Improved CharacterDemo/KinematicCharacterController, dynamic objects will bounce off.

Don't create a todo list for doxygen by default (the chaotic todo's would confuse most developers)
Improve support for small objects, by having dynamic contact breaking thresholds. Still needs small internal timestep and some GJK improvements.

Demos/CharacterDemo/CharacterDemo.cpp

@@ -92,7 +92,7 @@ void CharacterDemo::initPhysics()
 	btScalar characterWidth =1.75;
 	btConvexShape* capsule = new btCapsuleShape(characterWidth,characterHeight);
 	m_ghostObject->setCollisionShape (capsule);
-	m_ghostObject->setCollisionFlags (btCollisionObject::CF_NO_CONTACT_RESPONSE);
+	m_ghostObject->setCollisionFlags (btCollisionObject::CF_CHARACTER_OBJECT);
 
 	btScalar stepHeight = btScalar(0.35);
 	m_character = new KinematicCharacterController (m_ghostObject,capsule,stepHeight);
@@ -103,7 +103,7 @@ void CharacterDemo::initPhysics()
 
 
 	///only collide with static for now (no interaction with dynamic objects)
-	m_dynamicsWorld->addCollisionObject(m_ghostObject,btBroadphaseProxy::DebrisFilter, btBroadphaseProxy::StaticFilter);
+	m_dynamicsWorld->addCollisionObject(m_ghostObject,btBroadphaseProxy::CharacterFilter, btBroadphaseProxy::StaticFilter|btBroadphaseProxy::DefaultFilter);
 
 
 	////////////////

Demos/CharacterDemo/KinematicCharacterController.cpp

@@ -8,14 +8,12 @@
 #include "LinearMath/btDefaultMotionState.h"
 #include "KinematicCharacterController.h"
 
-/* TODO:
- * Interact with dynamic objects
- * Ride kinematicly animated platforms properly
- * More realistic (or maybe just a config option) falling
- *   -> Should integrate falling velocity manually and use that in stepDown()
- * Support jumping
- * Support ducking
- */
+///@todo Interact with dynamic objects,
+///Ride kinematicly animated platforms properly
+///More realistic (or maybe just a config option) falling
+/// -> Should integrate falling velocity manually and use that in stepDown()
+///Support jumping
+///Support ducking
 class ClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
 {
 public:

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -259,7 +259,7 @@ void	ConcaveDemo::initPhysics()
 								createCollisionLocalStoreMemory,
 								maxNumOutstandingTasks));
 #else
-///todo other platform threading
+///@todo show other platform threading
 ///Playstation 3 SPU (SPURS)  version is available through PS3 Devnet
 ///Libspe2 SPU support will be available soon
 ///pthreads version

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -86,7 +86,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 								createCollisionLocalStoreMemory,
 								maxNumOutstandingTasks));
 #else
-///todo other platform threading
+///@todo other platform threading
 ///Playstation 3 SPU (SPURS)  version is available through PS3 Devnet
 ///Libspe2 SPU support will be available soon
 ///pthreads version

Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp

@@ -44,7 +44,7 @@
 
 #define USE_ORIGINAL 1
 #ifndef USE_ORIGINAL
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #endif //USE_ORIGINAL
 
 static bool gRefMode = false;

Demos/ForkLiftDemo/ForkLiftDemo.cpp

@@ -13,11 +13,11 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-/// September 2006: VehicleDemo is work in progress, this file is mostly just a placeholder
-/// This VehicleDemo file is very early in development, please check it later
-/// One todo is a basic engine model:
-/// A function that maps user input (throttle) into torque/force applied on the wheels
-/// with gears etc.
+///September 2006: VehicleDemo is work in progress, this file is mostly just a placeholder
+///This VehicleDemo file is very early in development, please check it later
+///@todo is a basic engine model:
+///A function that maps user input (throttle) into torque/force applied on the wheels
+///with gears etc.
 #include "btBulletDynamicsCommon.h"
 #include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
 

Doxyfile

@@ -207,7 +207,7 @@ ENABLED_SECTIONS       =
 # disable (NO) the todo list. This list is created by putting \todo 
 # commands in the documentation.
 
