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/BspDemo/BspConverter.cpp

@@ -15,7 +15,6 @@ subject to the following restrictions:
 
 #include "BspConverter.h"
 #include "BspLoader.h"
-#include "CcdPhysicsEnvironment.h"
 #include "LinearMath/btVector3.h"
 
 void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)

Demos/BspDemo/BspDemo.cpp

@@ -13,9 +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"
@@ -31,7 +28,6 @@ subject to the following restrictions:
 #include "BspConverter.h"
 #endif //QUAKE_BSP_IMPORTING
 
-#include "PHY_Pro.h"
 #include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 
@@ -76,7 +72,9 @@ public:
 				//this create an internal copy of the vertices
 				btCollisionShape* shape = new btConvexHullShape(&vertices[0],vertices.size());
 
-				m_demoApp->localCreatePhysicsObject(isDynamic, mass, startTransform,shape);
+				btRigidBody* body = m_demoApp->localCreateRigidBody(isDynamic, mass, startTransform,shape);
+				assert(body);
+				m_demoApp->getDynamicsWorld()->addCollisionObject( body );
 			}
 		}
 };
@@ -124,6 +122,11 @@ int main(int argc,char** argv)
 	return glutmain(argc, argv,640,480,"Bullet Quake BSP Physics Viewer http://bullet.sourceforge.net",bspDemo);
 }
 
+BspDemo::~BspDemo()
+{
+	delete m_dynamicsWorld;
+}
+
 void	BspDemo::initPhysics(char* bspfilename)
 {
 	
@@ -132,16 +135,7 @@ void	BspDemo::initPhysics(char* bspfilename)
 	m_forwardAxis = 1;
 
 	///Setup a Physics Simulation Environment
-	btCollisionDispatcher* dispatcher = new	btCollisionDispatcher();
+	m_dynamicsWorld = new btDiscreteDynamicsWorld();
-	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);
-
 
 
 #ifdef QUAKE_BSP_IMPORTING
@@ -192,7 +186,7 @@ void BspDemo::clientMoveAndDisplay()
 {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
+	m_dynamicsWorld->stepSimulation(deltaTime);
 
 	renderme();
 
@@ -208,7 +202,7 @@ void BspDemo::displayCallback(void) {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 
-	m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);
+	//m_dynamicsWorld->UpdateAabbs(deltaTime);
 
 	renderme();
 

Demos/BspDemo/BspDemo.h

@@ -22,6 +22,8 @@ class BspDemo : public DemoApplication
 {
 	public:
 
+	virtual ~BspDemo();
+
 	void	initPhysics(char* bspfilename);
 
 	virtual void clientMoveAndDisplay();

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -21,10 +21,8 @@ subject to the following restrictions:
 
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btIDebugDraw.h"
-
 #include "GLDebugDrawer.h"
 
-#include "PHY_Pro.h"
 #include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 
@@ -154,14 +152,7 @@ void CcdPhysicsDemo::displayCallback(void) {
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	/*
+	m_dynamicsWorld->updateAabbs();
-	if (m_physicsEnvironmentPtr)
-	{
-		m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);
-		//draw contactpoints
-		m_physicsEnvironmentPtr->CallbackTriggers();
-	}
-	*/
 
 	
 	renderme();
@@ -253,6 +244,8 @@ void	CcdPhysicsDemo::initPhysics()
 
 		m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
 
+		m_dynamicsWorld->setDebugDrawer(&debugDrawer);
+		
 
 #ifdef USER_DEFINED_FRICTION_MODEL
 	btSequentialImpulseConstraintSolver* solver = (btSequentialImpulseConstraintSolver*) m_physicsEnvironmentPtr->GetConstraintSolver();

Demos/CcdPhysicsDemo/MyMotionState.cpp

@@ -1,67 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "MyMotionState.h"
-#include "LinearMath/btPoint3.h"
-
-MyMotionState::MyMotionState()
-{
-	m_worldTransform.setIdentity();
-}
-
-
-MyMotionState::~MyMotionState()
-{
-
-}
-
-void	MyMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
-{
-	posX = m_worldTransform.getOrigin().x();
-	posY = m_worldTransform.getOrigin().y();
-	posZ = m_worldTransform.getOrigin().z();
-}
-
-void	MyMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
-{
-	scaleX = 1.;
-	scaleY = 1.;
-	scaleZ = 1.;
-}
-
-void	MyMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
-{
-	quatIma0 = m_worldTransform.getRotation().x();
-	quatIma1 = m_worldTransform.getRotation().y();
-	quatIma2 = m_worldTransform.getRotation().z();
-	quatReal = m_worldTransform.getRotation()[3];
-}
-		
-void	MyMotionState::setWorldPosition(float posX,float posY,float posZ)
-{
-	btPoint3 pos(posX,posY,posZ);
-	m_worldTransform.setOrigin( pos );
-}
-
-void	MyMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
-{
-	btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
-	m_worldTransform.setRotation( orn );
-}
-		
-void	MyMotionState::calculateWorldTransformations()
-{
-
-}

Demos/CcdPhysicsDemo/MyMotionState.h

@@ -1,44 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef MY_MOTIONSTATE_H
-#define MY_MOTIONSTATE_H
-
-#include "PHY_IMotionState.h"
-#include <LinearMath/btTransform.h>
-
-
-class	MyMotionState : public PHY_IMotionState
-
-{
-	public:
-		MyMotionState();
-
-		virtual ~MyMotionState();
-
-		virtual void	getWorldPosition(float& posX,float& posY,float& posZ);
-		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
-		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
-		
-		virtual void	setWorldPosition(float posX,float posY,float posZ);
-		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
-		
-		virtual	void	calculateWorldTransformations();
-		
-		btTransform	m_worldTransform;
-
-};
-
-#endif //MY_MOTIONSTATE_H

Demos/ColladaDemo/ColladaConverter.cpp

@@ -14,7 +14,7 @@ subject to the following restrictions:
 */
 
 #include "ColladaConverter.h"
-
+#include "btBulletDynamicsCommon.h"
 #include "dae.h"
 #include "dom/domCOLLADA.h"
 
