plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision !

See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds:
https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
Add the --audio flag to enable sound in pybullet/Bullet-C-API

data/plane_with_collision_audio.urdf

@@ -0,0 +1,37 @@
+<?xml version="0.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+  	<audio_source filename="wav/cardboardbox0.wav">
+  		<collision_force_threshold>0.4</collision_force_threshold>
+			<attack_rate>0.01</attack_rate>
+			<decay_rate>0.0001</decay_rate>
+			<sustain_level>0.5</sustain_level>
+			<release_rate>0.005</release_rate>
+			<gain>.5</gain>
+  	</audio_source>
+	  <contact>
+	      <lateral_friction value="1"/>
+	  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -5"/>
+      <geometry>
+	 	<box size="30 30 10"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -48,7 +48,7 @@
 //quick test for file import, @todo(erwincoumans) make it more general and add other file formats
 #include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
 #include "../Importers/ImportBullet/SerializeSetup.h"
-
+#include "../Utils/b3HashString.h"
 #include "Bullet3Common/b3HashMap.h"
 
 struct GL3TexLoader : public MyTextureLoader

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -1134,9 +1134,9 @@ bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
 	return false;
 }
 
-bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const
+bool BulletURDFImporter::getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const
 {
-	UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
+	UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdflinkIndex);
 	if (linkPtr)
 	{
 		const UrdfLink* link = *linkPtr;
@@ -1146,6 +1146,22 @@ bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo&
 	return false;
 }
 
+bool BulletURDFImporter::getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const
+{
+	UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
+	if (linkPtr)
+	{
+		const UrdfLink* link = *linkPtr;
+		if (link->m_audioSource.m_flags & SDFAudioSource::SDFAudioSourceValid)
+		{
+			audioSource = link->m_audioSource;
+			return true;
+		}
+	}
+	return false;
+}
+
+
 void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const
 {
   	if (m_data->m_customVisualShapesConverter)

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -41,8 +41,10 @@ public:
 
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
 
-	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;
+	virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const;
 	
+	virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;
+
     virtual std::string getJointName(int linkIndex) const;
     
     virtual void  getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h

@@ -4,6 +4,7 @@
 
 #include "MultiBodyCreationInterface.h"
 #include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btHashMap.h"
 
 struct GUIHelperInterface;
 class btMultiBody;
@@ -28,7 +29,6 @@ protected:
     
 	struct GUIHelperInterface* m_guiHelper;
 
-	
 	btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_6DofConstraints;
 
 public:

examples/Importers/ImportURDFDemo/SDFAudioTypes.h

@@ -0,0 +1,46 @@
+#ifndef SDF_AUDIO_TYPES_H
+#define SDF_AUDIO_TYPES_H
+
+#include <string>
+
+
+
+///See audio_source element in http://sdformat.org/spec?ver=1.6&elem=link
+struct SDFAudioSource
+{
+	enum
+	{
+		SDFAudioSourceValid=1,
+		SDFAudioSourceLooping=2,
+	};
+
+	int m_flags;	//repeat mode (0 = no repeat, 1 = loop forever)
+
+	std::string	m_uri;	//media filename of the sound, .wav file
+	double m_pitch;	//1 = regular rate, -1 play in reverse
+	double m_gain;	//normalized volume in range [0..1] where 0 is silent, 1 is most loud
+
+	double m_attackRate;
+	double m_decayRate;
+	double m_sustainLevel;
+	double m_releaseRate;
+
+	double m_collisionForceThreshold;	//force that will trigger the audio, in Newton. If < 0, audio source is invalid
+	
+	int m_userIndex;
+
+	SDFAudioSource()
+	:	m_flags(0),
+		m_pitch(1),
+		m_gain(1),
+		m_attackRate(0.0001),
+		m_decayRate(0.00001),
+		m_sustainLevel(0.5),
+		m_releaseRate(0.0005),
+		m_collisionForceThreshold(0.5),
+		m_userIndex(-1)
+		{
+		}
+};
+
+#endif //SDF_AUDIO_TYPES_H

examples/Importers/ImportURDFDemo/URDFImporterInterface.h

@@ -5,7 +5,7 @@
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btTransform.h"
 #include "URDFJointTypes.h"
-
+#include "SDFAudioTypes.h"
 
 class URDFImporterInterface
 {
@@ -40,6 +40,8 @@ public:
 	///this API will likely change, don't override it!
 	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const  { return false;}
     