-GENERATE_TODOLIST      = YES
+GENERATE_TODOLIST      = NO
 
 # The GENERATE_TESTLIST tag can be used to enable (YES) or 
 # disable (NO) the test list. This list is created by putting \test 

Extras/BulletColladaConverter/ColladaConverter.cpp

@@ -13,11 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-/* Some TODO items:
- * fix naming conflicts with BulletUnnamed-* across executions -> need to generate a real unique name.
- * double check geometry sharing
- */
-
+///@todo fix naming conflicts with BulletUnnamed-* across executions -> need to generate a real unique name.
+///@todo double check geometry sharing
 
 #include "ColladaConverter.h"
 #include "btBulletDynamicsCommon.h"
@@ -430,7 +427,7 @@ bool ColladaConverter::convert()
 	
 							domPhysics_modelRef model = *(domPhysics_modelRef*)&ref; 
 
-							//todo: group some shared functionality in following 2 'blocks'.
+							///@todo: group some shared functionality in following 2 'blocks'.
 							for (r=0;r<instancePhysicsModelRef->getInstance_rigid_body_array().getCount();r++)
 							{
 								domInstance_rigid_bodyRef instRigidbodyRef = instancePhysicsModelRef->getInstance_rigid_body_array()[r];

Extras/ConvexDecomposition/cd_hull.cpp

@@ -2308,25 +2308,25 @@ int shareedge(const int3 &a,const int3 &b)
 	return 0;
 }
 
-class Tri;
+class btHullTriangle;
 
-Array<Tri*> tris;
+Array<btHullTriangle*> tris;
 
-class Tri : public int3
+class btHullTriangle : public int3
 {
 public:
 	int3 n;
 	int id;
 	int vmax;
 	float rise;
-	Tri(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
+	btHullTriangle(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
 	{
 		id = tris.count;
 		tris.Add(this);
 		vmax=-1;
 		rise = 0.0f;
 	}
-	~Tri()
+	~btHullTriangle()
 	{
 		assert(tris[id]==this);
 		tris[id]=NULL;
@@ -2335,7 +2335,7 @@ public:
 };
 
 
-int &Tri::neib(int a,int b)
+int &btHullTriangle::neib(int a,int b)
 {
 	static int er=-1;
 	int i;
@@ -2349,7 +2349,7 @@ int &Tri::neib(int a,int b)
 	assert(0);
 	return er;
 }
-void b2bfix(Tri* s,Tri*t)
+void b2bfix(btHullTriangle* s,btHullTriangle*t)
 {
 	int i;
 	for(i=0;i<3;i++) 
@@ -2365,14 +2365,14 @@ void b2bfix(Tri* s,Tri*t)
 	}
 }
 
-void removeb2b(Tri* s,Tri*t)
+void removeb2b(btHullTriangle* s,btHullTriangle*t)
 {
 	b2bfix(s,t);
 	delete s;
 	delete t;
 }
 
-void checkit(Tri *t)
+void checkit(btHullTriangle *t)
 {
 	int i;
 	assert(tris[t->id]==t);
@@ -2386,17 +2386,17 @@ void checkit(Tri *t)
 		assert( tris[t->n[i]]->neib(b,a) == t->id);
 	}
 }
-void extrude(Tri *t0,int v)
+void extrude(btHullTriangle *t0,int v)
 {
 	int3 t= *t0;
 	int n = tris.count;
-	Tri* ta = new Tri(v,t[1],t[2]);
+	btHullTriangle* ta = new btHullTriangle(v,t[1],t[2]);
 	ta->n = int3(t0->n[0],n+1,n+2);
 	tris[t0->n[0]]->neib(t[1],t[2]) = n+0;
-	Tri* tb = new Tri(v,t[2],t[0]);
+	btHullTriangle* tb = new btHullTriangle(v,t[2],t[0]);
 	tb->n = int3(t0->n[1],n+2,n+0);
 	tris[t0->n[1]]->neib(t[2],t[0]) = n+1;
-	Tri* tc = new Tri(v,t[0],t[1]);
+	btHullTriangle* tc = new btHullTriangle(v,t[0],t[1]);
 	tc->n = int3(t0->n[2],n+0,n+1);
 	tris[t0->n[2]]->neib(t[0],t[1]) = n+2;
 	checkit(ta);
@@ -2409,10 +2409,10 @@ void extrude(Tri *t0,int v)
 
