applied patches from Marten (Starbreeze) for per-rigidbody sleeping thresholds, access to constraint references.

Also added assert, to make sure users don't delete rigidbodies while constraints point to them.

src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -22,6 +22,7 @@ btCollisionObject::btCollisionObject()
 		m_activationState1(1),
 		m_deactivationTime(btScalar(0.)),
 		m_userObjectPointer(0),
+		m_internalOwner(0),
 		m_hitFraction(btScalar(1.)),
 		m_ccdSweptSphereRadius(btScalar(0.)),
 		m_ccdSquareMotionThreshold(btScalar(0.)),

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -39,6 +39,8 @@ btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionS
 	m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
 	m_linearDamping(btScalar(0.)),
 	m_angularDamping(btScalar(0.5)),
+	m_linearSleepingThreshold(gLinearSleepingThreshold),
+	m_angularSleepingThreshold(gAngularSleepingThreshold),
 	m_optionalMotionState(motionState),
 	m_contactSolverType(0),
 	m_frictionSolverType(0)
@@ -79,12 +81,15 @@ btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btColl
 	m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
 	m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
 	m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
-	m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),
+	m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)),	
+	m_linearSleepingThreshold(gLinearSleepingThreshold),
+	m_angularSleepingThreshold(gAngularSleepingThreshold),
 	m_linearDamping(btScalar(0.)),
 	m_angularDamping(btScalar(0.5)),
 	m_optionalMotionState(0),
 	m_contactSolverType(0),
 	m_frictionSolverType(0)
+	
 {
 	
 	m_worldTransform = worldTransform;

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -53,7 +53,10 @@ class btRigidBody  : public btCollisionObject
 	
 	btScalar		m_linearDamping;
 	btScalar		m_angularDamping;
-	
+
+	btScalar		m_linearSleepingThreshold;
+	btScalar		m_angularSleepingThreshold;
+		
 
 	//m_optionalMotionState allows to automatic synchronize the world transform for active objects
 	btMotionState*	m_optionalMotionState;
@@ -70,6 +73,14 @@ public:
 
 	btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.));
 
+	virtual ~btRigidBody() 
+        { 
+                //No constraints should point to this rigidbody
+		//Remove constraints from the dynamics world before you delete the related rigidbodies. 
+                btAssert(m_constraintRefs.size()==0); 
+        }
+
+
 	void			proceedToTransform(const btTransform& newTrans); 
 	
 	///to keep collision detection and dynamics separate we don't store a rigidbody pointer
@@ -134,6 +145,12 @@ public:
 		m_invInertiaLocal = diagInvInertia;
 	}
 
+	void	setSleepingThresholds(btScalar linear,btScalar angular)
+	{
+		m_linearSleepingThreshold = linear;
+		m_angularSleepingThreshold = angular;
+	}
+
 	void	applyTorque(const btVector3& torque)
 	{
 		m_totalTorque += torque;
@@ -258,11 +275,12 @@ public:
 
 	inline void	updateDeactivation(btScalar timeStep)
 	{
+return;
 		if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
 			return;
 
-		if ((getLinearVelocity().length2() < gLinearSleepingThreshold*gLinearSleepingThreshold) &&
+		if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) &&
-			(getAngularVelocity().length2() < gAngularSleepingThreshold*gAngularSleepingThreshold))
+			(getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold))
 		{
 			m_deactivationTime += timeStep;
 		} else
@@ -348,6 +366,17 @@ public:
 	void addConstraintRef(btTypedConstraint* c);
 	void removeConstraintRef(btTypedConstraint* c);
 
+	btTypedConstraint* getConstraintRef(int index)
+	{
+		return m_constraintRefs[index];
+	}
+
+	int getNumConstraintRefs()
+	{
+		return m_constraintRefs.size();
+	}
+
+
 	int	m_debugBodyId;
 };