+	virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const { return false;}
+
     virtual std::string getJointName(int linkIndex) const = 0;
 
     //fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -663,6 +663,82 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
         }
     }
 
+	{
+		//optional 'audio_source' parameters
+		//modified version of SDF audio_source specification in //http://sdformat.org/spec?ver=1.6&elem=link
+		#if 0
+		<audio_source>
+          <uri>file://media/audio/cheer.mp3</uri>
+          <pitch>2.0</pitch>
+          <gain>1.0</gain>
+          <loop>false</loop>
+          <contact>
+            <collision>collision</collision>
+          </contact>
+        </audio_source>
+		#endif
+		TiXmlElement* ci = config->FirstChildElement("audio_source");
+		if (ci)
+		{
+			link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceValid;
+			
+			const char* fn = ci->Attribute("filename");
+			if (fn)
+			{
+				link.m_audioSource.m_uri = fn;
+			} else
+			{
+				if (TiXmlElement* filename_xml = ci->FirstChildElement("uri"))
+				{
+					link.m_audioSource.m_uri = filename_xml->GetText();
+				}
+			}
+			if (TiXmlElement* pitch_xml = ci->FirstChildElement("pitch"))
+			{
+				link.m_audioSource.m_pitch = urdfLexicalCast<double>(pitch_xml->GetText());
+			}
+			if (TiXmlElement* gain_xml = ci->FirstChildElement("gain"))
+			{
+				link.m_audioSource.m_gain = urdfLexicalCast<double>(gain_xml->GetText());
+			}
+
+			if (TiXmlElement* attack_rate_xml = ci->FirstChildElement("attack_rate"))
+			{
+				link.m_audioSource.m_attackRate = urdfLexicalCast<double>(attack_rate_xml->GetText());
+			}
+
+			if (TiXmlElement* decay_rate_xml = ci->FirstChildElement("decay_rate"))
+			{
+				link.m_audioSource.m_decayRate = urdfLexicalCast<double>(decay_rate_xml->GetText());
+			}
+
+			if (TiXmlElement* sustain_level_xml = ci->FirstChildElement("sustain_level"))
+			{
+				link.m_audioSource.m_sustainLevel = urdfLexicalCast<double>(sustain_level_xml->GetText());
+			}
+
+			if (TiXmlElement* release_rate_xml = ci->FirstChildElement("release_rate"))
+			{
+				link.m_audioSource.m_releaseRate = urdfLexicalCast<double>(release_rate_xml->GetText());
+			}
+
+			if (TiXmlElement* loop_xml = ci->FirstChildElement("loop"))
+			{
+				std::string looptxt = loop_xml->GetText();
+				if (looptxt == "true")
+				{
+					link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceLooping;
+				}
+			}
+			if (TiXmlElement* forceThreshold_xml = ci->FirstChildElement("collision_force_threshold"))
+			{
+				link.m_audioSource.m_collisionForceThreshold= urdfLexicalCast<double>(forceThreshold_xml->GetText());
+			}
+			//todo: see other audio_source children
+			//pitch, gain, loop, contact
+			
+		}
+	}
 	{
 		//optional 'contact' parameters
 	 TiXmlElement* ci = config->FirstChildElement("contact");

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -5,6 +5,7 @@
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btHashMap.h"
 #include "URDFJointTypes.h"
+#include "SDFAudioTypes.h"
 
 #define btArray btAlignedObjectArray
 #include <string>
@@ -140,6 +141,8 @@ struct UrdfLink
 	
