another large series of changes, related to the refactoring.

CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects,
During dispatch, finding an algorith etc. order can be swapped.
fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)

src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp

@@ -16,7 +16,6 @@ subject to the following restrictions:
 
 #include "btGeneric6DofConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/Dynamics/btMassProps.h"
 #include "LinearMath/btTransformUtil.h"
 
 static const btScalar kSign[] = { 1.0f, -1.0f, 1.0f };

src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp

@@ -16,7 +16,6 @@ subject to the following restrictions:
 
 #include "btHingeConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/Dynamics/btMassProps.h"
 #include "LinearMath/btTransformUtil.h"
 
 

src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp

@@ -16,7 +16,6 @@ subject to the following restrictions:
 
 #include "btPoint2PointConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/Dynamics/btMassProps.h"
 
 
 

src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

@@ -16,7 +16,6 @@ subject to the following restrictions:
 
 #include "btTypedConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/Dynamics/btMassProps.h"
 
 static btRigidBody s_fixed(0, btTransform::getIdentity(),0);
 

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -35,6 +35,7 @@ subject to the following restrictions:
 #include "BulletDynamics/Vehicle/btWheelInfo.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btQuickprof.h"
+#include "LinearMath/btMotionState.h"
 
 
 
@@ -44,6 +45,7 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld()
 :btDynamicsWorld(),
 m_constraintSolver(new btSequentialImpulseConstraintSolver),
 m_debugDrawer(0),
+m_gravity(0,-10,0),
 m_profileTimings(0)
 {
 	m_islandManager = new btSimulationIslandManager();
@@ -56,6 +58,7 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOver
 :btDynamicsWorld(dispatcher,pairCache),
 m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
 m_debugDrawer(0),
+m_gravity(0,-10,0),
 m_profileTimings(0)
 {
 	m_islandManager = new btSimulationIslandManager();
@@ -73,7 +76,69 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
 		 delete m_constraintSolver;
 }
 
-void	btDiscreteDynamicsWorld::stepSimulation(float timeStep)
+void	btDiscreteDynamicsWorld::saveKinematicState(float timeStep)
+{
+
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+				btTransform predictedTrans;
+				if (body->GetActivationState() != ISLAND_SLEEPING)
+				{
+					if (body->isKinematicObject())
+					{
+						//to calculate velocities next frame
+						body->saveKinematicState(timeStep);
+					}
+				}
+		}
+	}
+}
+
+void	btDiscreteDynamicsWorld::synchronizeMotionStates()
+{
+	//todo: iterate over awake simulation islands!
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body && body->getMotionState())
+		{
+			if (body->GetActivationState() != ISLAND_SLEEPING)
+			{
+				body->getMotionState()->setWorldOrientation(body->getCenterOfMassTransform().getRotation());
+				body->getMotionState()->setWorldPosition(body->getCenterOfMassTransform().getOrigin());
+			}
+		}
+	}
+
+}
+
+
+void	btDiscreteDynamicsWorld::stepSimulation(float timeStep, int numSubsteps)
+{
+
+	if (!btFuzzyZero(timeStep) && numSubsteps)
+	{
+
+		saveKinematicState(timeStep);
+
+		int i;
+		float subTimeStep = timeStep / float(numSubsteps);
+
+		for (i=0;i<numSubsteps;i++)
+		{
+			internalSingleStepSimulation(subTimeStep);
+		}
+
+		synchronizeMotionStates();
+	} 
+}
+
+void	btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
 {
 	
 	startProfiling(timeStep);
@@ -112,6 +177,35 @@ void	btDiscreteDynamicsWorld::stepSimulation(float timeStep)
 