 }
 
-Tri *extrudable(float epsilon)
+btHullTriangle *extrudable(float epsilon)
 {
 	int i;
-	Tri *t=NULL;
+	btHullTriangle *t=NULL;
 	for(i=0;i<tris.count;i++)
 	{
 		if(!t || (tris[i] && t->rise<tris[i]->rise))
@@ -2489,23 +2489,23 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
 
 
 	float3 center = (verts[p[0]]+verts[p[1]]+verts[p[2]]+verts[p[3]]) /4.0f;  // a valid interior point
-	Tri *t0 = new Tri(p[2],p[3],p[1]); t0->n=int3(2,3,1);
-	Tri *t1 = new Tri(p[3],p[2],p[0]); t1->n=int3(3,2,0);
-	Tri *t2 = new Tri(p[0],p[1],p[3]); t2->n=int3(0,1,3);
-	Tri *t3 = new Tri(p[1],p[0],p[2]); t3->n=int3(1,0,2);
+	btHullTriangle *t0 = new btHullTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1);
+	btHullTriangle *t1 = new btHullTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0);
+	btHullTriangle *t2 = new btHullTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3);
+	btHullTriangle *t3 = new btHullTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2);
 	isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1;
 	checkit(t0);checkit(t1);checkit(t2);checkit(t3);
 
 	for(j=0;j<tris.count;j++)
 	{
-		Tri *t=tris[j];
+		btHullTriangle *t=tris[j];
 		assert(t);
 		assert(t->vmax<0);
 		float3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
 		t->vmax = maxdirsterid(verts,verts_count,n,allow);
 		t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
 	}
-	Tri *te;
+	btHullTriangle *te;
 	vlimit-=4;
 	while(vlimit >0 && (te=extrudable(epsilon)))
 	{
@@ -2532,7 +2532,7 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
 			int3 nt=*tris[j];
 			if(above(verts,nt,center,0.01f*epsilon)  || magnitude(cross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]))< epsilon*epsilon*0.1f )
 			{
-				Tri *nb = tris[tris[j]->n[0]];
+				btHullTriangle *nb = tris[tris[j]->n[0]];
 				assert(nb);assert(!hasvert(*nb,v));assert(nb->id<j);
 				extrude(nb,v);
 				j=tris.count; 
@@ -2541,7 +2541,7 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
 		j=tris.count;
 		while(j--)
 		{
-			Tri *t=tris[j];
+			btHullTriangle *t=tris[j];
 			if(!t) continue;
 			if(t->vmax>=0) break;
 			float3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
@@ -2586,14 +2586,14 @@ int calchullpbev(float3 *verts,int verts_count,int vlimit, Array<Plane> &planes,
 	for(i=0;i<tris.count;i++)if(tris[i])
 	{
 		Plane p;
-		Tri *t = tris[i];
+		btHullTriangle *t = tris[i];
 		p.normal = TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
 		p.dist   = -dot(p.normal, verts[(*t)[0]]);
 		planes.Add(p);
 		for(j=0;j<3;j++)
 		{
 			if(t->n[j]<t->id) continue;
-			Tri *s = tris[t->n[j]];
+			btHullTriangle *s = tris[t->n[j]];
 			REAL3 snormal = TriNormal(verts[(*s)[0]],verts[(*s)[1]],verts[(*s)[2]]);
 			if(dot(snormal,p.normal)>=cos(bevangle*DEG2RAD)) continue;
 			REAL3 n = normalize(snormal+p.normal);

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -92,6 +92,7 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	        KinematicFilter = 4,
 	        DebrisFilter = 8,
 			SensorTrigger = 16,
+			CharacterFilter = 32,
 	        AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
 	};
 

src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp

@@ -19,9 +19,10 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 
 
-SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle)
+SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold)
 :m_sphere(sphere),
-m_triangle(triangle)
+m_triangle(triangle),
+m_contactBreakingThreshold(contactBreakingThreshold)
 {
 
 }
@@ -40,7 +41,7 @@ void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
 	//move sphere into triangle space
 	btTransform	sphereInTr = transformB.inverseTimes(transformA);
 
-	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact))
+	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold))
 	{
 		if (swapResults)
 		{
@@ -93,7 +94,7 @@ bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* ve
 }
 
 ///combined discrete/continuous sphere-triangle
-bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact)
+bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
 {
 
 	const btVector3* vertices = &m_triangle->getVertexPtr(0);
@@ -115,10 +116,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 		normal *= btScalar(-1.);
 	}
 
-	///@todo: move this gContactBreakingThreshold into a proper structure
-	extern btScalar gContactBreakingThreshold;
-
-	btScalar contactMargin = gContactBreakingThreshold;
+	btScalar contactMargin = contactBreakingThreshold;
 	bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
 	bool isInsideShellPlane = distanceFromPlane < r;
 	

src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h

@@ -30,19 +30,19 @@ struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
 {
 	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
 
-	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle);
+	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold);
 
 	virtual ~SphereTriangleDetector() {};
 
 private:
 
-	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact);
+	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar	contactBreakingThreshold);
 	bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
 	bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
 
 	btSphereShape* m_sphere;
 	btTriangleShape* m_triangle;
-
+	btScalar	m_contactBreakingThreshold;
 	