 	URDFLinkContactInfo m_contactInfo;
 
+	SDFAudioSource m_audioSource;
+
 	UrdfLink()
 		:m_parentLink(0),
 		m_parentJoint(0)

examples/RobotSimulator/MinitaurSetup.cpp

@@ -2,6 +2,7 @@
 #include "b3RobotSimulatorClientAPI.h"
 
 #include "Bullet3Common/b3HashMap.h"
+#include "../Utils/b3HashString.h"
 
 struct MinitaurSetupInternalData
 {

examples/RobotSimulator/RobotSimulatorMain.cpp

@@ -16,7 +16,7 @@ int main(int argc, char* argv[])
 	//sim->connect(eCONNECT_UDP, "localhost", 1234);
 	sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
 //	sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
-	sim->setTimeOut(10);
+	sim->setTimeOut(12345);
 	//syncBodies is only needed when connecting to an existing physics server that has already some bodies
 	sim->syncBodies();
 	b3Scalar fixedTimeStep = 1./240.;
@@ -33,7 +33,7 @@ int main(int argc, char* argv[])
 	//b3BodyInfo bodyInfo;
 	//sim->getBodyInfo(blockId,&bodyInfo);
 
-	sim->loadURDF("plane.urdf");
+	sim->loadURDF("plane_with_collision_audio.urdf");
 
 	b3RobotSimulatorLoadUrdfFileArgs args;
 	args.m_startPosition.setValue(0,0,2);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -119,6 +119,7 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw
 };
 
 
+
 struct InteralBodyData
 {
 	btMultiBody* m_multiBody;
@@ -128,6 +129,9 @@ struct InteralBodyData
 
 	btTransform m_rootLocalInertialFrame;
 	btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
+#ifdef B3_ENABLE_TINY_AUDIO
+	btHashMap<btHashInt, SDFAudioSource> m_audioSources;
+#endif //B3_ENABLE_TINY_AUDIO
 
 	InteralBodyData()
 		:m_multiBody(0),
@@ -1303,7 +1307,6 @@ struct PhysicsServerCommandProcessorInternalData
 	TinyRendererVisualShapeConverter  m_visualConverter;
 #ifdef B3_ENABLE_TINY_AUDIO
 	b3SoundEngine m_soundEngine;
-	int m_wavIds[3];
 #endif
 
 	PhysicsServerCommandProcessorInternalData()
@@ -1513,49 +1516,66 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
 	for (int i = 0; i < numContactManifolds; i++)
 	{
 		const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];
-		for (int p=0;p<manifold->getNumContacts();p++)
+
+		bool objHasSound[2];
+		objHasSound[0] = (0!=(manifold->getBody0()->getCollisionFlags() & btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER));
+		objHasSound[1] = (0!=(manifold->getBody1()->getCollisionFlags() & btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER));
+		const btCollisionObject* colObjs[2] = {manifold->getBody0(),manifold->getBody1()};
+
+		for (int ob = 0;ob<2;ob++)
 		{
-			double imp = manifold->getContactPoint(p).getAppliedImpulse();
+			if (objHasSound[ob])
-				//printf ("manifold %d, contact %d, lifeTime:%d, appliedImpulse:%f\n",i,p, manifold->getContactPoint(p).getLifeTime(),imp);
-
-			if (imp>0.4 && manifold->getContactPoint(p).getLifeTime()==1)
 			{
-				int soundSourceIndex = m_data->m_soundEngine.getAvailableSoundSource();
+				int uid0 = -1;
-				if (soundSourceIndex>=0)
+				int linkIndex = -2;
+
+				const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(colObjs[ob]);
+				if (mblB && mblB->m_multiBody)
 				{
-					b3SoundMessage msg;
+					linkIndex = mblB->m_link;
-					msg.m_releaseRate = 0.0001;
+					uid0 = mblB->m_multiBody->getUserIndex2();
-					msg.m_attackRate = 1.;
+				}
-					msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
+				const btRigidBody* bodyB = btRigidBody::upcast(colObjs[ob]);
-					
+				if (bodyB)
-					int cardboardIndex = float(rand())/float(RAND_MAX)*2.9;
+				{
+					uid0 = bodyB->getUserIndex2();
+					linkIndex = -1;
+				}
 
