Work on some improvements for GJK/PenetrationTestBullet.cpp. if this introduces issue, will need to revert.

Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp

@@ -27,7 +27,7 @@ subject to the following restrictions:
 #include "GL_ShapeDrawer.h"
 #include "CollisionInterfaceDemo.h"
 #include "GlutStuff.h"
-
+#include "GLDebugDrawer.h"
 
 float yaw=0.f,pitch=0.f,roll=0.f;
 const int maxNumObjects = 4;
@@ -41,7 +41,7 @@ btCollisionWorld*	collisionWorld = 0;
 
 int screenWidth = 640;
 int screenHeight = 480;
-
+GLDebugDrawer debugDrawer;
 
 int main(int argc,char** argv)
 {
@@ -117,8 +117,12 @@ void CollisionInterfaceDemo::displayCallback(void) {
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 	glDisable(GL_LIGHTING);
 
+	
+	btDispatcherInfo	dispatchInfo;
+	dispatchInfo.m_debugDraw = &debugDrawer;
+	
 	if (collisionWorld)
-		collisionWorld->performDiscreteCollisionDetection();
+		collisionWorld->performDiscreteCollisionDetection(dispatchInfo);
 	
 	int i;
 

Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp

@@ -645,7 +645,12 @@ static void RenderCallback()
 	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 	yStart += yIncr;
 
+	glRasterPos3f(xOffset,yStart,0);
+	sprintf(buf,"gLastUsedMethod=%d\n", gLastUsedMethod);
+	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+	yStart += yIncr;
 
+	
 
 	
 

Demos/MovingConcaveDemo/ConcaveDemo.h

@@ -17,10 +17,15 @@ subject to the following restrictions:
 
 #include "DemoApplication.h"
 
+class btCollisionAlgorithmCreateFunc;
+
 ///ConcaveDemo shows usage of static concave triangle meshes
 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
 class ConcaveDemo : public DemoApplication
 {
+
+	btCollisionAlgorithmCreateFunc* m_gimpactCollisionCreateFunc;
+
 	public:
 
 	void	initPhysics();

Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp

@@ -14,6 +14,7 @@ subject to the following restrictions:
 */
 
 #include "btBulletDynamicsCommon.h"
+#include "ConcaveDemo.h"
 
 #include "LinearMath/btDefaultMotionState.h"
 #include "LinearMath/btIDebugDraw.h"
@@ -27,7 +28,7 @@ subject to the following restrictions:
 #include "BMF_Api.h"
 
 #include "GLDebugDrawer.h"
-#include "ConcaveDemo.h"
+
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
 
@@ -1634,11 +1635,13 @@ void	ConcaveDemo::initPhysics()
 	btOverlappingPairCache* broadphase = new btSimpleBroadphase();
 
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase);
-	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
-	dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
-	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,TRIANGLE_MESH_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
-
 
+	m_gimpactCollisionCreateFunc = new btConcaveConcaveCollisionAlgorithm::CreateFunc;
+	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
+	dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
+	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,TRIANGLE_MESH_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
+	dispatcher->registerCollisionCreateFunc(STATIC_PLANE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
+	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,STATIC_PLANE_PROXYTYPE,m_gimpactCollisionCreateFunc);
 
 
 	bool isDynamic = false;

Demos/OpenGL/DemoApplication.cpp

@@ -35,6 +35,12 @@ int numObjects = 0;
 const int maxNumObjects = 16384;
 btTransform startTransforms[maxNumObjects];
 btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
+#define SHOW_NUM_DEEP_PENETRATIONS 1
+
+#ifdef SHOW_NUM_DEEP_PENETRATIONS 
+extern int gNumDeepPenetrationChecks;
+extern int gNumGjkChecks;
+#endif //
 
 
 DemoApplication::DemoApplication()
@@ -778,11 +784,11 @@ void DemoApplication::renderme()
 					yStart += yIncr;
 
 				}
+
 			}
 	#endif //USE_QUICKPROF
 
 			
-			
 				glRasterPos3f(xOffset,yStart,0);
 				sprintf(buf,"mouse to interact");
 				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
@@ -856,6 +862,20 @@ void DemoApplication::renderme()
 				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 				yStart += yIncr;
 
+#ifdef SHOW_NUM_DEEP_PENETRATIONS
+				
+				glRasterPos3f(xOffset,yStart,0);
+				sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
+				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				yStart += yIncr;
+
+				glRasterPos3f(xOffset,yStart,0);
+				sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
+				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				yStart += yIncr;
+
+#endif //SHOW_NUM_DEEP_PENETRATIONS
+
 				resetPerspectiveProjection();
 			}
 		
@@ -865,6 +885,11 @@ void DemoApplication::renderme()
 
 void	DemoApplication::clientResetScene()
 {
+#ifdef SHOW_NUM_DEEP_PENETRATIONS
+	gNumDeepPenetrationChecks = 0;
+	gNumGjkChecks = 0;
+#endif //SHOW_NUM_DEEP_PENETRATIONS
+
 	if (m_dynamicsWorld)
 	{
 		m_dynamicsWorld->stepSimulation(1.f/60.f,0);