@@ -27,10 +27,9 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btTriangleMesh.h"
 #include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+//#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 
-#include "CcdPhysicsController.h"
 
 
 char* getLastFileName();
@@ -537,18 +536,18 @@ void	ColladaConverter::prepareConstraints(ConstraintInput& input)
 
 					daeString orgUri0 = attachRefBody->getRigid_body().getOriginalURI();
 					daeString orgUri1 = attachBody1->getRigid_body().getOriginalURI();
-					CcdPhysicsController* ctrl0=0,*ctrl1=0;
+					btRigidBody* body0=0,*body1=0;
 					
 					for (int i=0;i<m_numObjects;i++)
 					{
-						char* bodyName = (char*)m_physObjects[i]->getNewClientInfo();
+						char* bodyName = (char*)m_rigidBodies[i]->m_userObjectPointer;
 						if (!strcmp(bodyName,orgUri0))
 						{
-							ctrl0=m_physObjects[i];
+							body0=m_rigidBodies[i];
 						}
 						if (!strcmp(bodyName,orgUri1))
 						{
-							ctrl1=m_physObjects[i];
+							body1=m_rigidBodies[i];
 						}
 					}
 
@@ -572,7 +571,6 @@ void	ColladaConverter::prepareConstraints(ConstraintInput& input)
 					btVector3 angularMax(coneMaxLimit.get(0),coneMaxLimit.get(1),coneMaxLimit.get(2));
 
 					{
-						int constraintId;
 						
 						btTransform attachFrameRef0;
 						attachFrameRef0 = 
@@ -635,11 +633,11 @@ void	ColladaConverter::prepareConstraints(ConstraintInput& input)
 						}
 
 
-						if (ctrl0 && ctrl1)
+						if (body0&& body1)
 						{
-						constraintId = createUniversalD6Constraint(
+						createUniversalD6Constraint(
-						ctrl0,
+						body0,
-						ctrl1,
+						body1,
 						attachFrameRef0,
 						attachFrameOther,
 						linearLowerLimits,
@@ -699,12 +697,12 @@ void	ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
 
 
 
-	CcdPhysicsController* ctrl = createPhysicsObject(isDynamics,mass,startTransform,colShape);
+	btRigidBody* body= createRigidBody(isDynamics,mass,startTransform,colShape);
-	if (ctrl)
+	if (body)
 	{
 		//for bodyName lookup in constraints
-		ctrl->setNewClientInfo((void*)input.m_bodyName);
+		body->m_userObjectPointer = (void*)input.m_bodyName;
-		m_physObjects[m_numObjects] = ctrl;
+		m_rigidBodies[m_numObjects] = body;
 		m_numObjects++;
 	}
 
@@ -733,12 +731,8 @@ bool ColladaConverter::saveAs(const char* filename)
 
 				{
 
-					float np[3];
+					btVector3 np = m_rigidBodies[i]->m_worldTransform.getOrigin();
 					domFloat3 newPos = m_colladadomNodes[i]->getTranslate_array().get(0)->getValue();
-					m_physObjects[i]->GetMotionState()->getWorldPosition(
-						np[0],
-						np[1],
-						np[2]);
 					newPos.set(0,np[0]);
 					newPos.set(1,np[1]);
 					newPos.set(2,np[2]);
@@ -764,7 +758,7 @@ bool ColladaConverter::saveAs(const char* filename)
 				}
 
 				{
-					btQuaternion quat = m_physObjects[i]->getRigidBody()->getCenterOfMassTransform().getRotation();
+					btQuaternion quat = m_rigidBodies[i]->getCenterOfMassTransform().getRotation();
 					btVector3 axis(quat.getX(),quat.getY(),quat.getZ());
 					axis[3] = 0.f;
 					//check for axis length
@@ -1059,7 +1053,11 @@ void	ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
 						} else
 						{
 							printf("static concave triangle <mesh> added\n");
-							rbOutput.m_colShape = new btTriangleMeshShape(trimesh);
+							//rbOutput.m_colShape = new btTriangleMeshShape(trimesh);//btBvhTriangleMeshShape(trimesh);
+							//rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
+							rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
+							
+							//btTriangleMeshShape
 						}
 
 					}

Demos/ColladaDemo/ColladaConverter.h

@@ -22,8 +22,9 @@ subject to the following restrictions:
 #include "LinearMath/btVector3.h"
 
 class btCollisionShape;
-class PHY_IPhysicsController;
+class btRigidBody;
-class CcdPhysicsController;
+class	btTypedConstraint;
+
 class ConstraintInput;
 
 //use some reasonable number here
@@ -42,7 +43,7 @@ protected:
 	const char* m_filename;
 	
 	int	m_numObjects;
-	CcdPhysicsController* m_physObjects[COLLADA_CONVERTER_MAX_NUM_OBJECTS];
+	btRigidBody* m_rigidBodies[COLLADA_CONVERTER_MAX_NUM_OBJECTS];
 	
 	void	PreparePhysicsObject(struct btRigidBodyInput& input, bool isDynamics, float mass,btCollisionShape* colShape);
 	
@@ -66,8 +67,8 @@ public:
 	bool convert();
 
 	///those 2 virtuals are called for each constraint/physics object
-	virtual int			createUniversalD6Constraint(
+	virtual btTypedConstraint*			createUniversalD6Constraint(
-		class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
+		class btRigidBody* body0,class btRigidBody* otherBody,
 			btTransform& localAttachmentFrameRef,
 			btTransform& localAttachmentOther,
 			const btVector3& linearMinLimits,
@@ -76,7 +77,7 @@ public:
 			const btVector3& angularMaxLimits
 			) = 0;
 
-	virtual CcdPhysicsController*  createPhysicsObject(bool isDynamic, 
+	virtual btRigidBody*  createRigidBody(bool isDynamic, 
 		float mass, 
 		const btTransform& startTransform,
 		btCollisionShape* shape) = 0;

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(
+	virtual btTypedConstraint*			createUniversalD6Constraint(
-		class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
+		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(
+			if (bodyRef && bodyOther)
-					ctrlRef,ctrlOther,
+			{
-					localAttachmentFrameRef,
+				btGeneric6DofConstraint* genericConstraint = new btGeneric6DofConstraint(
-					localAttachmentOther,
+							*bodyRef,*bodyOther,
-					linearMinLimits,
+							localAttachmentFrameRef,localAttachmentOther);
-					linearMaxLimits,
+
-					angularMinLimits,
+				genericConstraint->setLinearLowerLimit(linearMinLimits);
-					angularMaxLimits
+				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);
+		if (!isDynamic)
-		return ctrl;
+		{
+			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
+	m_dynamicsWorld = new btDiscreteDynamicsWorld();
-	btCollisionDispatcher* dispatcher = new	btCollisionDispatcher();
+	//m_dynamicsWorld = new btSimpleDynamicsWorld();
-	btVector3 worldAabbMin(-10000,-10000,-10000);
+
-	btVector3 worldAabbMax(10000,10000,10000);
+	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
-	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);
 
 	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();
 

