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'

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -16,6 +16,7 @@ subject to the following restrictions:
 
 #include "btDiscreteDynamicsWorld.h"
 
+
 //collision detection
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
@@ -32,12 +33,14 @@ subject to the following restrictions:
 #include "BulletDynamics/Vehicle/btRaycastVehicle.h"
 #include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
 #include "BulletDynamics/Vehicle/btWheelInfo.h"
+#include "LinearMath/btIDebugDraw.h"
 
 #include <algorithm>
 
 btDiscreteDynamicsWorld::btDiscreteDynamicsWorld()
 :btDynamicsWorld(),
-m_constraintSolver(new btSequentialImpulseConstraintSolver)
+m_constraintSolver(new btSequentialImpulseConstraintSolver),
+m_debugDrawer(0)
 {
 	m_islandManager = new btSimulationIslandManager();
 	m_ownsIslandManager = true;
@@ -47,11 +50,12 @@ m_constraintSolver(new btSequentialImpulseConstraintSolver)
 
 btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
 :btDynamicsWorld(dispatcher,pairCache),
-m_constraintSolver(constraintSolver)
+m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
+m_debugDrawer(0)
 {
 	m_islandManager = new btSimulationIslandManager();
 	m_ownsIslandManager = true;
-	m_ownsConstraintSolver = false;
+	m_ownsConstraintSolver = (constraintSolver==0);
 }
 
 
@@ -114,10 +118,9 @@ void	btDiscreteDynamicsWorld::updateActivationState(float timeStep)
 	for (int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->m_internalOwner)
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
 		{
-			btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
-	
 			body->updateDeactivation(timeStep);
 
 			if (body->wantsSleeping())
@@ -190,8 +193,8 @@ void	btDiscreteDynamicsWorld::solveContactConstraints(btContactSolverInfo& solve
 
 	};
 
-	btIDebugDraw* debugDraw = 0;
-	InplaceSolverIslandCallback	solverCallback(	solverInfo,	m_constraintSolver,	debugDraw);
+	
+	InplaceSolverIslandCallback	solverCallback(	solverInfo,	m_constraintSolver,	m_debugDrawer);
 
 	
 	/// solve all the contact points and contact friction
@@ -277,23 +280,60 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 	Profiler::endBlock("IslandUnionFind");
 #endif //USE_QUICKPROF
 
+}
+
+static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
+{
+	btVector3 halfExtents = (to-from)* 0.5f;
+	btVector3 center = (to+from) *0.5f;
+	int i,j;
+
+	btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
+	for (i=0;i<4;i++)
+	{
+		for (j=0;j<3;j++)
+		{
+			pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],		
+				edgecoord[2]*halfExtents[2]);
+			pa+=center;
+
+			int othercoord = j%3;
+			edgecoord[othercoord]*=-1.f;
+			pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],	
+				edgecoord[2]*halfExtents[2]);
+			pb+=center;
+
+			debugDrawer->drawLine(pa,pb,color);
+		}
+		edgecoord = btVector3(-1.f,-1.f,-1.f);
+		if (i<3)
+			edgecoord[i]*=-1.f;
+	}
+
+
 }
 
 void	btDiscreteDynamicsWorld::updateAabbs()
 {
+	btVector3 colorvec(1,0,0);
 	btTransform predictedTrans;
 	for (int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->m_internalOwner)
+		
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
 		{
-			btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
-			if (body->IsActive() && (!body->IsStatic()))
+		//	if (body->IsActive() && (!body->IsStatic()))
 			{
 				btPoint3 minAabb,maxAabb;
 				colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
 				btSimpleBroadphase* bp = (btSimpleBroadphase*)m_broadphasePairCache;
 				bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
+				if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
+				{
+					DrawAabb(m_debugDrawer,minAabb,maxAabb,colorvec);
+				}
 			}
 		}
 	}
@@ -305,9 +345,9 @@ void	btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
 	for (int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->m_internalOwner)
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
 		{
-			btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
 			if (body->IsActive() && (!body->IsStatic()))
 			{
 				body->predictIntegratedTransform(timeStep, predictedTrans);
@@ -324,10 +364,9 @@ void	btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
 	for (int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->m_internalOwner)
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
 		{
-			btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
-			body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
 			if (body->IsActive() && (!body->IsStatic()))
 			{
 				body->applyForces( timeStep);

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -25,6 +25,7 @@ class btSimulationIslandManager;
 class btTypedConstraint;
 struct btContactSolverInfo;
 class btRaycastVehicle;
+class btIDebugDraw;
 
 #include <vector>
 
@@ -40,6 +41,8 @@ protected:
 
 	std::vector<btTypedConstraint*> m_constraints;
 
+	btIDebugDraw*	m_debugDrawer;
+
 	bool	m_ownsIslandManager;
 	bool	m_ownsConstraintSolver;
 
@@ -49,8 +52,6 @@ protected:
 	
 	void	integrateTransforms(float timeStep);
 		
-	void	updateAabbs();
-
 	void	calculateSimulationIslands();
 
 	void	solveNoncontactConstraints(btContactSolverInfo& solverInfo);
@@ -65,7 +66,7 @@ public:
 
 
 	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
-	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);
+	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver=0);
 
