Merge remote-tracking branch 'bp/master'

README.md

@@ -4,7 +4,7 @@
 
 # Bullet Physics SDK
 
-This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for games, visual effects, robotics etc.
+This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
 
 New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR
 

examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp

@@ -27,7 +27,7 @@ class btCollisionShape;
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btPoolAllocator.h"
 #include "btBulletCollisionCommon.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h"  // for setSplitIslands()
+#include "BulletDynamics/Dynamics/btSimulationIslandManagerMt.h"  // for setSplitIslands()
 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h"
 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
 

examples/MultiThreadedDemo/MultiThreadedDemo.cpp

@@ -199,7 +199,7 @@ void MultiThreadedDemo::createSceneObjects()
             }
         }
     }
-
+#if 0
     if ( false )
     {
         // destroyer ball
@@ -211,6 +211,7 @@ void MultiThreadedDemo::createSceneObjects()
         btRigidBody* ballBody = localCreateRigidBody( 10000.f, sphereTrans, ball );
         ballBody->setLinearVelocity( btVector3( 0, 0, -10 ) );
     }
+#endif
     m_guiHelper->autogenerateGraphicsObjects( m_dynamicsWorld );
 
 }

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -4083,6 +4083,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 			}
 
 			//directly set the position of the links, only for debugging IK, don't use this method!
+#if 0			
 			if (0)
 			{
 				for (int i=0;i<mb->getNumLinks();i++)
@@ -4091,6 +4092,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 					mb->setJointPosMultiDof(i,&desiredPosition);
 				}
 			} else
+#endif
 			{
 				int numMotors = 0;
 				//find the joint motors and apply the desired velocity and maximum force/torque

examples/pybullet/pybullet.c

@@ -2636,17 +2636,17 @@ static PyMethodDef SpamMethods[] = {
 #endif
      },
 
-    {"getContactPoints", pybullet_getContactPointData, METH_VARARGS | METH_KEYWORDS,
+    {"getContactPoints", (PyCFunction)pybullet_getContactPointData, METH_VARARGS | METH_KEYWORDS,
      "Return existing contact points after the stepSimulation command. "
      "Optional arguments one or two object unique "
      "ids, that need to be involved in the contact."},
 
-	 {"getClosestPoints", pybullet_getClosestPointData, METH_VARARGS | METH_KEYWORDS,
+	 {"getClosestPoints", (PyCFunction)pybullet_getClosestPointData, METH_VARARGS | METH_KEYWORDS,
      "Compute the closest points between two objects, if the distance is below a given threshold."
      "Input is two objects unique ids and distance threshold."
      },
 
-	 { "getOverlappingObjects", pybullet_getOverlappingObjects, METH_VARARGS | METH_KEYWORDS,
+	 { "getOverlappingObjects", (PyCFunction)pybullet_getOverlappingObjects, METH_VARARGS | METH_KEYWORDS,
 		"Return all the objects that have overlap with a given "
 		"axis-aligned bounding box volume (AABB)."
 		"Input are two vectors defining the AABB in world space [min_x,min_y,min_z],[max_x,max_y,max_z]."

src/BulletCollision/CMakeLists.txt

@@ -33,7 +33,6 @@ SET(BulletCollision_SRCS
 	CollisionDispatch/btInternalEdgeUtility.h
 	CollisionDispatch/btManifoldResult.cpp
 	CollisionDispatch/btSimulationIslandManager.cpp
-	CollisionDispatch/btSimulationIslandManagerMt.cpp
 	CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
 	CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
 	CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
@@ -141,7 +140,6 @@ SET(CollisionDispatch_HDRS
 	CollisionDispatch/btHashedSimplePairCache.h
 	CollisionDispatch/btManifoldResult.h
 	CollisionDispatch/btSimulationIslandManager.h
-	CollisionDispatch/btSimulationIslandManagerMt.h
 	CollisionDispatch/btSphereBoxCollisionAlgorithm.h
 	CollisionDispatch/btSphereSphereCollisionAlgorithm.h
 	CollisionDispatch/btSphereTriangleCollisionAlgorithm.h

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -48,7 +48,7 @@ public:
 
 	virtual void	getBoundingSphere(btVector3& center,btScalar& radius) const;
 
-	///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
+	///getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations.
 	virtual btScalar	getAngularMotionDisc() const;
 
 	virtual btScalar	getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;

src/BulletDynamics/CMakeLists.txt

@@ -22,6 +22,7 @@ SET(BulletDynamics_SRCS
 	ConstraintSolver/btUniversalConstraint.cpp
 	Dynamics/btDiscreteDynamicsWorld.cpp
 	Dynamics/btDiscreteDynamicsWorldMt.cpp
+	Dynamics/btSimulationIslandManagerMt.cpp
 	Dynamics/btRigidBody.cpp
 	Dynamics/btSimpleDynamicsWorld.cpp
 #	Dynamics/Bullet-C-API.cpp
@@ -72,6 +73,7 @@ SET(Dynamics_HDRS
 	Dynamics/btActionInterface.h
 	Dynamics/btDiscreteDynamicsWorld.h
 	Dynamics/btDiscreteDynamicsWorldMt.h
+	Dynamics/btSimulationIslandManagerMt.h
 	Dynamics/btDynamicsWorld.h
 	Dynamics/btSimpleDynamicsWorld.h
 	Dynamics/btRigidBody.h

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp

@@ -21,7 +21,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h"
+#include "btSimulationIslandManagerMt.h"
 #include "LinearMath/btTransformUtil.h"
 #include "LinearMath/btQuickprof.h"
 

src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef BT_SIMULATION_ISLAND_MANAGER_MT_H
 #define BT_SIMULATION_ISLAND_MANAGER_MT_H
 
-#include "btSimulationIslandManager.h"
+#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
 
 class btTypedConstraint;