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -13,13 +13,9 @@ 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 "MyMotionState.h"
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "GLDebugDrawer.h"
-#include "PHY_Pro.h"
 #include "ConcaveDemo.h"
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
@@ -159,30 +155,31 @@ void	ConcaveDemo::initPhysics()
 		
 	btOverlappingPairCache* broadphase = new btSimpleBroadphase();
 
+	m_dynamicsWorld = new btDiscreteDynamicsWorld();
 	
-	m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
+	bool isDynamic = false;
-	
-		bool isDynamic = false;
 	float mass = 0.f;
 	btTransform	startTransform;
 	startTransform.setIdentity();
-	startTransform.setOrigin(btVector3(0,-2,0));
+	startTransform.setOrigin(btVector3(0,0,0));
 
-	CcdPhysicsController* staticTrimesh = localCreatePhysicsObject(isDynamic, mass, startTransform,trimeshShape);
+	btRigidBody* staticBody = localCreateRigidBody(isDynamic, mass, startTransform,trimeshShape);
+
+	staticBody->m_collisionFlags |=btCollisionObject::isStatic;
+
+	getDynamicsWorld()->addCollisionObject(staticBody);
 	//enable custom material callback
-	staticTrimesh->getRigidBody()->m_collisionFlags |= btCollisionObject::customMaterialCallback;
+	staticBody->m_collisionFlags |= btCollisionObject::customMaterialCallback;
 
 	{
 		for (int i=0;i<10;i++)
 		{
 			btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
 			startTransform.setOrigin(btVector3(2*i,1,1));
-			localCreatePhysicsObject(true, 1, startTransform,boxShape);
+			getDynamicsWorld()->addCollisionObject(localCreateRigidBody(true, 1, startTransform,boxShape));
 		}
 	}
-	m_physicsEnvironmentPtr->setGravity(-1,-10,1);
 	
-	m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
 }
 
 void ConcaveDemo::clientMoveAndDisplay()
@@ -191,7 +188,7 @@ void ConcaveDemo::clientMoveAndDisplay()
 
 	float deltaTime = 1.f/60.f;
 
-	m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
+	m_dynamicsWorld->stepSimulation(deltaTime);
 	
 	renderme();
 
@@ -202,7 +199,7 @@ void ConcaveDemo::clientMoveAndDisplay()
 
 void	ConcaveDemo::clientResetScene()
 {
-	int numObj = m_physicsEnvironmentPtr->GetNumControllers();
+	/*int numObj = m_physicsEnvironmentPtr->GetNumControllers();
 
 	//skip ground
 	for (int i=1;i<numObj;i++)
@@ -213,6 +210,8 @@ void	ConcaveDemo::clientResetScene()
 		ctrl->SetLinearVelocity(0,0,0,0);
 		ctrl->SetAngularVelocity(0,0,0,0);
 	}
+	*/
+
 }
 
 

Demos/ConcaveDemo/MyMotionState.cpp

@@ -1,67 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "MyMotionState.h"
-#include "LinearMath/btPoint3.h"
-
-MyMotionState::MyMotionState()
-{
-	m_worldTransform.setIdentity();
-}
-
-
-MyMotionState::~MyMotionState()
-{
-
-}
-
-void	MyMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
-{
-	posX = m_worldTransform.getOrigin().x();
-	posY = m_worldTransform.getOrigin().y();
-	posZ = m_worldTransform.getOrigin().z();
-}
-
-void	MyMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
-{
-	scaleX = 1.;
-	scaleY = 1.;
-	scaleZ = 1.;
-}
-
-void	MyMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
-{
-	quatIma0 = m_worldTransform.getRotation().x();
-	quatIma1 = m_worldTransform.getRotation().y();
-	quatIma2 = m_worldTransform.getRotation().z();
-	quatReal = m_worldTransform.getRotation()[3];
-}
-		
-void	MyMotionState::setWorldPosition(float posX,float posY,float posZ)
-{
-	btPoint3 pos(posX,posY,posZ);
-	m_worldTransform.setOrigin( pos );
-}
-
-void	MyMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
-{
-	btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
-	m_worldTransform.setRotation( orn );
-}
-		
-void	MyMotionState::calculateWorldTransformations()
-{
-
-}

Demos/ConcaveDemo/MyMotionState.h

@@ -1,44 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef MY_MOTIONSTATE_H
-#define MY_MOTIONSTATE_H
-
-#include "PHY_IMotionState.h"
-#include <LinearMath/btTransform.h>
-
-
-class	MyMotionState : public PHY_IMotionState
-
-{
-	public:
-		MyMotionState();
-
-		virtual ~MyMotionState();
-
-		virtual void	getWorldPosition(float& posX,float& posY,float& posZ);
-		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
-		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
-		
-		virtual void	setWorldPosition(float posX,float posY,float posZ);
-		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
-		
-		virtual	void	calculateWorldTransformations();
-		
-		btTransform	m_worldTransform;
-
-};
-
-#endif //MY_MOTIONSTATE_H

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -13,15 +13,12 @@ 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 "MyMotionState.h"
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btIDebugDraw.h"
 
 #include "GLDebugDrawer.h"
 
-#include "PHY_Pro.h"
 #include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 
@@ -61,10 +58,7 @@ void	ConstraintDemo::initPhysics()
 	btOverlappingPairCache* broadphase = new btSimpleBroadphase();
 
 
-	m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld();
-	m_physicsEnvironmentPtr->setDeactivationTime(0.f);
-	m_physicsEnvironmentPtr->setGravity(0,-10,0);
-
 
 	btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
 	btTransform trans;
@@ -74,10 +68,12 @@ void	ConstraintDemo::initPhysics()
 	bool isDynamic = false;
 	float mass = 1.f;
 
-	CcdPhysicsController* ctrl0 = localCreatePhysicsObject( isDynamic,mass,trans,shape);
+	btRigidBody* body0 = localCreateRigidBody( isDynamic,mass,trans,shape);
+	getDynamicsWorld()->addCollisionObject(body0);
 	trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
 	isDynamic = true;
-	CcdPhysicsController* ctrl1 = localCreatePhysicsObject( isDynamic,mass,trans,shape);
+	btRigidBody* body1 = localCreateRigidBody( isDynamic,mass,trans,shape);
+	getDynamicsWorld()->addCollisionObject(body1);
 	
 	
 	clientResetScene();
@@ -85,21 +81,17 @@ void	ConstraintDemo::initPhysics()
 	{
 		int constraintId;
 
-			float pivotX=CUBE_HALF_EXTENTS,
+		btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
-				pivotY=-CUBE_HALF_EXTENTS,
+		btVector3 axisInA(0,0,1);
-				pivotZ=-CUBE_HALF_EXTENTS;
-			float axisX=0,axisY=0,axisZ=1;
 
