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)

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -16,6 +16,7 @@ subject to the following restrictions:
 //#define PRINT_CONTACT_STATISTICS 1
 //#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
 //#define USER_DEFINED_FRICTION_MODEL 1
+#define USE_CUSTOM_NEAR_CALLBACK 1
 
 //following define allows to compare/replace Bullet's constraint solver with ODE quickstep
 //this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files from Extras/quickstep
@@ -110,6 +111,42 @@ btCollisionShape* shapePtr[numShapes] =
 
 
 
+//by default, Bullet will use its own nearcallback, but you can override it using dispatcher->setNearCallback()
+void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
+{
+		btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
+		btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+
+		if (dispatcher.needsCollision(colObj0,colObj1))
+		{
+			//dispatcher will keep algorithms persistent in the collision pair
+			if (!collisionPair.m_algorithm)
+			{
+				collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
+			}
+
+			if (collisionPair.m_algorithm)
+			{
+				btManifoldResult contactPointResult(colObj0,colObj1);
+				
+				if (dispatchInfo.m_dispatchFunc == 		btDispatcherInfo::DISPATCH_DISCRETE)
+				{
+					//discrete collision detection query
+					collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
+				} else
+				{
+					//continuous collision detection query, time of impact (toi)
+					float toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
+					if (dispatchInfo.m_timeOfImpact > toi)
+						dispatchInfo.m_timeOfImpact = toi;
+
+				}
+			}
+		}
+
+}
+
+
 
 
 
@@ -254,6 +291,11 @@ void	CcdPhysicsDemo::initPhysics()
 
 	btCollisionDispatcher* dispatcher = new	btCollisionDispatcher();
 
+#ifdef USE_CUSTOM_NEAR_CALLBACK
+	//this is optional
+	dispatcher->setNearCallback(customNearCallback);
+#endif
+
 	btVector3 worldAabbMin(-10000,-10000,-10000);
 	btVector3 worldAabbMax(10000,10000,10000);
 

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_algorithm = 0;
-		{
-			m_algorithms[i] = 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_algorithm;;
-				delete pair.m_algorithms[dispatcherId];
+			pair.m_algorithm=0;
-				pair.m_algorithms[dispatcherId]=0;
-			}
 		}
 	}
 }

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -45,6 +45,8 @@ m_emptyCreateFunc(0)
 {
 	int i;
 
+	setNearCallback(defaultNearCallback);
+
 	m_emptyCreateFunc = new btEmptyAlgorithm::CreateFunc;
 	for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
 	{
@@ -62,6 +64,8 @@ btCollisionDispatcher::btCollisionDispatcher ():
 {
 	int i;
 
+	setNearCallback(defaultNearCallback);
+	
 	//default CreationFunctions, filling the m_doubleDispatch table
 	m_convexConvexCreateFunc = new btConvexConvexAlgorithm::CreateFunc;
 	m_convexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm::CreateFunc;
@@ -275,50 +279,20 @@ class btCollisionPairCallback : public btOverlapCallback
 {
 	btDispatcherInfo& m_dispatchInfo;
 	btCollisionDispatcher*	m_dispatcher;
-	int		m_dispatcherId;
+
 public:
 
-	btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher*	dispatcher,int		dispatcherId)
+	btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher*	dispatcher)
 	:m_dispatchInfo(dispatchInfo),
-	m_dispatcher(dispatcher),
+	m_dispatcher(dispatcher)
-	m_dispatcherId(dispatcherId)
 	{
 	}
 
 	virtual bool	processOverlap(btBroadphasePair& pair)
 	{
-		btCollisionObject* body0 = (btCollisionObject*)pair.m_pProxy0->m_clientObject;
+		(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
-		btCollisionObject* body1 = (btCollisionObject*)pair.m_pProxy1->m_clientObject;
 
-		if (!m_dispatcher->needsCollision(body0,body1))
-			return false;
-
-		//dispatcher will keep algorithms persistent in the collision pair
-		if (!pair.m_algorithms[m_dispatcherId])
-		{
-			pair.m_algorithms[m_dispatcherId] = m_dispatcher->findAlgorithm(
-				body0,
-				body1);
-		}
-
-		if (pair.m_algorithms[m_dispatcherId])
-		{
-			btManifoldResult* resultOut = m_dispatcher->internalGetNewManifoldResult(body0,body1);
-			if (m_dispatchInfo.m_dispatchFunc == 		btDispatcherInfo::DISPATCH_DISCRETE)
-			{
-				
-				pair.m_algorithms[m_dispatcherId]->processCollision(body0,body1,m_dispatchInfo,resultOut);
-			} else
-			{
-				float toi = pair.m_algorithms[m_dispatcherId]->calculateTimeOfImpact(body0,body1,m_dispatchInfo,resultOut);
-				if (m_dispatchInfo.m_timeOfImpact > toi)
-					m_dispatchInfo.m_timeOfImpact = toi;
-
-			}
-			m_dispatcher->internalReleaseManifoldResult(resultOut);
-		}
 		return false;
-
 	}
 };
 
@@ -327,9 +301,7 @@ void	btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa
 {
 	//m_blockedForChanges = true;
 
