORT)
 		{
-			short int* indexBasePtr = (short int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
-			ATTRIBUTE_ALIGNED16(short int tmpIndices[3]);
+			unsigned short int* indexBasePtr = (unsigned short int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
+			ATTRIBUTE_ALIGNED16(unsigned short int tmpIndices[3]);
 
 			small_cache_read_triple(&tmpIndices[0],(ppu_address_t)&indexBasePtr[0],
 									&tmpIndices[1],(ppu_address_t)&indexBasePtr[1],
 									&tmpIndices[2],(ppu_address_t)&indexBasePtr[2],
-									sizeof(short int));
+									sizeof(unsigned short int));
 
 			m_lsMemPtr->spuIndices[0] = int(tmpIndices[0]);
 			m_lsMemPtr->spuIndices[1] = int(tmpIndices[1]);
 			m_lsMemPtr->spuIndices[2] = int(tmpIndices[2]);
 		} else
 		{
-			int* indexBasePtr = (int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
+			unsigned int* indexBasePtr = (unsigned int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
 
 			small_cache_read_triple(&m_lsMemPtr->spuIndices[0],(ppu_address_t)&indexBasePtr[0],
 								&m_lsMemPtr->spuIndices[1],(ppu_address_t)&indexBasePtr[1],
@@ -978,9 +978,12 @@ void	processCollisionTask(void* userPtr, void* lsMemPtr)
 								// Get the collision objects
 								dmaAndSetupCollisionObjects(collisionPairInput, lsMem);
 
+								if (lsMem.getColObj0()->isActive() || lsMem.getColObj1()->isActive())
+								{
 									handleCollisionPair(collisionPairInput, lsMem, spuContacts, 
 										(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
 										(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
+								}
 
 							}
 						}

Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp

@@ -404,9 +404,9 @@ void	spuWalkStacklessQuantizedTreeAgainstRays(RaycastTask_LocalStoreMemory* lsMe
 
 #define RAYAABB2
 #ifdef RAYAABB2
-	unsigned int sign[numWorkUnits][3];
-	btVector3 rayInvDirection[numWorkUnits];
-	btScalar lambda_max[numWorkUnits];
+	unsigned int sign[SPU_RAYCAST_WORK_UNITS_PER_TASK][3];
+	btVector3 rayInvDirection[SPU_RAYCAST_WORK_UNITS_PER_TASK];
+	btScalar lambda_max[SPU_RAYCAST_WORK_UNITS_PER_TASK];
 	for (int i = 0; i < numWorkUnits; i++)
 	{
 		btVector3 rayDirection = (rayTo[i]-rayFrom[i]);
@@ -512,10 +512,10 @@ void performRaycastAgainstConcave (RaycastGatheredObjectData* gatheredObjectData
 	//need the mesh interface, for access to triangle vertices
 	dmaBvhShapeData (&(lsMemPtr->bvhShapeData), trimeshShape);
 
-	unsigned short int quantizedQueryAabbMin[numWorkUnits][3];
-	unsigned short int quantizedQueryAabbMax[numWorkUnits][3];
-	btVector3 rayFromInTriangleSpace[numWorkUnits];
-	btVector3 rayToInTriangleSpace[numWorkUnits];
+	unsigned short int quantizedQueryAabbMin[SPU_RAYCAST_WORK_UNITS_PER_TASK][3];
+	unsigned short int quantizedQueryAabbMax[SPU_RAYCAST_WORK_UNITS_PER_TASK][3];
+	btVector3 rayFromInTriangleSpace[SPU_RAYCAST_WORK_UNITS_PER_TASK];
+	btVector3 rayToInTriangleSpace[SPU_RAYCAST_WORK_UNITS_PER_TASK];
 
 	/* Calculate the AABB for the ray in the triangle mesh shape */
 	btTransform rayInTriangleSpace;

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -235,7 +235,7 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 
 	if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
 	{
-		return m_boxBoxCF;
+		//return m_boxBoxCF;
 	}
 	
 	if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))

src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ -143,17 +143,13 @@ class btPersistentManifoldSortPredicate
 };
 
 
-
-
-
-//
-// todo: this is random access, it can be walked 'cache friendly'!
-//
-void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
+void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects)
 {
 
 	BT_PROFILE("islandUnionFindAndQuickSort");
 	
+	m_islandmanifold.resize(0);
+
 	//we are going to sort the unionfind array, and store the element id in the size
 	//afterwards, we clean unionfind, to make sure no-one uses it anymore
 	
@@ -287,6 +283,23 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 #endif //SPLIT_ISLANDS
 		}
 	}
+}
+
+
+
+//
+// todo: this is random access, it can be walked 'cache friendly'!
+//
+void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
+{
+
+	buildIslands(dispatcher,collisionObjects);
+
+	int endIslandIndex=1;
+	int startIslandIndex;
+	int numElem = getUnionFind().getNumElements();
+
+	BT_PROFILE("processIslands");
 
 #ifndef SPLIT_ISLANDS
 	btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
@@ -367,5 +380,5 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 	}
 #endif //SPLIT_ISLANDS
 
-	m_islandmanifold.resize(0);
+
 }

src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h

@@ -63,6 +63,8 @@ public:
 
 	void	buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);
 
+	void buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects);
+
 };
 
 #endif //SIMULATION_ISLAND_MANAGER_H

src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp

@@ -127,13 +127,13 @@ void	btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const
 				indicestype,
 				nodeSubPart);
 