+		btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
+		btVector3 axisInB = body1? 
+			(body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) : 
+		body0->getCenterOfMassTransform().getBasis() * axisInA;
 
-		constraintId =m_physicsEnvironmentPtr->createConstraint(
+		btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
-		ctrl0,
+
-		ctrl1,
+		m_dynamicsWorld->addConstraint(p2p);
-			PHY_POINT2POINT_CONSTRAINT,
-			//PHY_GENERIC_6DOF_CONSTRAINT,//can leave any of the 6 degree of freedom 'free' or 'locked'
-			//PHY_LINEHINGE_CONSTRAINT,
-			pivotX,pivotY,pivotZ,
-			axisX,axisY,axisZ
-			);
 
 	}
 }
@@ -112,8 +104,7 @@ void ConstraintDemo::clientMoveAndDisplay()
 
 	float deltaTime = 1.f/60.f;
 
-	m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
+	m_dynamicsWorld->stepSimulation(deltaTime);
-	
 	renderme();
 
     glFlush();

Demos/ConstraintDemo/MyMotionState.cpp

@@ -1,67 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "MyMotionState.h"
-#include "LinearMath/btPoint3.h"
-
-MyMotionState::MyMotionState()
-{
-	m_worldTransform.setIdentity();
-}
-
-
-MyMotionState::~MyMotionState()
-{
-
-}
-
-void	MyMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
-{
-	posX = m_worldTransform.getOrigin().x();
-	posY = m_worldTransform.getOrigin().y();
-	posZ = m_worldTransform.getOrigin().z();
-}
-
-void	MyMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
-{
-	scaleX = 1.;
-	scaleY = 1.;
-	scaleZ = 1.;
-}
-
-void	MyMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
-{
-	quatIma0 = m_worldTransform.getRotation().x();
-	quatIma1 = m_worldTransform.getRotation().y();
-	quatIma2 = m_worldTransform.getRotation().z();
-	quatReal = m_worldTransform.getRotation()[3];
-}
-		
-void	MyMotionState::setWorldPosition(float posX,float posY,float posZ)
-{
-	btPoint3 pos(posX,posY,posZ);
-	m_worldTransform.setOrigin( pos );
-}
-
-void	MyMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
-{
-	btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
-	m_worldTransform.setRotation( orn );
-}
-		
-void	MyMotionState::calculateWorldTransformations()
-{
-
-}

Demos/ConstraintDemo/MyMotionState.h

@@ -1,44 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef MY_MOTIONSTATE_H
-#define MY_MOTIONSTATE_H
-
-#include "PHY_IMotionState.h"
-#include <LinearMath/btTransform.h>
-
-
-class	MyMotionState : public PHY_IMotionState
-
-{
-	public:
-		MyMotionState();
-
-		virtual ~MyMotionState();
-
-		virtual void	getWorldPosition(float& posX,float& posY,float& posZ);
-		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
-		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
-		
-		virtual void	setWorldPosition(float posX,float posY,float posZ);
-		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
-		
-		virtual	void	calculateWorldTransformations();
-		
-		btTransform	m_worldTransform;
-
-};
-
-#endif //MY_MOTIONSTATE_H

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -16,18 +16,12 @@ subject to the following restrictions:
 #include "cd_wavefront.h"
 #include "ConvexBuilder.h"
 
-
-#include "CcdPhysicsEnvironment.h"
-#include "CcdPhysicsController.h"
 #include "btBulletDynamicsCommon.h"
 
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btIDebugDraw.h"
-
 #include "GLDebugDrawer.h"
 
-
-#include "PHY_Pro.h"
 #include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 
@@ -90,16 +84,14 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 	btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
 	//OverlappingPairCache* broadphase = new btSimpleBroadphase();
 
-	m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
+	btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
-	m_physicsEnvironmentPtr->setDeactivationTime(2.f);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
-
-	m_physicsEnvironmentPtr->setGravity(0,-10,0);
 
 	btTransform startTransform;
 	startTransform.setIdentity();
 	startTransform.setOrigin(btVector3(0,-4,0));
 
-	localCreatePhysicsObject(false,0,startTransform,new btBoxShape(btVector3(30,2,30)));
+	localCreateRigidBody(false,0,startTransform,new btBoxShape(btVector3(30,2,30)));
 
 	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
 	{
@@ -200,8 +192,8 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 					btTransform trans;
 					trans.setIdentity();
 					trans.setOrigin(centroid);
-					m_convexDemo->localCreatePhysicsObject(isDynamic, mass, trans,convexShape);
+					btRigidBody* body = m_convexDemo->localCreateRigidBody(isDynamic, mass, trans,convexShape);
-
+					m_convexDemo->getDynamicsWorld()->addCollisionObject(body);
 					mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
 
 
@@ -245,7 +237,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 		startTransform.setIdentity();
 		startTransform.setOrigin(btVector3(20,2,0));
 
-		localCreatePhysicsObject(isDynamic, mass, startTransform,convexShape);
+		localCreateRigidBody(isDynamic, mass, startTransform,convexShape);
 
 	}
 			
@@ -296,7 +288,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 	}
 
 
-	m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
+	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
 
 }
 
@@ -305,8 +297,7 @@ void ConvexDecompositionDemo::clientMoveAndDisplay()
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 
-
+	m_dynamicsWorld->stepSimulation(deltaTime);
-	m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
 
 	renderme();
 
@@ -322,7 +313,7 @@ void ConvexDecompositionDemo::displayCallback(void) {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 
-	m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);
+	m_dynamicsWorld->updateAabbs();
 
 	renderme();
 

Demos/OpenGL/DemoApplication.cpp

@@ -18,10 +18,7 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletDynamics/Dynamics/btDynamicsWorld.h"
 
-#include "CcdPhysicsEnvironment.h"
-#include "CcdPhysicsController.h"
 #include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
-#include "PHY_Pro.h"
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
 #include "GL_ShapeDrawer.h"
@@ -31,8 +28,6 @@ subject to the following restrictions:
 
 int numObjects = 0;
 const int maxNumObjects = 16384;
-DefaultMotionState ms[maxNumObjects];
-CcdPhysicsController* physObjects[maxNumObjects];
 btTransform startTransforms[maxNumObjects];
 btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
 
@@ -40,9 +35,9 @@ btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use
 DemoApplication::DemoApplication()
 		//see btIDebugDraw.h for modes
 :
-m_physicsEnvironmentPtr(0),
 m_dynamicsWorld(0),
 m_pickConstraint(0),
+m_gravity(0,-10,0),
 	m_cameraDistance(15.0),
 	m_debugMode(0),
 	m_ele(0.f),
@@ -340,8 +335,7 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
         break;
     }
 