-	int dispatcherId = getUniqueId();
+	btCollisionPairCallback	collisionCallback(dispatchInfo,this);
-
-	btCollisionPairCallback	collisionCallback(dispatchInfo,this,dispatcherId);
 
 	pairCache->processAllOverlappingPairs(&collisionCallback);
 
@@ -338,3 +310,39 @@ void	btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa
 }
 
 
+
+
+//by default, Bullet will use this near callback
+void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
+{
+		btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
+		btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+
+		if (dispatcher.needsCollision(colObj0,colObj1))
+		{
+			//dispatcher will keep algorithms persistent in the collision pair
+			if (!collisionPair.m_algorithm)
+			{
+				collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
+			}
+
+			if (collisionPair.m_algorithm)
+			{
+				btManifoldResult contactPointResult(colObj0,colObj1);
+				
+				if (dispatchInfo.m_dispatchFunc == 		btDispatcherInfo::DISPATCH_DISCRETE)
+				{
+					//discrete collision detection query
+					collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
+				} else
+				{
+					//continuous collision detection query, time of impact (toi)
+					float toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
+					if (dispatchInfo.m_timeOfImpact > toi)
+						dispatchInfo.m_timeOfImpact = toi;
+
+				}
+			}
+		}
+
+}

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h

@@ -32,6 +32,10 @@ class btOverlappingPairCache;
 
 #define USE_DISPATCH_REGISTRY_ARRAY 1
 
+class btCollisionDispatcher;
+///user can override this nearcallback for collision filtering and more finegrained control over collision detection
+typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo);
+
 
 ///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
 ///Time of Impact, Closest Points and Penetration Depth.
@@ -44,6 +48,8 @@ class btCollisionDispatcher : public btDispatcher
 	
 	btManifoldResult	m_defaultManifoldResult;
 
+	btNearCallback		m_nearCallback;
+	
 	btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
 	
 	btCollisionAlgorithmCreateFunc* internalFindCreateFunc(int proxyType0,int proxyType1);
@@ -62,18 +68,6 @@ class btCollisionDispatcher : public btDispatcher
 
 public:
 
-	///allows the user to get contact point callbacks 
-	inline btManifoldResult*	internalGetNewManifoldResult(btCollisionObject* obj0,btCollisionObject* obj1)
-	{
-		//in-place, this prevents parallel dispatching, but just adding a list would fix that.
-		btManifoldResult* manifoldResult = new (&m_defaultManifoldResult)	btManifoldResult(obj0,obj1);
-		return manifoldResult;
-	}
-		
-	///allows the user to get contact point callbacks 
-	inline void	internalReleaseManifoldResult(btManifoldResult*)
-	{
-	}
 	
 	///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
 	void	registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
@@ -122,11 +116,20 @@ public:
 	
 	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1);
 	
-	virtual int getUniqueId() { return RIGIDBODY_DISPATCHER;}
-	
 	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo);
 
+	void	setNearCallback(btNearCallback	nearCallback)
+	{
+		m_nearCallback = nearCallback; 
+	}
 
+	btNearCallback	getNearCallback() const
+	{
+		return m_nearCallback;
+	}
+
+	//by default, Bullet will use this near callback
+	static void  defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo);
 
 };
 

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -35,6 +35,7 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
 	m_totalTorque(0.0f, 0.0f, 0.0f),
 	m_linearVelocity(0.0f, 0.0f, 0.0f),
 	m_angularVelocity(0.f,0.f,0.f),
+	m_angularFactor(1.f),
 	m_linearDamping(0.f),
 	m_angularDamping(0.5f),
 	m_optionalMotionState(motionState),

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -47,6 +47,7 @@ class btRigidBody  : public btCollisionObject
 	btVector3		m_linearVelocity;
 	btVector3		m_angularVelocity;
 	btScalar		m_inverseMass;
+	btScalar		m_angularFactor;
 
 	btVector3		m_gravity;	
 	btVector3		m_invInertiaLocal;
@@ -159,7 +160,10 @@ public:
 		if (m_inverseMass != 0.f)
 		{
 			applyCentralImpulse(impulse);
-			applyTorqueImpulse(rel_pos.cross(impulse));
+			if (m_angularFactor)
+			{
+				applyTorqueImpulse(rel_pos.cross(impulse)*m_angularFactor);
+			}
 		}
 	}
 
@@ -169,7 +173,10 @@ public:
 		if (m_inverseMass != 0.f)
 		{
 			m_linearVelocity += linearComponent*impulseMagnitude;
-			m_angularVelocity += angularComponent*impulseMagnitude;
+			if (m_angularFactor)
+			{
+				m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
+			}
 		}
 	}
 	
@@ -321,7 +328,20 @@ public:
 	int	m_contactSolverType;
 	int	m_frictionSolverType;
 
+	void	setAngularFactor(float angFac)
+	{
+		m_angularFactor = angFac;
+	}
+	float	getAngularFactor() const
+	{
+		return m_angularFactor;
+	}
 
+	//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
+	bool	isInWorld() const
+	{
+		return (getBroadphaseProxy() != 0);
+	}
 
 	int	m_debugBodyId;
 };