 }
 
+void	btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
+{
+	m_gravity = gravity;
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			body->setGravity(gravity);
+		}
+	}
+}
+
+void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
+{
+	body->setGravity(m_gravity);
+	bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
+	short collisionFilterGroup = isDynamic? 
+	btBroadphaseProxy::DefaultFilter : 
+	btBroadphaseProxy::StaticFilter;
+	short collisionFilterMask = isDynamic? 
+	btBroadphaseProxy::AllFilter : 
+	btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter;
+
+	addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
+}
+
+
 void	btDiscreteDynamicsWorld::updateVehicles(float timeStep)
 {
 	BEGIN_PROFILE("updateVehicles");
@@ -360,7 +454,7 @@ void	btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
-			if (body->IsActive() && (!body->IsStatic()))
+			if (body->IsActive() && (!body->isStaticObject()))
 			{
 				body->predictIntegratedTransform(timeStep, predictedTrans);
 				body->proceedToTransform( predictedTrans);
@@ -381,12 +475,14 @@ void	btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
-			if (body->IsActive() && (!body->IsStatic()))
+			if (!body->isStaticObject())
 			{
-				body->applyForces( timeStep);
-				body->integrateVelocities( timeStep);
-				body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
-
+				if (body->IsActive())
+				{
+					body->applyForces( timeStep);
+					body->integrateVelocities( timeStep);
+					body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
+				}
 			}
 		}
 	}

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -43,6 +43,8 @@ protected:
 
 	btIDebugDraw*	m_debugDrawer;
 
+	btVector3	m_gravity;
+
 	bool	m_ownsIslandManager;
 	bool	m_ownsConstraintSolver;
 
@@ -65,6 +67,13 @@ protected:
 	void	updateVehicles(float timeStep);
 
 	void	startProfiling(float timeStep);
+
+	virtual void	internalSingleStepSimulation( float timeStep);
+
+	void	synchronizeMotionStates();
+
+	void	saveKinematicState(float timeStep);
+
 public:
 
 
@@ -76,7 +85,7 @@ public:
 		
 	virtual ~btDiscreteDynamicsWorld();
 		
-	virtual void	stepSimulation( float timeStep);
+	virtual void	stepSimulation( float timeStep, int numSubsteps=1);
 
 	virtual void	updateAabbs();
 
@@ -113,6 +122,10 @@ public:
 		return m_debugDrawer;
 	}
 
+	virtual void	setGravity(const btVector3& gravity);
+
+	virtual void	addRigidBody(btRigidBody* body);
+
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -38,7 +38,7 @@ class btDynamicsWorld : public btCollisionWorld
 		}
 		
 		///stepSimulation proceeds the simulation over timeStep units
-		virtual void	stepSimulation( float timeStep) = 0;
+		virtual void	stepSimulation( float timeStep,int numSubsteps=1) = 0;
 				
 		virtual void	updateAabbs() = 0;
 				
@@ -50,6 +50,12 @@ class btDynamicsWorld : public btCollisionWorld
 
 		virtual btIDebugDraw*	getDebugDrawer() = 0;
 
+		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
+		//existing rigidbodies in the world get gravity assigned too, during this method
+		virtual void	setGravity(const btVector3& gravity) = 0;
+
+		virtual void	addRigidBody(btRigidBody* body) = 0;
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btMassProps.h

@@ -1,33 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef MASS_PROPS_H
-#define MASS_PROPS_H
-
-#include <LinearMath/btVector3.h>
-
-struct btMassProps {
-	btMassProps(float mass,const btVector3& inertiaLocal):
-	m_mass(mass),
-		m_inertiaLocal(inertiaLocal)
-	{
-	}
-	float   m_mass;
-	btVector3	m_inertiaLocal;
-};
-
-
-#endif
-

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -14,10 +14,10 @@ subject to the following restrictions:
 */
 
 #include "btRigidBody.h"
-#include "btMassProps.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "LinearMath/btMinMax.h"
 #include <LinearMath/btTransformUtil.h>
+#include <LinearMath/btMotionState.h>
 
 float gLinearAirDamping = 1.f;
 //'temporarily' global variables
@@ -28,6 +28,44 @@ float gLinearSleepingTreshold = 0.8f;
 float gAngularSleepingTreshold = 1.0f;
 static int uniqueId = 0;
 
+btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
+: 
+	m_gravity(0.0f, 0.0f, 0.0f),
+	m_totalForce(0.0f, 0.0f, 0.0f),
+	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_linearDamping(0.f),
+	m_angularDamping(0.5f),
+	m_kinematicTimeStep(0.f),
+	m_optionalMotionState(motionState),
+	m_contactSolverType(0),
+	m_frictionSolverType(0)
+{
+
+	btQuaternion worldOrn;
+	btVector3	worldPos;
+	motionState->getWorldOrientation(worldOrn);
+	motionState->getWorldPosition(worldPos);
+	m_worldTransform = btTransform(worldOrn,worldPos);
+
+	//moved to btCollisionObject
+	m_friction = friction;
+	m_restitution = restitution;
+
+	m_collisionShape = collisionShape;
+	m_debugBodyId = uniqueId++;
+	
+	//m_internalOwner is to allow upcasting from collision object to rigid body
+	m_internalOwner = this;
+
+	setMassProps(mass, localInertia);
+    setDamping(linearDamping, angularDamping);
+	updateInertiaTensor();
+
+}
+
+
 btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
 : 
 	m_gravity(0.0f, 0.0f, 0.0f),
@@ -38,13 +76,11 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
 	m_linearDamping(0.f),
 	m_angularDamping(0.5f),
 	m_kinematicTimeStep(0.f),
+	m_optionalMotionState(0),
 	m_contactSolverType(0),
 	m_frictionSolverType(0)
 {
-
-	if (mass == 0.f)
-		m_collisionFlags = btCollisionObject::isStatic;
-
+	
 	m_worldTransform = worldTransform;
 
 	//moved to btCollisionObject
@@ -64,11 +100,7 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
 }
 
 
-void btRigidBody::setLinearVelocity(const btVector3& lin_vel)
-{ 
-	assert (m_collisionFlags != btCollisionObject::isStatic);
-	m_linearVelocity = lin_vel; 
-}
+
 
 
 void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) const
@@ -126,9 +158,8 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
 
 void btRigidBody::applyForces(btScalar step)
 {
-	if (IsStatic())
+	if (isStaticObject() || isKinematicObject())
 		return;
-
 	
 	applyCentralForce(m_gravity);	
 	
@@ -178,15 +209,14 @@ void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
 {
 	if (mass == 0.f)
 	{
-		m_collisionFlags = btCollisionObject::isStatic;
+		m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
 		m_inverseMass = 0.f;
 	} else
 	{
-		m_collisionFlags = 0;
+		m_collisionFlags & (~btCollisionObject::CF_STATIC_OBJECT);
 		m_inverseMass = 1.0f / mass;
 	}
 	
-
 	m_invInertiaLocal.setValue(inertia[0] != 0.0f ? 1.0f / inertia[0]: 0.0f,
 						   inertia[1] != 0.0f ? 1.0f / inertia[1]: 0.0f,
 						   inertia[2] != 0.0f ? 1.0f / inertia[2]: 0.0f);
@@ -203,7 +233,7 @@ void btRigidBody::updateInertiaTensor()
 
 void btRigidBody::integrateVelocities(btScalar step) 
 {
-	if (IsStatic())
+	if (isStaticObject() || isKinematicObject())
 		return;
 
 	m_linearVelocity += m_totalForce * (m_inverseMass * step);

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -25,7 +25,8 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
 class btCollisionShape;
-struct btMassProps;
+class btMotionState;
+
 typedef btScalar dMatrix3[4*3];
 
 extern float gLinearAirDamping;
@@ -57,9 +58,13 @@ class btRigidBody  : public btCollisionObject
 	
 	btScalar		m_kinematicTimeStep;
 
+	//m_optionalMotionState allows to automatic synchronize the world transform for active objects
+	btMotionState*	m_optionalMotionState;
+
 public:
 
 	btRigidBody(float mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
+	btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
 
 	void			proceedToTransform(const btTransform& newTrans); 
 	
@@ -138,9 +143,8 @@ public:
 	
   	void applyTorqueImpulse(const btVector3& torque)
 	{
-		if (!IsStatic())
+		if (!isStaticObject()&& !isKinematicObject())
 			m_angularVelocity += m_invInertiaTensorWorld * torque;
-
 	}
 	
 	void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) 
@@ -176,9 +180,14 @@ public:
 	}
 	