-	if (m_physicsEnvironmentPtr)
+	getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
-		m_physicsEnvironmentPtr->setDebugMode(m_debugMode);
 
 	glutPostRedisplay();
 
@@ -411,27 +405,6 @@ void	DemoApplication::shootBox(const btVector3& destination)
 		body->setAngularVelocity(btVector3(0,0,0));
 	}
 
-	if (m_physicsEnvironmentPtr)
-	{
-		bool isDynamic = true;
-		float mass = 1.f;
-		btTransform startTransform;
-		startTransform.setIdentity();
-		btVector3 camPos = getCameraPosition();
-		startTransform.setOrigin(camPos);
-		btCollisionShape* boxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
-
-		CcdPhysicsController* newBox = localCreatePhysicsObject(isDynamic, mass, startTransform,boxShape);
-
-		btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
-		linVel.normalize();
-		linVel*=m_ShootBoxInitialSpeed;
-
-		newBox->setPosition(camPos[0],camPos[1],camPos[2]);
-		newBox->setOrientation(0,0,0,1);
-		newBox->SetLinearVelocity(linVel[0],linVel[1],linVel[2],false);
-		newBox->SetAngularVelocity(0,0,0,false);
-	}
 }
 
 
@@ -513,11 +486,9 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 					if (rayCallback.HasHit())
 					{
 						
-						if (rayCallback.m_collisionObject->m_internalOwner)
+						btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
+						if (body)
 						{
-							btRigidBody* body = (btRigidBody*)rayCallback.m_collisionObject->m_internalOwner;
-							if (body)
-							{
 								body->SetActivationState(ACTIVE_TAG);
 								btVector3 impulse = rayTo;
 								impulse.normalize();
@@ -526,39 +497,10 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 								btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition();
 								body->applyImpulse(impulse,relPos);
 							}
-						}
-
 					}
 				}
 
-				//apply an impulse
-				if (m_physicsEnvironmentPtr)
-				{
-					float hit[3];
-					float normal[3];
-					PHY_IPhysicsController* hitObj = m_physicsEnvironmentPtr->rayTest(0,m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
-					if (hitObj)
-					{
-						CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
-						btRigidBody* body = physCtrl->getRigidBody();
-						if (body)
-						{
-							body->SetActivationState(ACTIVE_TAG);
-							btVector3 impulse = rayTo;
-							impulse.normalize();
-							float impulseStrength = 10.f;
-							impulse *= impulseStrength;
-							btVector3 relPos(
-								hit[0] - body->getCenterOfMassPosition().getX(),						
-								hit[1] - body->getCenterOfMassPosition().getY(),
-								hit[2] - body->getCenterOfMassPosition().getZ());
 				
-							body->applyImpulse(impulse,relPos);
-						}
-
-					}
-
-				}
 
 			} else
 			{
@@ -581,10 +523,11 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 					if (rayCallback.HasHit())
 					{
 						
-						if (rayCallback.m_collisionObject->m_internalOwner)
+						
+						btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
+						if (body)
 						{
-							btRigidBody* body = (btRigidBody*)rayCallback.m_collisionObject->m_internalOwner;
+							if (!body->IsStatic())
-							if (body && !body->IsStatic())
 							{
 								pickedBody = body;
 								pickedBody->SetActivationState(DISABLE_DEACTIVATION);
@@ -612,51 +555,6 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 					}
 				}
 
-				//add a point to point constraint for picking
-				if (m_physicsEnvironmentPtr)
-				{
-					float hit[3];
-					float normal[3];
-					PHY_IPhysicsController* hitObj = m_physicsEnvironmentPtr->rayTest(0,m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
-					if (hitObj)
-					{
-
-						CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
-						btRigidBody* body = physCtrl->getRigidBody();
-
-						if (body && !body->IsStatic())
-						{
-							pickedBody = body;
-							pickedBody->SetActivationState(DISABLE_DEACTIVATION);
-
-							btVector3 pickPos(hit[0],hit[1],hit[2]);
-
-							btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
-
-							gPickingConstraintId = m_physicsEnvironmentPtr->createConstraint(physCtrl,0,PHY_POINT2POINT_CONSTRAINT,
-								localPivot.getX(),
-								localPivot.getY(),
-								localPivot.getZ(),
-								0,0,0);
-							//printf("created constraint %i",gPickingConstraintId);
-
-							//save mouse position for dragging
-							gOldPickingPos = rayTo;
-
-
-							btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
-
-							gOldPickingDist  = (pickPos-eyePos).length();
-
-							btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
-							if (p2p)
-							{
-								//very weak constraint for picking
-								p2p->m_setting.m_tau = 0.1f;
-							}
-						}
-					}
-				}
 			} else
 			{
 
@@ -671,17 +569,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 					pickedBody = 0;
 				}
 
-				if (gPickingConstraintId && m_physicsEnvironmentPtr)
-				{
-					m_physicsEnvironmentPtr->removeConstraint(gPickingConstraintId);
-					//printf("removed constraint %i",gPickingConstraintId);
-					gPickingConstraintId = 0;
-					pickedBody->ForceActivationState(ACTIVE_TAG);
-					pickedBody->m_deactivationTime = 0.f;
-					pickedBody = 0;
 				
-
-				}
 			}
 
 			break;
@@ -717,27 +605,7 @@ void	DemoApplication::mouseMotionFunc(int x,int y)
 
 	}
 
-	if (gPickingConstraintId && m_physicsEnvironmentPtr)
-	{
 	
-		//move the constraint pivot
-
-		btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
-		if (p2p)
-		{
-			//keep it at the same picking distance
-
-			btVector3 newRayTo = getRayTo(x,y);
-			btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
-			btVector3 dir = newRayTo-eyePos;
-			dir.normalize();
-			dir *= gOldPickingDist;
-
-			btVector3 newPos = eyePos + dir;
-			p2p->setPivotB(newPos);
-		}
-
-	}
 }
 
 
@@ -753,82 +621,27 @@ btRigidBody*	DemoApplication::localCreateRigidBody(bool isDynamic, float mass, c
 	btRigidBody* body = new btRigidBody(massProps);
 	body->m_collisionShape = shape;
 	body->m_worldTransform = startTransform;
-	body->m_internalOwner = body;
+
-	body->setMassProps( mass, localInertia);
-	body->setGravity(btVector3(0,-9.8f,0));
 	if (!isDynamic)
 	{
 		body->m_collisionFlags = btCollisionObject::isStatic;//??
+//		body->getBroadphaseProxy()->m_collisionFilterGroup = 1;/btCcdConstructionInfo::StaticFilter;
+//		body->getBroadphaseProxy()->m_collisionFilterMask = btCcdConstructionInfo::AllFilter ^ btCcdConstructionInfo::StaticFilter;
+		body->setMassProps( 0.f, localInertia);
+	} else
+	{
+		body->setMassProps( mass, localInertia);
+		body->m_collisionFlags = 0;
 	}
+	
+	body->setGravity(m_gravity);
+
 	return body;
 }
 
