Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences:

- contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
- continuous collision detection, time of impact
Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -70,7 +70,8 @@ struct btBroadphaseProxy
 	        StaticFilter = 2,
 	        KinematicFilter = 4,
 	        DebrisFilter = 8,
-	        AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter,
+			SensorTrigger = 16,
+	        AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger,
 	};
 
 	//Usually the client btCollisionObject or Rigidbody class
@@ -118,8 +119,7 @@ class btCollisionAlgorithm;
 
 struct btBroadphaseProxy;
 
-//Increase SIMPLE_MAX_ALGORITHMS to allow multiple btDispatchers caching their own algorithms
-#define SIMPLE_MAX_ALGORITHMS 1
+
 
 /// contains a pair of aabb-overlapping objects
 struct btBroadphasePair
@@ -127,22 +127,16 @@ struct btBroadphasePair
 	btBroadphasePair ()
 		:
 	m_pProxy0(0),
-		m_pProxy1(0)
+		m_pProxy1(0),
+		m_algorithm(0)
 	{
-		for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
-		{
-			m_algorithms[i] = 0;
-		}
 	}
 
 	btBroadphasePair(const btBroadphasePair& other)
 		:		m_pProxy0(other.m_pProxy0),
-				m_pProxy1(other.m_pProxy1)
+				m_pProxy1(other.m_pProxy1),
+				m_algorithm(other.m_algorithm)
 	{
-		for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
-		{
-			m_algorithms[i] = other.m_algorithms[i];
-		}
 	}
 	btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
 	{
@@ -159,17 +153,14 @@ struct btBroadphasePair
             m_pProxy1 = &proxy0; 
         }
 
-		for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
-		{
-			m_algorithms[i] = 0;
-		}
+		m_algorithm = 0;
 
 	}
 	
 	btBroadphaseProxy* m_pProxy0;
 	btBroadphaseProxy* m_pProxy1;
 	
-	mutable btCollisionAlgorithm* m_algorithms[SIMPLE_MAX_ALGORITHMS];
+	mutable btCollisionAlgorithm* m_algorithm;
 };
 
 

src/BulletCollision/BroadphaseCollision/btDispatcher.h

@@ -22,11 +22,6 @@ class btRigidBody;
 class	btCollisionObject;
 class btOverlappingPairCache;
 
-enum btCollisionDispatcherId
-{
-	RIGIDBODY_DISPATCHER = 0,
-	USERCALLBACK_DISPATCHER
-};
 
 class btPersistentManifold;
 class btStackAlloc;
@@ -74,11 +69,6 @@ public:
 
 	virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
 
-	//
-	// asume dispatchers to have unique id's in the range [0..max dispacher]
-	//
-	virtual int getUniqueId() = 0;
-
 	virtual btPersistentManifold*	getNewManifold(void* body0,void* body1)=0;
 
 	virtual void releaseManifold(btPersistentManifold* manifold)=0;

src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp

@@ -54,14 +54,11 @@ void	btOverlappingPairCache::removeOverlappingPair(btBroadphasePair& findPair)
 
 void	btOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair)
 {
-	for (int dispatcherId=0;dispatcherId<SIMPLE_MAX_ALGORITHMS;dispatcherId++)
+	if (pair.m_algorithm)
 	{
-		if (pair.m_algorithms[dispatcherId])
 		{
-			{
-				delete pair.m_algorithms[dispatcherId];
-				pair.m_algorithms[dispatcherId]=0;
-			}
+			delete pair.m_algorithm;;
+			pair.m_algorithm=0;
 		}
 	}
 }