-					msg.m_wavId = m_data->m_wavIds[cardboardIndex];
+				if ((uid0<0)||(linkIndex<-1))
+					continue;
 
-					float rnd = rand()% 2;
+				InternalBodyHandle* bodyHandle0 = m_data->getHandle(uid0);
-					
+				SDFAudioSource* audioSrc = bodyHandle0->m_audioSources[linkIndex];
-					msg.m_frequency = 100+rnd*10.;
+				if (audioSrc==0)
+					continue;
 
-					m_data->m_soundEngine.startSound(soundSourceIndex,msg);
+				for (int p=0;p<manifold->getNumContacts();p++)
-					m_data->m_soundEngine.releaseSound(soundSourceIndex);
+				{
+					double imp = manifold->getContactPoint(p).getAppliedImpulse();
+						//printf ("manifold %d, contact %d, lifeTime:%d, appliedImpulse:%f\n",i,p, manifold->getContactPoint(p).getLifeTime(),imp);
 
+					if (imp>audioSrc->m_collisionForceThreshold && manifold->getContactPoint(p).getLifeTime()==1)
+					{
+						int soundSourceIndex = m_data->m_soundEngine.getAvailableSoundSource();
+						if (soundSourceIndex>=0)
+						{
+							b3SoundMessage msg;
+							msg.m_attackRate = audioSrc->m_attackRate;
+							msg.m_decayRate = audioSrc->m_decayRate;
+							msg.m_sustainLevel = audioSrc->m_sustainLevel;
+							msg.m_releaseRate = audioSrc->m_releaseRate;
+							msg.m_amplitude = audioSrc->m_gain;
+							msg.m_frequency = audioSrc->m_pitch;
+							msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
+							msg.m_wavId = audioSrc->m_userIndex;
+							msg.m_autoKeyOff = true;
+							m_data->m_soundEngine.startSound(soundSourceIndex,msg);
+						}
+					}
 				}
 			}
 		}
-		int linkIndexA = -1;
-		int linkIndexB = -1;
-				
-		int objectIndexB = -1;
-				
-		const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
-		if (bodyB)
-		{
-			objectIndexB = bodyB->getUserIndex2();
-		}
-		const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
-		if (mblB && mblB->m_multiBody)
-		{
-		}
 	}
 #endif//B3_ENABLE_TINY_AUDIO
 }
@@ -1623,9 +1643,6 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
 
 #ifdef B3_ENABLE_TINY_AUDIO
 	m_data->m_soundEngine.init(16,true);
-	m_data->m_wavIds[0] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox0.wav");
-	m_data->m_wavIds[1] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox1.wav");
-	m_data->m_wavIds[2] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox2.wav");
 
 //we don't use those callbacks (yet), experimental
 //	gContactAddedCallback = MyContactAddedCallback;
@@ -2039,7 +2056,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 
     BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
 
-
     bool loadOk =  u2b.loadURDF(fileName, useFixedBase);
 
 
@@ -2111,6 +2127,22 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 				}
 				createJointMotors(mb);
 
+#ifdef B3_ENABLE_TINY_AUDIO
+				{
+					SDFAudioSource audioSource;
+					int urdfRootLink = u2b.getRootLinkIndex();//LinkIndex = creation.m_mb2urdfLink[-1];
+					if (u2b.getLinkAudioSource(urdfRootLink,audioSource))
+					{
+						int flags = mb->getBaseCollider()->getCollisionFlags();
+						mb->getBaseCollider()->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
+						audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
+						if (audioSource.m_userIndex>=0)
+						{
+							bodyHandle->m_audioSources.insert(-1, audioSource);
+						}
+					}
+				}
+#endif
 