 
 
-///Very basic import
-CcdPhysicsController*  DemoApplication::localCreatePhysicsObject(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape)
-{
 
-	startTransforms[numObjects] = startTransform;
-
-	btCcdConstructionInfo ccdObjectCi;
-	ccdObjectCi.m_friction = 0.5f;
-	
-	btTransform tr;
-	tr.setIdentity();
-
-	int i = numObjects;
-	{
-		gShapePtr[i] = shape;
-		gShapePtr[i]->setMargin(0.05f);
-
-		btQuaternion orn = startTransform.getRotation();
-
-		ms[i].setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
-		ms[i].setWorldPosition(startTransform.getOrigin().getX(),startTransform.getOrigin().getY(),startTransform.getOrigin().getZ());
-
-		ccdObjectCi.m_MotionState = &ms[i];
-		ccdObjectCi.m_gravity = btVector3(0,-9.8,0);
-		ccdObjectCi.m_localInertiaTensor =btVector3(0,0,0);
-		if (!isDynamic)
-		{
-			ccdObjectCi.m_mass = 0.f;
-			ccdObjectCi.m_collisionFlags = btCollisionObject::isStatic;
-			ccdObjectCi.m_collisionFilterGroup = btCcdConstructionInfo::StaticFilter;
-			ccdObjectCi.m_collisionFilterMask = btCcdConstructionInfo::AllFilter ^ btCcdConstructionInfo::StaticFilter;
-		}
-		else
-		{
-			ccdObjectCi.m_mass = mass;
-			ccdObjectCi.m_collisionFlags = 0;
-		}
-
-		btVector3 localInertia(0.f,0.f,0.f);
-
-		if (isDynamic)
-		{
-			gShapePtr[i]->calculateLocalInertia(ccdObjectCi.m_mass,localInertia);
-		}
-
-		ccdObjectCi.m_localInertiaTensor = localInertia;
-		ccdObjectCi.m_collisionShape = gShapePtr[i];
-
-
-		physObjects[i]= new CcdPhysicsController( ccdObjectCi);
-
-		// Only do CCD if  motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
-		physObjects[i]->getRigidBody()->m_ccdSquareMotionTreshold = 0.f; 
-
-		//Experimental: better estimation of CCD Time of Impact:
-		//physObjects[i]->getRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;
-
-		m_physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
-
-	}
-
-	//return newly created PhysicsController
-	return physObjects[numObjects++];
-}
 
 void DemoApplication::renderme()
 {
@@ -950,192 +763,4 @@ void DemoApplication::renderme()
 		
 	}
 
-	if (m_physicsEnvironmentPtr)
-	{
-
-		if (getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP)
-		{
-			//don't use Bullet, use quickstep
-			m_physicsEnvironmentPtr->setSolverType(0);
-		} else
-		{
-			//Bullet LCP solver
-			m_physicsEnvironmentPtr->setSolverType(1);
-		}
-
-		if (getDebugMode() & btIDebugDraw::DBG_EnableCCD)
-		{
-			m_physicsEnvironmentPtr->setCcdMode(3);
-		} else
-		{
-			m_physicsEnvironmentPtr->setCcdMode(0);
-		}
-
-
-		bool isSatEnabled = (getDebugMode() & btIDebugDraw::DBG_EnableSatComparison);
-		m_physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
-
-
-		int numPhysicsObjects = m_physicsEnvironmentPtr->GetNumControllers();
-		
-		int i;
-
-		for (i=0;i<numPhysicsObjects;i++)
-		{
-
-			CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
-			btRigidBody* body = ctrl->getRigidBody();
-			
-			body->m_worldTransform.getOpenGLMatrix( m );
-
-			btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
-			if (i & 1)
-			{
-				wireColor = btVector3(0.f,0.0f,1.f);
-			}
-			///color differently for active, sleeping, wantsdeactivation states
-			if (ctrl->getRigidBody()->GetActivationState() == 1) //active
-			{
-				if (i & 1)
-				{
-					wireColor += btVector3 (1.f,0.f,0.f);
-				} else
-				{			
-					wireColor += btVector3 (.5f,0.f,0.f);
-				}
-			}
-			if (ctrl->getRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
-			{
-				if (i & 1)
-				{
-					wireColor += btVector3 (0.f,1.f, 0.f);
-				} else
-				{
-					wireColor += btVector3 (0.f,0.5f,0.f);
-				}
-			}
-
-			char	extraDebug[125];
-			sprintf(extraDebug,"Island:%i, Body:%i",ctrl->getRigidBody()->m_islandTag1,ctrl->getRigidBody()->m_debugBodyId);
-			ctrl->getRigidBody()->getCollisionShape()->setExtraDebugInfo(extraDebug);
-
-			float vec[16];
-			btTransform ident;
-			ident.setIdentity();
-			ident.getOpenGLMatrix(vec);
-			
-
-			GL_ShapeDrawer::drawOpenGL(m,ctrl->getRigidBody()->getCollisionShape(),wireColor,getDebugMode());
-
-			
-
-
-		}
-
-		if (!(getDebugMode() & btIDebugDraw::DBG_NoHelpText))
-		{
-
-			float xOffset = 10.f;
-			float yStart = 20.f;
-
-			float yIncr = -2.f;
-
-			char buf[124];
-
-			glColor3f(0, 0, 0);
-
-	#ifdef USE_QUICKPROF
-
-
-			if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
-			{
-				static int counter = 0;
-				counter++;
-				std::map<std::string, hidden::ProfileBlock*>::iterator iter;
-				for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter)
-				{
-					char blockTime[128];
-					sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
-					glRasterPos3f(xOffset,yStart,0);
-					BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
-					yStart += yIncr;
-
-				}
-			}
-	#endif //USE_QUICKPROF
-			//profiling << btProfiler::createStatsString(btProfiler::BLOCK_TOTAL_PERCENT); 
-			//<< std::endl;
-
-
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"mouse to interact");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"space to reset");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"cursor keys and z,x to navigate");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"i to toggle simulation, s single step");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"q to quit");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"d to toggle deactivation");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"a to draw temporal AABBs");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"h to toggle help text");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-			bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
-
-			bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
-
-
-		}
-
-	}
-
 }