 
-	void setLinearVelocity(const btVector3& lin_vel);
-	void setAngularVelocity(const btVector3& ang_vel) { 
-		if (!IsStatic())
+	inline void setLinearVelocity(const btVector3& lin_vel)
+	{ 
+		assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT);
+		m_linearVelocity = lin_vel; 
+	}
+
+	inline void setAngularVelocity(const btVector3& ang_vel) { 
+		assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT);
 		{
 			m_angularVelocity = ang_vel; 
 		}
@@ -274,7 +283,21 @@ public:
 	{
 		m_broadphaseHandle = broadphaseProxy;
 	}
-	
+
+	//btMotionState allows to automatic synchronize the world transform for active objects
+	btMotionState*	getMotionState()
+	{
+		return m_optionalMotionState;
+	}
+	const btMotionState*	getMotionState() const
+	{
+		return m_optionalMotionState;
+	}
+	void	setMotionState(btMotionState* motionState)
+	{
+		m_optionalMotionState = motionState;
+	}
+
 	//for experimental overriding of friction/contact solver func
 	int	m_contactSolverType;
 	int	m_frictionSolverType;

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -25,7 +25,8 @@ subject to the following restrictions:
 btSimpleDynamicsWorld::btSimpleDynamicsWorld()
 :m_constraintSolver(new btSequentialImpulseConstraintSolver),
 m_ownsConstraintSolver(true),
-m_debugDrawer(0)
+m_debugDrawer(0),
+m_gravity(0,0,-10)
 {
 }
 
@@ -33,7 +34,8 @@ btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlapp
 :btDynamicsWorld(dispatcher,pairCache),
 m_constraintSolver(constraintSolver),
 m_ownsConstraintSolver(false),
-m_debugDrawer(0)
+m_debugDrawer(0),
+m_gravity(0,0,-10)
 {
 
 }
@@ -69,6 +71,26 @@ void	btSimpleDynamicsWorld::stepSimulation(float timeStep)
 }
 
 
+void	btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
+{
+	m_gravity = gravity;
+	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			body->setGravity(gravity);
+		}
+	}
+}
+
+void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
+{
+	body->setGravity(m_gravity);
+
+	addCollisionObject(body);
+}
 
 void	btSimpleDynamicsWorld::updateAabbs()
 {
@@ -79,7 +101,7 @@ void	btSimpleDynamicsWorld::updateAabbs()
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
-			if (body->IsActive() && (!body->IsStatic()))
+			if (body->IsActive() && (!body->isStaticObject()))
 			{
 				btPoint3 minAabb,maxAabb;
 				colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
@@ -99,7 +121,7 @@ void	btSimpleDynamicsWorld::integrateTransforms(float timeStep)
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
-			if (body->IsActive() && (!body->IsStatic()))
+			if (body->IsActive() && (!body->isStaticObject()))
 			{
 				body->predictIntegratedTransform(timeStep, predictedTrans);
 				body->proceedToTransform( predictedTrans);
@@ -118,12 +140,14 @@ void	btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
-			if (body->IsActive() && (!body->IsStatic()))
+			if (!body->isStaticObject())
 			{
-				body->applyForces( timeStep);
-				body->integrateVelocities( timeStep);
-				body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
-
+				if (body->IsActive())
+				{
+					body->applyForces( timeStep);
+					body->integrateVelocities( timeStep);
+					body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
+				}
 			}
 		}
 	}

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -41,6 +41,7 @@ protected:
 	
 	void	integrateTransforms(float timeStep);
 		
+	btVector3	m_gravity;
 	
 public:
 
@@ -65,6 +66,10 @@ public:
 		return m_debugDrawer;
 	}
 
+	virtual void	setGravity(const btVector3& gravity);
+
+	virtual void	addRigidBody(btRigidBody* body);
+
 	virtual void	updateAabbs();
 };
 

src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -18,7 +18,6 @@
 #include "btWheelInfo.h"
 
 
-#include "BulletDynamics/Dynamics/btMassProps.h"
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
 

src/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -14,7 +14,7 @@
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
 
-struct btMassProps;
+
 #include "btWheelInfo.h"
 
 struct	btVehicleRaycaster;