 				//serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire
 			    UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
@@ -2130,6 +2162,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
                 bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
 			    for (int i=0;i<mb->getNumLinks();i++)
                 {
+					int link=i;
 					//disable serialization of the collision objects
                    util->m_memSerializer->m_skipPointers.insert(mb->getLink(i).m_collider,0);
 				   int urdfLinkIndex = creation.m_mb2urdfLink[i];
@@ -2148,8 +2181,23 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 				   m_data->m_strings.push_back(jointName);
 				   util->m_memSerializer->registerNameForPointer(jointName->c_str(),jointName->c_str());
 				   mb->getLink(i).m_jointName = jointName->c_str();
+#ifdef B3_ENABLE_TINY_AUDIO
+				   {
+						SDFAudioSource audioSource;
+						int urdfLinkIndex = creation.m_mb2urdfLink[link];
+						if (u2b.getLinkAudioSource(urdfLinkIndex,audioSource))
+						{
+							int flags = mb->getLink(link).m_collider->getCollisionFlags();
+							mb->getLink(i).m_collider->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
+							audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
+							if (audioSource.m_userIndex>=0)
+							{
+								bodyHandle->m_audioSources.insert(link, audioSource);
+							}
+						}
+					}
                 }
-
+#endif
 				std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
 				m_data->m_strings.push_back(baseName);
 

examples/TinyAudio/b3ADSR.cpp

@@ -23,6 +23,7 @@ b3ADSR::b3ADSR()
 	m_releaseRate = 0.0005;
 	m_sustainLevel = 0.5;
 	m_state = ADSR_IDLE;
+	m_autoKeyOff = false;
 }
 
 b3ADSR::~b3ADSR()
@@ -51,6 +52,10 @@ double b3ADSR::tick()
 				{
 					m_value = m_sustainLevel;
 					m_state = ADSR_SUSTAIN;
+					if (m_autoKeyOff)
+					{
+						keyOff();
+					}
 				}
 			}
 			else
@@ -60,6 +65,11 @@ double b3ADSR::tick()
 				{
 					m_value = m_sustainLevel;
 					m_state = ADSR_SUSTAIN;
+					if (m_autoKeyOff)
+					{
+						keyOff();
+					}
+
 				}
 			}
 			break;
@@ -81,8 +91,9 @@ bool b3ADSR::isIdle() const
 	return m_state == ADSR_IDLE;
 }
 
-void b3ADSR::keyOn()
+void b3ADSR::keyOn(bool autoKeyOff)
 {
+	m_autoKeyOff = autoKeyOff;
 	if (m_target <= 0.0)
 		m_target = 1.0;
 	if (m_attackRate==1)
@@ -94,6 +105,7 @@ void b3ADSR::keyOn()
 
 void b3ADSR::keyOff()
 {
+	m_autoKeyOff = false;
 	m_target = 0.0;
 	m_state = ADSR_RELEASE;
 

examples/TinyAudio/b3ADSR.h

@@ -11,7 +11,7 @@ class b3ADSR
 	double m_releaseRate;
 	double m_releaseTime;
 	double m_sustainLevel;
-
+	bool m_autoKeyOff;
 public:
 
 	b3ADSR();
@@ -19,7 +19,7 @@ public:
 
 	double tick();
 	bool isIdle() const;
-	void keyOn();
+	void keyOn(bool autoKeyOff);
 	void keyOff();
 
 	void setValues(double attack,double decay,double sustain,double release)

examples/TinyAudio/b3SoundEngine.cpp

@@ -7,6 +7,8 @@
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "b3ReadWavFile.h"
 #include "../Utils/b3ResourcePath.h"
+#include "../Utils/b3HashString.h"
+
 #include "Bullet3Common/b3HashMap.h"
 