Demos/OpenGL/DemoApplication.h

@@ -39,8 +39,6 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btTransform.h"
 
-class	CcdPhysicsEnvironment;
-class	CcdPhysicsController;
 class	btCollisionShape;
 class	btDynamicsWorld;
 class	btRigidBody;
@@ -53,12 +51,13 @@ class DemoApplication
 		
 
 	///this is the most important class
-	CcdPhysicsEnvironment* m_physicsEnvironmentPtr;
-	
 	btDynamicsWorld*		m_dynamicsWorld;
 
+	///constraint for mouse picking
 	btTypedConstraint*		m_pickConstraint;
 
+	btVector3	m_gravity;
+
 	float	m_cameraDistance;
 	int	m_debugMode;
 	
@@ -82,12 +81,16 @@ class DemoApplication
 	bool m_idle;
 	int m_lastKey;
 	
-	public:
+public:
 		
 	DemoApplication();
 	
 	virtual ~DemoApplication();
 
+	btDynamicsWorld*		getDynamicsWorld()
+	{
+		return m_dynamicsWorld;
+	}
 	
 	int		getDebugMode()
 	{
@@ -99,10 +102,6 @@ class DemoApplication
 		m_debugMode = mode;
 	}
 
-	CcdPhysicsEnvironment*	getPhysicsEnvironment()
-	{
-		return m_physicsEnvironmentPtr;
-	}
 	
 	void	setCameraUp(const btVector3& camUp)
 	{
@@ -142,10 +141,12 @@ class DemoApplication
 	///Demo functions
 	void	shootBox(const btVector3& destination);
 
+	void	setGravity(const btVector3& grav)
+	{
+		m_gravity = grav;
+	}
 	btVector3	getRayTo(int x,int y);
 
-	CcdPhysicsController*  localCreatePhysicsObject(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape);
-
 	btRigidBody*	localCreateRigidBody(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape);
 
 	///callback methods by glut	

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -226,7 +226,7 @@ void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const b
 					
 					gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
 					glPopMatrix();
-					glEndList();
+					gluDeleteQuadric(quadObj);
 
 					break;
 				}

Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp

@@ -13,12 +13,9 @@ 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/btIDebugDraw.h"
 #include "GLDebugDrawer.h"
-#include "PHY_Pro.h"
 #include "UserCollisionAlgorithm.h"
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
@@ -129,7 +126,7 @@ void	UserCollisionAlgorithm::initPhysics()
 	dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
 	
 
-	m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase);
 	
 		bool isDynamic = false;
 	float mass = 0.f;
@@ -137,21 +134,23 @@ void	UserCollisionAlgorithm::initPhysics()
 	startTransform.setIdentity();
 	startTransform.setOrigin(btVector3(0,-2,0));
 
-	CcdPhysicsController* staticTrimesh = localCreatePhysicsObject(isDynamic, mass, startTransform,trimeshShape);
+	btRigidBody* staticBody= localCreateRigidBody(isDynamic, mass, startTransform,trimeshShape);
+	getDynamicsWorld()->addCollisionObject(staticBody);
 	//enable custom material callback
-	staticTrimesh->getRigidBody()->m_collisionFlags |= btCollisionObject::customMaterialCallback;
+	staticBody->m_collisionFlags |= btCollisionObject::customMaterialCallback;
 
 	{
 		for (int i=0;i<10;i++)
 		{
 			btCollisionShape* sphereShape = new btSphereShape(1);
 			startTransform.setOrigin(btVector3(1,2*i,1));
-			localCreatePhysicsObject(true, 1, startTransform,sphereShape);
+			btRigidBody* body = localCreateRigidBody(true, 1, startTransform,sphereShape);
+			getDynamicsWorld()->addCollisionObject(body);
 		}
 	}
-	m_physicsEnvironmentPtr->setGravity(-1,-10,1);
 	
-	m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
+	
+	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
 }
 
 void UserCollisionAlgorithm::clientMoveAndDisplay()
@@ -160,7 +159,7 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
 
 	float deltaTime = 1.f/60.f;
 
-	m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
+	m_dynamicsWorld->stepSimulation(deltaTime);
 	
 	renderme();
 
@@ -171,6 +170,7 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
 
 void	UserCollisionAlgorithm::clientResetScene()
 {
+	/*
 	int numObj = m_physicsEnvironmentPtr->GetNumControllers();
 
 	//skip ground
@@ -182,6 +182,8 @@ void	UserCollisionAlgorithm::clientResetScene()
 		ctrl->SetLinearVelocity(0,0,0,0);
 		ctrl->SetAngularVelocity(0,0,0,0);
 	}
+	*/
+
 }
 
 

src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -25,7 +25,6 @@ btCollisionObject::btCollisionObject()
 		m_ccdSweptShereRadius(0.f),
 		m_ccdSquareMotionTreshold(0.f)
 {
-	m_cachedInvertedWorldTransform.setIdentity();
 	
 }
 

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -41,8 +41,6 @@ struct	btCollisionObject
 	//it can be either previous or future (predicted) transform
 	btTransform	m_interpolationWorldTransform;
 
-	btTransform	m_cachedInvertedWorldTransform;
-
 	enum CollisionFlags
 	{
 		isStatic = 1,

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -123,7 +123,6 @@ void	btCollisionWorld::performDiscreteCollisionDetection()
 	btVector3 aabbMin,aabbMax;
 	for (size_t i=0;i<m_collisionObjects.size();i++)
 	{
-		m_collisionObjects[i]->m_cachedInvertedWorldTransform = m_collisionObjects[i]->m_worldTransform.inverse();
 		m_collisionObjects[i]->m_collisionShape->getAabb(m_collisionObjects[i]->m_worldTransform,aabbMin,aabbMax);
 		m_broadphasePairCache->setAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
 	}

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -133,7 +133,7 @@ public:
 
 	struct	LocalRayResult
 	{
-		LocalRayResult(const btCollisionObject*	collisionObject, 
+		LocalRayResult(btCollisionObject*	collisionObject, 
 			LocalShapeInfo*	localShapeInfo,
 			const btVector3&		hitNormalLocal,
 			float hitFraction)
@@ -144,7 +144,7 @@ public:
 		{
 		}
 
-		const btCollisionObject*	m_collisionObject;
+		btCollisionObject*	m_collisionObject;
 		LocalShapeInfo*			m_localShapeInfo;
 		const btVector3&		m_hitNormalLocal;
 		float					m_hitFraction;
@@ -167,7 +167,7 @@ public:
 			:m_closestHitFraction(1.f)
 		{
 		}
-		virtual	float	AddSingleResult(const LocalRayResult& rayResult) = 0;
+		virtual	float	AddSingleResult(LocalRayResult& rayResult) = 0;
 	};
 
 	struct	ClosestRayResultCallback : public RayResultCallback
@@ -184,9 +184,9 @@ public:
 
 		btVector3	m_hitNormalWorld;
 		btVector3	m_hitPointWorld;
-		const btCollisionObject*	m_collisionObject;
+		btCollisionObject*	m_collisionObject;
 		