-			int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
+			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
 			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
 	
 			const btVector3& meshScaling = m_meshInterface->getScaling();
 			for (int j=2;j>=0;j--)
 			{
-				int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
+				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
 
 				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
 
@@ -187,13 +187,13 @@ void	btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, co
 				indicestype,
 				nodeSubPart);
 
-			int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
+			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
 			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
 	
 			const btVector3& meshScaling = m_meshInterface->getScaling();
 			for (int j=2;j>=0;j--)
 			{
-				int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
+				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
 
 				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
 
@@ -259,14 +259,14 @@ void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
 				indicestype,
 				nodeSubPart);
 
-			int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
+			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
 			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
 	
 			const btVector3& meshScaling = m_meshInterface->getScaling();
 			for (int j=2;j>=0;j--)
 			{
 				
-				int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
+				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
 
 
 #ifdef DEBUG_TRIANGLE_MESH
@@ -299,7 +299,6 @@ void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
 
 }
 
-
 void   btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
 {
    if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
@@ -315,6 +314,22 @@ void	btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
       m_bvh = new(mem) btOptimizedBvh();
       //rebuild the bvh...
       m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
+      m_ownsBvh = true;
+   }
+}
 
+void   btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
+{
+   btAssert(!m_bvh);
+   btAssert(!m_ownsBvh);
+
+   m_bvh = bvh;
+   m_ownsBvh = false;
+   // update the scaling without rebuilding the bvh
+   if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
+   {
+      btTriangleMeshShape::setLocalScaling(scaling);
    }
 }
+
+

src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h

@@ -75,14 +75,7 @@ public:
 	}
 
 
-	void	setOptimizedBvh(btOptimizedBvh* bvh)
-	{
-		btAssert(!m_bvh);
-		btAssert(!m_ownsBvh);
-
-		m_bvh = bvh;
-		m_ownsBvh = false;
-	}
+	void	setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1));
 
 	bool	usesQuantizedAabbCompression() const
 	{

src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp

@@ -334,13 +334,13 @@ void	btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
 				}
 				//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
 
-				int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
+				unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
 				
 				
 				for (int j=2;j>=0;j--)
 				{
 					
-					int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
+					int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
 					btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
 #ifdef DEBUG_PATCH_COLORS
 					btVector3 mycolor = color[index&3];

src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp

@@ -51,7 +51,7 @@ void	btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
 			{
 				for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
 				{
-					int* tri_indices= (int*)(indexbase+gfxindex*indexstride);
+					unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
 					graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride);
 					triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
 					graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride);
@@ -66,7 +66,7 @@ void	btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
 			{
 				for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
 				{
-					short int* tri_indices= (short int*)(indexbase+gfxindex*indexstride);
+					unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
 					graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride);
 					triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
 					graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride);

src/BulletCollision/CollisionShapes/btStridingMeshInterface.h

@@ -47,7 +47,7 @@ class  btStridingMeshInterface
 
 
 
-		void	InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+		virtual void	InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
 
 		///brute force method to calculate aabb
 		void	calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax);

src/BulletCollision/CollisionShapes/btTriangleMesh.h

@@ -30,8 +30,8 @@ class btTriangleMesh : public btTriangleIndexVertexArray
 	btAlignedObjectArray<btVector3>	m_4componentVertices;
 	btAlignedObjectArray<float>		m_3componentVertices;
 
-	btAlignedObjectArray<int>		m_32bitIndices;
-	btAlignedObjectArray<short int>		m_16bitIndices;
+	btAlignedObjectArray<unsigned int>		m_32bitIndices;
+	btAlignedObjectArray<unsigned short int>		m_16bitIndices;
 	bool	m_use32bitIndices;
 	bool	m_use4componentVertices;
 

src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp

@@ -120,7 +120,7 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 			dist2 = v.length2();
 			hasResult = true;
 			//todo: check this normal for validity
-			n=v;
+			//n=v;
 			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
 			//printf("DIST2=%f\n",dist2);
 			//printf("numverts = %i\n",m_simplexSolver->numVertices());

src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp

@@ -100,6 +100,16 @@ void	btPoint2PointConstraint::solveConstraint(btScalar	timeStep)
 		btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
 		
 		btScalar impulse = depth*m_setting.m_tau/timeStep  * jacDiagABInv -  m_setting.m_damping * rel_vel * jacDiagABInv;
+
+		btScalar impulseClamp = m_setting.m_impulseClamp;
+		if (impulseClamp > 0)
+		{
+			if (impulse < -impulseClamp) 
+				impulse = -impulseClamp;
+			if (impulse > impulseClamp) 
+				impulse = impulseClamp;
+		}
+
 		m_appliedImpulse+=impulse;
 		btVector3 impulse_vector = normal * impulse;
 		m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());

src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h

@@ -26,11 +26,13 @@ struct	btConstraintSetting
 {
 	btConstraintSetting()	:
 		m_tau(btScalar(0.3)),
-		m_damping(btScalar(1.))
+		m_damping(btScalar(1.)),
+		m_impulseClamp(btScalar(0.))
 	{
 	}
 	btScalar		m_tau;
 	btScalar		m_damping;
+	btScalar		m_impulseClamp;
 };
 
 /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -154,7 +154,6 @@ void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject
 }
 
 
-
 int		gNumSplitImpulseRecoveries = 0;
 
 btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);