 // The default real-time audio input and output buffer size.  If
@@ -24,6 +26,8 @@ struct b3SoundEngineInternalData
 
 	b3AlignedObjectArray<b3SoundSource*> m_soundSources;
 	b3HashMap<b3HashInt, b3ReadWavFile*> m_wavFiles;
+	b3HashMap<b3HashString, int> m_name2wav;
+
 	int m_wavFileUidGenerator;
 
 	b3SoundEngineInternalData()
@@ -84,6 +88,19 @@ void b3SoundEngine::exit()
 		delete m_data->m_soundSources[i];
 	}
 	m_data->m_soundSources.clear();
+
+	for (int i=0;i<m_data->m_wavFiles.size();i++)
+	{
+		b3ReadWavFile** wavPtr = m_data->m_wavFiles.getAtIndex(i);
+		if (wavPtr && *wavPtr)
+		{
+			b3ReadWavFile* wav = *wavPtr;
+			delete wav;
+		}
+	}
+	m_data->m_wavFiles.clear();
+	m_data->m_name2wav.clear();
+
 }
 
 int b3SoundEngine::getAvailableSoundSource()
@@ -113,7 +130,7 @@ void b3SoundEngine::startSound(int soundSourceIndex, b3SoundMessage msg)
 			soundSource->setOscillatorFrequency(0, msg.m_frequency);
 			soundSource->setOscillatorFrequency(1, msg.m_frequency);
 			
-			soundSource->startSound();
+			soundSource->startSound(msg.m_autoKeyOff);
 			break;
 		}
 		case B3_SOUND_SOURCE_WAV_FILE:
@@ -124,7 +141,7 @@ void b3SoundEngine::startSound(int soundSourceIndex, b3SoundMessage msg)
 				b3ReadWavFile* wavFile = *wavFilePtr;
 				soundSource->setWavFile(0,wavFile,getSampleRate());
 				soundSource->setWavFile(1,wavFile,getSampleRate());
-				soundSource->startSound();
+				soundSource->startSound(msg.m_autoKeyOff);
 			}
 			break;
 		}
@@ -142,6 +159,11 @@ void b3SoundEngine::releaseSound(int soundSourceIndex)
 
 int b3SoundEngine::loadWavFile(const char* fileName)
 {
+	int* wavUidPtr = m_data->m_name2wav[fileName];
+	if (wavUidPtr)
+	{
+		return *wavUidPtr;
+	}
 	char resourcePath[1024];
 
 	if (b3ResourcePath::findResourcePath(fileName, resourcePath, 1024))
@@ -153,6 +175,7 @@ int b3SoundEngine::loadWavFile(const char* fileName)
 		wavFile->normalize(1);
 		int wavUID = m_data->m_wavFileUidGenerator++;
 		m_data->m_wavFiles.insert(wavUID, wavFile);
+		m_data->m_name2wav.insert(fileName,wavUID);
 		return wavUID;
 	}
 	return 0;

examples/TinyAudio/b3SoundEngine.h

@@ -16,6 +16,7 @@ struct b3SoundMessage
 	double m_decayRate;
 	double m_sustainLevel;
 	double m_releaseRate;
+	bool m_autoKeyOff;
 
 	b3SoundMessage()
 		:m_type(B3_SOUND_SOURCE_SINE_OSCILLATOR),
@@ -25,7 +26,8 @@ struct b3SoundMessage
 		m_attackRate(0.001),
 		m_decayRate(0.00001),
 		m_sustainLevel(0.5),
-		m_releaseRate(0.0005)
+		m_releaseRate(0.0005),
+		m_autoKeyOff(false)
 	{
 	}
 };

examples/TinyAudio/b3SoundSource.cpp

@@ -183,7 +183,7 @@ bool b3SoundSource::isAvailable() const
 	return m_data->m_envelope.isIdle();
 }
 
-void b3SoundSource::startSound()
+void b3SoundSource::startSound(bool autoKeyOff)
 {
 	if (m_data->m_envelope.isIdle())
 	{
@@ -209,7 +209,7 @@ void b3SoundSource::startSound()
 			}
 		}
 	}
-	m_data->m_envelope.keyOn();
+	m_data->m_envelope.keyOn(autoKeyOff);
 }
 
 void b3SoundSource::stopSound()

examples/TinyAudio/b3SoundSource.h

@@ -24,7 +24,7 @@ public:
 
 	bool setWavFile(int oscillatorIndex, class b3ReadWavFile* wavFilePtr, int sampleRate);
 