-		virtual	float	AddSingleResult(const LocalRayResult& rayResult)
+		virtual	float	AddSingleResult(LocalRayResult& rayResult)
 		{
 
 //caller already does the filter on the m_closestHitFraction

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -217,8 +217,9 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btBroadphaseProxy
 	//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
 	//todo: only do if the motion exceeds the 'radius'
 
-	btTransform convexFromLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_worldTransform;
+	btTransform worldToLocalTrimesh = triBody->m_worldTransform.inverse();
-	btTransform convexToLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_interpolationWorldTransform;
+	btTransform convexFromLocal = worldToLocalTrimesh * convexbody->m_worldTransform;
+	btTransform convexToLocal = worldToLocalTrimesh * convexbody->m_interpolationWorldTransform;
 
 	struct LocalTriangleSphereCastCallback	: public btTriangleCallback
 	{

src/BulletCollision/CollisionDispatch/btManifoldResult.cpp

@@ -57,8 +57,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 		return;
 
 
-	btTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
+	btTransform transAInv = m_body0->m_worldTransform.inverse();
-	btTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
+	btTransform transBInv= m_body1->m_worldTransform.inverse();
 
 	//transAInv = m_body0->m_worldTransform.inverse();
 	//transBInv= m_body1->m_worldTransform.inverse();

src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp

@@ -148,14 +148,12 @@ btVector3	btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& v
 int	btConvexTriangleMeshShape::getNumVertices() const
 {
 	//cache this?
-	assert(0);
 	return 0;
 	
 }
 
 int btConvexTriangleMeshShape::getNumEdges() const
 {
-	assert(0);	
 	return 0;
 }
 

src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h

@@ -13,6 +13,9 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+#ifndef BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
+#define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
+
 #include "btStridingMeshInterface.h"
 #include <vector>
 
@@ -76,3 +79,4 @@ public:
 
 };
 
+#endif //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H

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

@@ -35,11 +35,12 @@ 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

src/LinearMath/btTransform.h

@@ -41,37 +41,26 @@ public:
 	explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, 
 		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) 
 		: m_basis(q),
-		m_origin(c),
+		m_origin(c)
-		m_type(RIGID)
 	{}
 
 	explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, 
 		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)), 
 		unsigned int type = AFFINE)
 		: m_basis(b),
-		m_origin(c),
+		m_origin(c)
-		m_type(type)
 	{}
 
 
 		SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
 			m_basis = t1.m_basis * t2.m_basis;
 			m_origin = t1(t2.m_origin);
-			m_type = t1.m_type | t2.m_type;
 		}
 
 		void multInverseLeft(const btTransform& t1, const btTransform& t2) {
 			btVector3 v = t2.m_origin - t1.m_origin;
-			if (t1.m_type & SCALING) {
+			m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
-				btMatrix3x3 inv = t1.m_basis.inverse();
+			m_origin = v * t1.m_basis;
-				m_basis = inv * t2.m_basis;
-				m_origin = inv * v;
-			}
-			else {
-				m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
-				m_origin = v * t1.m_basis;
-			}
-			m_type = t1.m_type | t2.m_type;
 		}
 
 	SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
@@ -102,7 +91,6 @@ public:
 	{
 		m_basis.setValue(m);
 		m_origin.setValue(&m[12]);
-		m_type = AFFINE;
 	}
 
 	
@@ -126,7 +114,6 @@ public:
 	SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) 
 	{ 
 		m_origin = origin;
-		m_type |= TRANSLATION;
 	}
 
 	SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
@@ -136,50 +123,36 @@ public:
 	SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
 	{ 
 		m_basis = basis;
-		m_type |= LINEAR;
 	}
 
 	SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
 	{
 		m_basis.setRotation(q);
-		m_type = (m_type & ~LINEAR) | ROTATION;
 	}
 
 	SIMD_FORCE_INLINE void scale(const btVector3& scaling)
 	{
 		m_basis = m_basis.scaled(scaling);
-		m_type |= SCALING;
 	}
 
 	void setIdentity()
 	{
 		m_basis.setIdentity();
 		m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-		m_type = 0x0;
 	}
 
-	SIMD_FORCE_INLINE bool isIdentity() const { return m_type == 0x0; }
 	
 	btTransform& operator*=(const btTransform& t) 
 	{
 		m_origin += m_basis * t.m_origin;
 		m_basis *= t.m_basis;
-		m_type |= t.m_type; 
 		return *this;
 	}
 
 	btTransform inverse() const
 	{ 
-		if (m_type)
+		btMatrix3x3 inv = m_basis.transpose();
-		{
+		return btTransform(inv, inv * -m_origin);
-			btMatrix3x3 inv = (m_type & SCALING) ? 
-				m_basis.inverse() : 
-			m_basis.transpose();
-
-			return btTransform(inv, inv * -m_origin, m_type);
-		}
-
-		return *this;
 	}
 
 	btTransform inverseTimes(const btTransform& t) const;  
@@ -190,7 +163,6 @@ private:
 
 	btMatrix3x3 m_basis;
 	btVector3   m_origin;
-	unsigned int      m_type;
 };
 
 
@@ -205,25 +177,15 @@ SIMD_FORCE_INLINE btTransform
 btTransform::inverseTimes(const btTransform& t) const  
 {
 	btVector3 v = t.getOrigin() - m_origin;
-	if (m_type & SCALING) 
-	{
-		btMatrix3x3 inv = m_basis.inverse();
-		return btTransform(inv * t.getBasis(), inv * v, 
-			m_type | t.m_type);
-	}
-	else 
-	{
 		return btTransform(m_basis.transposeTimes(t.m_basis),
-			v * m_basis, m_type | t.m_type);
+			v * m_basis);
-	}
 }
 
 SIMD_FORCE_INLINE btTransform 
 btTransform::operator*(const btTransform& t) const
 {
 	return btTransform(m_basis * t.m_basis, 
-		(*this)(t.m_origin), 
+		(*this)(t.m_origin));
-		m_type | t.m_type);
 }	
 
 

src/btBulletDynamicsCommon.h

@@ -24,6 +24,8 @@ subject to the following restrictions:
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
+
 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
 ///Vehicle simulation, with wheel contact simulated by raycasts
 #include "BulletDynamics/Vehicle/btRaycastVehicle.h"