more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.

removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact)
committed fixes that make the code adhere to 'who creates it, also destroys it'

Demos/ColladaDemo/ColladaDemo.cpp

@@ -13,8 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include "CcdPhysicsEnvironment.h"
-#include "CcdPhysicsController.h"
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btIDebugDraw.h"
@@ -26,7 +24,7 @@ subject to the following restrictions:
 //COLLADA_DOM should compile under all platforms, and is enabled by default.
 
 #include "ColladaConverter.h"
-#include "PHY_Pro.h"
+
 #include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 
@@ -35,6 +33,7 @@ float deltaTime = 1.f/60.f;
 #include "ColladaDemo.h"
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
+int maxObj = 1;
 
 ///custom version of the converter, that creates physics objects/constraints
 class MyColladaConverter : public ColladaConverter
@@ -48,8 +47,8 @@ class MyColladaConverter : public ColladaConverter
 		}
 		
 		///those 2 virtuals are called for each constraint/physics object
-	virtual int			createUniversalD6Constraint(
-		class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
+	virtual btTypedConstraint*			createUniversalD6Constraint(
+		class btRigidBody* bodyRef,class btRigidBody* bodyOther,
 			btTransform& localAttachmentFrameRef,
 			btTransform& localAttachmentOther,
 			const btVector3& linearMinLimits,
@@ -58,30 +57,49 @@ class MyColladaConverter : public ColladaConverter
 			const btVector3& angularMaxLimits
 			)
 		{
-			return m_demoApp->getPhysicsEnvironment()->createUniversalD6Constraint(
-					ctrlRef,ctrlOther,
-					localAttachmentFrameRef,
-					localAttachmentOther,
-					linearMinLimits,
-					linearMaxLimits,
-					angularMinLimits,
-					angularMaxLimits
-				);
+			if (bodyRef && bodyOther)
+			{
+				btGeneric6DofConstraint* genericConstraint = new btGeneric6DofConstraint(
+							*bodyRef,*bodyOther,
+							localAttachmentFrameRef,localAttachmentOther);
+
+				genericConstraint->setLinearLowerLimit(linearMinLimits);
+				genericConstraint->setLinearUpperLimit(linearMaxLimits);
+				genericConstraint->setAngularLowerLimit(angularMinLimits);
+				genericConstraint->setAngularUpperLimit(angularMaxLimits);
+
+				m_demoApp->getDynamicsWorld()->addConstraint( genericConstraint );
+				
+				return genericConstraint;
+			} 
+			return 0;
 		}
 
-	virtual CcdPhysicsController*  createPhysicsObject(bool isDynamic, 
+	virtual btRigidBody*  createRigidBody(bool isDynamic, 
 		float mass, 
 		const btTransform& startTransform,
 		btCollisionShape* shape)
 	{
-		CcdPhysicsController*  ctrl = m_demoApp->localCreatePhysicsObject(isDynamic, mass, startTransform,shape);
-		return ctrl;
+		if (!isDynamic)
+		{
+			printf("nondyna\n");
+		} else
+		{
+			if (!maxObj)
+				return 0;
+			maxObj--;
+		}
+		
+
+		btRigidBody* body = m_demoApp->localCreateRigidBody(isDynamic, mass, startTransform,shape);
+		m_demoApp->getDynamicsWorld()->addCollisionObject(body);
+		return body;
 	}
 
 
 	virtual	void	setGravity(const btVector3& grav)
 	{
-		m_demoApp->getPhysicsEnvironment()->setGravity(grav.getX(),grav.getY(),grav.getZ());
+		m_demoApp->setGravity(grav);
 	}
 	virtual void	setCameraInfo(const btVector3& camUp,int forwardAxis) 
 	{
@@ -141,16 +159,11 @@ void	ColladaDemo::initPhysics(const char* filename)
 	m_cameraUp = btVector3(0,0,1);
 	m_forwardAxis = 1;
 
-	///Setup a Physics Simulation Environment
-	btCollisionDispatcher* dispatcher = new	btCollisionDispatcher();
-	btVector3 worldAabbMin(-10000,-10000,-10000);
-	btVector3 worldAabbMax(10000,10000,10000);
-	btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
-	//BroadphaseInterface* broadphase = new btSimpleBroadphase();
-	m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
-	m_physicsEnvironmentPtr->setDeactivationTime(2.f);
-	m_physicsEnvironmentPtr->setGravity(0,0,-10);
-	m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld();
+	//m_dynamicsWorld = new btSimpleDynamicsWorld();
+
+	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
+	
 
 	MyColladaConverter* converter = new MyColladaConverter(this);
 
@@ -174,7 +187,7 @@ void ColladaDemo::clientMoveAndDisplay()
 {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
+	m_dynamicsWorld->stepSimulation(deltaTime);
 
 	renderme();
 
@@ -190,7 +203,7 @@ void ColladaDemo::displayCallback(void) {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 
-	m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);
+	m_dynamicsWorld->updateAabbs();
 
 	renderme();