 	///this btDiscreteDynamicsWorld will create and own dispatcher, pairCache and constraintSolver, and deletes it in the destructor.
 	btDiscreteDynamicsWorld();
@@ -74,6 +75,8 @@ public:
 		
 	virtual void	stepSimulation( float timeStep);
 
+	virtual void	updateAabbs();
+
 	void	addConstraint(btTypedConstraint* constraint);
 
 	void	removeConstraint(btTypedConstraint* constraint);
@@ -97,6 +100,16 @@ public:
 		return this;
 	}
 
+	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
+	{
+			m_debugDrawer = debugDrawer;
+	}
+
+	virtual btIDebugDraw*	getDebugDrawer()
+	{
+		return m_debugDrawer;
+	}
+
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -40,11 +40,16 @@ class btDynamicsWorld : public btCollisionWorld
 		///stepSimulation proceeds the simulation over timeStep units
 		virtual void	stepSimulation( float timeStep) = 0;
 				
+		virtual void	updateAabbs() = 0;
 				
 		virtual void	addConstraint(btTypedConstraint* constraint) {};
 
 		virtual void	removeConstraint(btTypedConstraint* constraint) {};
-					
+
+		virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer) = 0;
+
+		virtual btIDebugDraw*	getDebugDrawer() = 0;
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -48,6 +48,9 @@ btRigidBody::btRigidBody( const btMassProps& massProps,btScalar linearDamping,bt
 
 	m_debugBodyId = uniqueId++;
 	
+	//m_internalOwner is to allow upcasting from collision object to rigid body
+	m_internalOwner = this;
+
 	setMassProps(massProps.m_mass, massProps.m_inertiaLocal);
     setDamping(linearDamping, angularDamping);
 	m_worldTransform.setIdentity();

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -65,6 +65,16 @@ public:
 
 	void			proceedToTransform(const btTransform& newTrans); 
 	
+	///to keep collision detection and dynamics separate we don't store a rigidbody pointer
+	///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
+	static const btRigidBody*	upcast(const btCollisionObject* colObj)
+	{
+		return (const btRigidBody*)colObj->m_internalOwner;
+	}
+	static btRigidBody*	upcast(btCollisionObject* colObj)
+	{
+		return (btRigidBody*)colObj->m_internalOwner;
+	}
 	
 	/// continuous collision detection needs prediction
 	void			predictIntegratedTransform(btScalar step, btTransform& predictedTransform) const;

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -24,14 +24,16 @@ subject to the following restrictions:
 
 btSimpleDynamicsWorld::btSimpleDynamicsWorld()
 :m_constraintSolver(new btSequentialImpulseConstraintSolver),
-m_ownsConstraintSolver(true)
+m_ownsConstraintSolver(true),
+m_debugDrawer(0)
 {
 }
 
 btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
 :btDynamicsWorld(dispatcher,pairCache),
 m_constraintSolver(constraintSolver),
-m_ownsConstraintSolver(false)
+m_ownsConstraintSolver(false),
+m_debugDrawer(0)
 {
 
 }
@@ -56,8 +58,8 @@ void	btSimpleDynamicsWorld::stepSimulation(float timeStep)
 	int numManifolds = m_dispatcher1->getNumManifolds();
 	btContactSolverInfo infoGlobal;
 	infoGlobal.m_timeStep = timeStep;
-	btIDebugDraw* debugDrawer=0;
-	m_constraintSolver->solveGroup(manifoldPtr, numManifolds,infoGlobal,debugDrawer);
+	
+	m_constraintSolver->solveGroup(manifoldPtr, numManifolds,infoGlobal,m_debugDrawer);
 
 	///integrate transforms
 	integrateTransforms(timeStep);
@@ -74,9 +76,9 @@ void	btSimpleDynamicsWorld::updateAabbs()
 	for (int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->m_internalOwner)
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
 		{
-			btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
 			if (body->IsActive() && (!body->IsStatic()))
 			{
 				btPoint3 minAabb,maxAabb;
@@ -94,9 +96,9 @@ void	btSimpleDynamicsWorld::integrateTransforms(float timeStep)
 	for (int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->m_internalOwner)
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
 		{
-			btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
 			if (body->IsActive() && (!body->IsStatic()))
 			{
 				body->predictIntegratedTransform(timeStep, predictedTrans);
@@ -113,10 +115,9 @@ void	btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
 	for (int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->m_internalOwner)
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
 		{
-			btRigidBody* body = (btRigidBody*)colObj->m_internalOwner;
-			body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
 			if (body->IsActive() && (!body->IsStatic()))
 			{
 				body->applyForces( timeStep);

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -35,12 +35,13 @@ protected:
 
 	bool	m_ownsConstraintSolver;
 
+	btIDebugDraw*	m_debugDrawer;
+
 	void	predictUnconstraintMotion(float timeStep);
 	
 	void	integrateTransforms(float timeStep);
 		
-	void	updateAabbs();
-
+	
 public:
 
 
@@ -54,6 +55,17 @@ public:
 		
 	virtual void	stepSimulation( float timeStep);
 
+	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer) 
+	{
+		m_debugDrawer = debugDrawer;
+	};
+
+	virtual btIDebugDraw*	getDebugDrawer()
+	{
+		return m_debugDrawer;
+	}
+
+	virtual void	updateAabbs();
 };
 
 #endif //BT_SIMPLE_DYNAMICS_WORLD_H