-	void startSound();
+	void startSound(bool autoKeyOff);
 	void stopSound();
 
 	bool isAvailable() const;

examples/Utils/b3HashString.h

@@ -0,0 +1,59 @@
+#ifndef B3_HASH_STRING_H
+#define B3_HASH_STRING_H
+
+#include <string>
+
+///very basic hashable string implementation, compatible with b3HashMap
+struct b3HashString
+{
+	std::string m_string;
+	unsigned int	m_hash;
+
+	B3_FORCE_INLINE	unsigned int getHash()const
+	{
+		return m_hash;
+	}
+
+
+	b3HashString(const char* name)
+		:m_string(name)
+	{
+
+		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
+		static const unsigned int  InitialFNV = 2166136261u;
+		static const unsigned int FNVMultiple = 16777619u;
+
+		/* Fowler / Noll / Vo (FNV) Hash */
+		unsigned int hash = InitialFNV;
+		
+		for(int i = 0; m_string[i]; i++)
+		{
+			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
+			hash = hash * FNVMultiple;  /* multiply by the magic number */
+		}
+		m_hash = hash;
+	}
+
+	int portableStringCompare(const char* src,	const char* dst) const
+	{
+			int ret = 0 ;
+
+			while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
+					++src, ++dst;
+
+			if ( ret < 0 )
+					ret = -1 ;
+			else if ( ret > 0 )
+					ret = 1 ;
+
+			return( ret );
+	}
+
+	bool equals(const b3HashString& other) const
+	{
+		return (m_string == other.m_string);
+	}
+
+};
+
+#endif //B3_HASH_STRING_H

src/Bullet3Common/b3HashMap.h

@@ -19,58 +19,6 @@ subject to the following restrictions:
 
 #include "b3AlignedObjectArray.h"
 
-///very basic hashable string implementation, compatible with b3HashMap
-struct b3HashString
-{
-	const char* m_string;
-	unsigned int	m_hash;
-
-	B3_FORCE_INLINE	unsigned int getHash()const
-	{
-		return m_hash;
-	}
-
-	b3HashString(const char* name)
-		:m_string(name)
-	{
-		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
-		static const unsigned int  InitialFNV = 2166136261u;
-		static const unsigned int FNVMultiple = 16777619u;
-
-		/* Fowler / Noll / Vo (FNV) Hash */
-		unsigned int hash = InitialFNV;
-		
-		for(int i = 0; m_string[i]; i++)
-		{
-			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
-			hash = hash * FNVMultiple;  /* multiply by the magic number */
-		}
-		m_hash = hash;
-	}
-
-	int portableStringCompare(const char* src,	const char* dst) const
-	{
-			int ret = 0 ;
-
-			while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
-					++src, ++dst;
-
-			if ( ret < 0 )
-					ret = -1 ;
-			else if ( ret > 0 )
-					ret = 1 ;
-
-			return( ret );
-	}
-
-	bool equals(const b3HashString& other) const
-	{
-		return (m_string == other.m_string) ||
-			(0==portableStringCompare(m_string,other.m_string));
-
-	}
-
-};
 
 const int B3_HASH_NULL=0xffffffff;
 

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -140,6 +140,7 @@ public:
 		CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
 		CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
 		CF_HAS_FRICTION_ANCHOR = 512,
+		CF_HAS_COLLISION_SOUND_TRIGGER = 1024
 	};
 
 	enum	CollisionObjectTypes

src/LinearMath/btHashMap.h

@@ -79,6 +79,11 @@ class btHashInt
 {
 	int	m_uid;
 public:
+
+	btHashInt()
+	{
+	}
+
 	btHashInt(int uid)	:m_uid(uid)
 	{
 	}