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.

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;}