 };
 #endif //SPHERE_TRIANGLE_DETECTOR_H

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -78,6 +78,8 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 
 	btCollisionObject* body0 = (btCollisionObject*)b0;
 	btCollisionObject* body1 = (btCollisionObject*)b1;
+
+	btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
 	
 	void* mem = 0;
 	
@@ -89,7 +91,7 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 		mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
 
 	}
-	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0);
+	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold);
 	manifold->m_index1a = m_manifoldsPtr.size();
 	m_manifoldsPtr.push_back(manifold);
 

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -106,7 +106,8 @@ public:
 		CF_STATIC_OBJECT= 1,
 		CF_KINEMATIC_OBJECT= 2,
 		CF_NO_CONTACT_RESPONSE = 4,
-		CF_CUSTOM_MATERIAL_CALLBACK = 8//this allows per-triangle material (friction/restitution)
+		CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
+		CF_CHARACTER_OBJECT = 16
 	};
 
 	enum	CollisionObjectTypes

src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp

@@ -56,7 +56,7 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
 	
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
-	SphereTriangleDetector detector(sphere,triangle);
+	SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
 	
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
 	input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds

src/BulletCollision/CollisionShapes/btCollisionShape.cpp

@@ -42,8 +42,14 @@ void	btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) con
 	center = (aabbMin+aabbMax)*btScalar(0.5);
 }
 
+btScalar	btCollisionShape::getContactBreakingThreshold() const
+{
+	///@todo make this 0.1 configurable
+	return getAngularMotionDisc() * btScalar(0.1);
+}
 btScalar	btCollisionShape::getAngularMotionDisc() const
 {
+	///@todo cache this value, to improve performance
 	btVector3	center;
 	btScalar disc;
 	getBoundingSphere(center,disc);

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -46,6 +46,8 @@ public:
 	///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
 	virtual btScalar	getAngularMotionDisc() const;
 
+	virtual btScalar	getContactBreakingThreshold() const;
+
 
 	///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
 	///result is conservative

src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h

@@ -67,7 +67,7 @@ protected:
 	//! Creates a new contact point
 	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);		
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
 		return m_manifoldPtr;
 	}
 

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp

@@ -16,7 +16,7 @@ subject to the following restrictions:
 
 #include "btPersistentManifold.h"
 #include "LinearMath/btTransform.h"
-#include <assert.h>
+
 
 btScalar					gContactBreakingThreshold = btScalar(0.02);
 ContactDestroyedCallback	gContactDestroyedCallback = 0;
@@ -66,7 +66,7 @@ void btPersistentManifold::clearUserCache(btManifoldPoint& pt)
 					printf("error in clearUserCache\n");
 			}
 		}
-		assert(occurance<=0);
+		btAssert(occurance<=0);
 #endif //DEBUG_PERSISTENCY
 
 		if (pt.m_userPersistentData && gContactDestroyedCallback)
@@ -164,7 +164,7 @@ int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
 
 int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint)
 {
-	assert(validContactDistance(newPoint));
+	btAssert(validContactDistance(newPoint));
 
 	int insertIndex = getNumContacts();
 	if (insertIndex == MANIFOLD_CACHE_SIZE)
@@ -190,7 +190,7 @@ int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint)
 
 btScalar	btPersistentManifold::getContactBreakingThreshold() const
 {
-	return gContactBreakingThreshold;
+	return m_contactBreakingThreshold;
 }
 
 

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -24,7 +24,7 @@ subject to the following restrictions:
 
 struct btCollisionResult;
 
-///contact breaking and merging threshold
+///maximum contact breaking and merging threshold
 extern btScalar gContactBreakingThreshold;
 
 typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
@@ -52,6 +52,8 @@ ATTRIBUTE_ALIGNED16( class) btPersistentManifold
 	/// void* will allow any rigidbody class
 	void* m_body0;
 	void* m_body1;
+	btScalar	m_contactBreakingThreshold;
+
 	int	m_cachedPoints;
 
 	
@@ -68,10 +70,11 @@ public:
 
 	btPersistentManifold();
 
-	btPersistentManifold(void* body0,void* body1,int bla)
-		: m_body0(body0),m_body1(body1),m_cachedPoints(0)
+	btPersistentManifold(void* body0,void* body1,int bla, btScalar contactBreakingThreshold)
+		: m_body0(body0),m_body1(body1),m_cachedPoints(0),
+		m_contactBreakingThreshold(contactBreakingThreshold)
 	{
-		(void)bla;
+		
 	}
 
 	SIMD_FORCE_INLINE void* getBody0() { return m_body0;}