Revert to max 1 substep by default: increased maxSubSteps to 10 make debug version way too slow.

Use btDbvtBroadphase in BasicDemo and CcdPhysicsDemo.

Demos/BasicDemo/BasicDemo.cpp

@@ -88,25 +88,19 @@ void	BasicDemo::initPhysics()
 	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
 
-	///the maximum size of the collision world. Make sure objects stay within these boundaries
-	///Don't make the world AABB size too large, it will harm simulation quality and performance
-	btVector3 worldAabbMin(-10000,-10000,-10000);
-	btVector3 worldAabbMax(10000,10000,10000);
-	//m_overlappingPairCache = new btSimpleBroadphase();//new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
-	m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
+	m_broadphase = new btDbvtBroadphase();
 
 	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
 	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
 	m_solver = sol;
 
-
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
 
 	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
 
 	///create a few basic rigid bodies
-//	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
-	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
 	
 	m_collisionShapes.push_back(groundShape);
 
@@ -162,11 +156,9 @@ void	BasicDemo::initPhysics()
 
 		for (int k=0;k<ARRAY_SIZE_Y;k++)
 		{
-			int i=0;
-//			for (int i=0;i<ARRAY_SIZE_X;i++)
+			for (int i=0;i<ARRAY_SIZE_X;i++)
 			{
-				int j=0;
-//				for(int j = 0;j<ARRAY_SIZE_Z;j++)
+				for(int j = 0;j<ARRAY_SIZE_Z;j++)
 				{
 					startTransform.setOrigin(btVector3(
 										2.0*i + start_x,
@@ -195,7 +187,6 @@ void	BasicDemo::initPhysics()
 void	BasicDemo::exitPhysics()
 {
 
-
 	//cleanup in the reverse order of creation/initialization
 
 	//remove the rigidbodies from the dynamics world and delete them
@@ -219,16 +210,12 @@ void	BasicDemo::exitPhysics()
 		delete shape;
 	}
 
-	//delete dynamics world
 	delete m_dynamicsWorld;
 	
-	//delete solver
 	delete m_solver;
 	
-	//delete broadphase
-	delete m_overlappingPairCache;
+	delete m_broadphase;
 	
-	//delete dispatcher
 	delete m_dispatcher;
 
 	delete m_collisionConfiguration;

Demos/BasicDemo/BasicDemo.h

@@ -33,7 +33,7 @@ class BasicDemo : public DemoApplication
 	//keep the collision shapes, for deletion/cleanup
 	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
 
-	btBroadphaseInterface*	m_overlappingPairCache;
+	btBroadphaseInterface*	m_broadphase;
 
 	btCollisionDispatcher*	m_dispatcher;
 

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -409,16 +409,8 @@ int maxNumOutstandingTasks = 4;
 	m_dispatcher->setNearCallback(customNearCallback);
 #endif
 
-	btVector3 worldAabbMin(-1000,-1000,-1000);
-	btVector3 worldAabbMax(1000,1000,1000);
 
-	m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
-/// For large worlds or over 16384 objects, use the bt32BitAxisSweep3 broadphase
-//	m_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
-/// When trying to debug broadphase issues, try to use the btSimpleBroadphase
-//	m_broadphase = new btSimpleBroadphase;
-
-	//box-box is in Extras/AlternativeCollisionAlgorithms:it requires inclusion of those files
+	m_broadphase = new btDbvtBroadphase();
 
 #ifdef COMPARE_WITH_QUICKSTEP
 	m_solver = new btOdeQuickstepConstraintSolver();

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -186,7 +186,7 @@ void	ConcaveDemo::initPhysics()
 	bool useQuantizedAabbCompression = true;
 
 //comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
-//#define SERIALIZE_TO_DISK 1
+#define SERIALIZE_TO_DISK 1
 #ifdef SERIALIZE_TO_DISK
 	btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
 	

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -60,7 +60,7 @@ public:
 		///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
 		///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
 		///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
-		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=10, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
+		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
 			
 		virtual void	debugDrawWorld() = 0;