add 'replay' command log feature: no mouse interaction during replay, and use a fixed number of sim steps in stepSimulation.

workaround for reversed separating normal in gjk/epa when using very small shapes, detect case and revert normal.
use smaller world size (10 units versus 100) for higher resolution shadow map
use a hard-coded rolling friction of 0.2 for objects in physics server (will make this configurable)
fix loading of command log files, when platform features are different (64bit/32bit)

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -19,7 +19,7 @@ subject to the following restrictions:
 bool useShadowMap=true;//false;//true;
 int shadowMapWidth=8192;
 int shadowMapHeight=8192;
-float shadowMapWorldSize=100;
+float shadowMapWorldSize=10;
 
 #define MAX_POINTS_IN_BATCH 1024
 #define MAX_LINES_IN_BATCH 1024

examples/SharedMemory/PhysicsServer.cpp

@@ -119,6 +119,36 @@ public:
 	int		m_number;
 };
 
+
+class bCommandChunkPtr4
+{
+public:
+	bCommandChunkPtr4(){}
+	int code;
+	int len;
+	union
+	{
+		int m_uniqueInt;
+	};
+	int dna_nr;
+	int nr;
+};
+
+// ----------------------------------------------------- //
+class bCommandChunkPtr8
+{
+public:
+	bCommandChunkPtr8(){}
+	int code,  len;
+	union
+	{
+		int	m_uniqueInts[2];
+	};
+	int dna_nr, nr;
+};
+
+
+
 struct CommandLogger
 {
 	FILE* m_file;
@@ -194,8 +224,11 @@ struct CommandLogger
 
 struct CommandLogPlayback
 {
-	unsigned char* m_header[12];
+	unsigned char m_header[12];
 	FILE* m_file;
+	bool m_bitsVary;
+	bool m_fileIs64bit;
+
 
 	CommandLogPlayback(const char* fileName)
 	{
@@ -204,6 +237,14 @@ struct CommandLogPlayback
 		{
 			fread(m_header,12,1,m_file);
 		}
+		unsigned char c = m_header[7];
+		m_fileIs64bit =  (c=='-');
+		
+		const bool VOID_IS_8 = ((sizeof(void*)==8));
+		m_bitsVary = (VOID_IS_8 != m_fileIs64bit);
+		
+
+
 	}
 	virtual ~CommandLogPlayback()
 	{
@@ -215,14 +256,29 @@ struct CommandLogPlayback
 	}
 	bool processNextCommand(SharedMemoryCommand* cmd)
 	{
-		btCommandChunk chunk;
+		if (m_file)
-		size_t s = fread((void*)&chunk,sizeof(btCommandChunk),1,m_file);
+		{
+			size_t s = 0;
+		
+
+			if (m_fileIs64bit)
+			{
+				bCommandChunkPtr8 chunk8;
+				s = fread((void*)&chunk8,sizeof(bCommandChunkPtr8),1,m_file);
+			} else
+			{
+				bCommandChunkPtr4 chunk4;
+				s = fread((void*)&chunk4,sizeof(bCommandChunkPtr4),1,m_file);
+			}
+		
 			if (s==1)
 			{
 				s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
 				return (s==1);
 			}
+		}
 		return false;
+
 	}
 };
 
@@ -1627,6 +1683,7 @@ void PhysicsServerSharedMemory::processClientCommands()
 						
 						bool isDynamic = (mass>0);
 						btRigidBody* rb = worldImporter->createRigidBody(isDynamic,mass,startTrans,shape,0);
+						rb->setRollingFriction(0.2);
 						m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
 						
 						SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_RIGID_BODY_CREATION_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);

examples/SharedMemory/PhysicsServerExample.cpp

@@ -18,6 +18,7 @@ class PhysicsServerExample : public SharedMemoryCommon
 
     bool m_isConnected;
     btClock m_clock;
+	bool m_replay;
 	
 public:
     
@@ -36,6 +37,7 @@ public:
 
 	void replayFromLogFile()
 	{
+		m_replay = true;
 		m_physicsServer.replayFromLogFile("BulletPhysicsCommandLog.bin");
 	}
 	
@@ -61,6 +63,9 @@ public:
 	
 	virtual bool	mouseMoveCallback(float x,float y)
 	{
+		if (m_replay)
+			return false;
+
 		CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
 		
 		if (!renderer)
@@ -78,6 +83,9 @@ public:
 
 	virtual bool	mouseButtonCallback(int button, int state, float x, float y)
 	{
+		if (m_replay)
+			return false;
+
 		CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
 		
 		if (!renderer)
@@ -128,7 +136,8 @@ public:
 PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper)
 :SharedMemoryCommon(helper),
 m_wantsShutdown(false),
-m_isConnected(false)
+m_isConnected(false),
+m_replay(false)
 {
 	b3Printf("Started PhysicsServer\n");
 }
@@ -177,6 +186,12 @@ bool PhysicsServerExample::wantsTermination()
 
 
 void	PhysicsServerExample::stepSimulation(float deltaTime)
+{
+	if (m_replay)
+	{
+		for (int i=0;i<100;i++)
+			m_physicsServer.processClientCommands();
+	} else
 	{
 		btClock rtc;
 		btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
@@ -186,6 +201,7 @@ void	PhysicsServerExample::stepSimulation(float deltaTime)
 			m_physicsServer.processClientCommands();
 		}
 	}
+}
 
 void PhysicsServerExample::renderScene()
 {

src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -339,6 +339,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
 					{
 						tmpNormalInB /= btSqrt(lenSqr);
 						btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
+						m_lastUsedMethod = 3;
 						//only replace valid penetrations when the result is deeper (check)
 						if (!isValid || (distance2 < distance))
 						{
@@ -346,9 +347,48 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
 							pointOnA = tmpPointOnA;
 							pointOnB = tmpPointOnB;
 							normalInB = tmpNormalInB;
+							///todo: need to track down this EPA penetration solver degeneracy
+							///the penetration solver reports penetration but the contact normal
+							///connecting the contact points is pointing in the opposite direction
+							///until then, detect the issue and revert the normal
+							{
+								btScalar d1=0;
+								{
+									btVector3 seperatingAxisInA = (normalInB)* input.m_transformA.getBasis();
+									btVector3 seperatingAxisInB = -normalInB* input.m_transformB.getBasis();
 								
+
+									btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+									btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+
+									btVector3  pWorld = localTransA(pInA);	
+									btVector3  qWorld = localTransB(qInB);
+									btVector3 w	= pWorld - qWorld;
+									d1 = (-normalInB).dot(w);
+								}
+								btScalar d0 = 0.f;
+								{
+									btVector3 seperatingAxisInA = (-normalInB)* input.m_transformA.getBasis();
+									btVector3 seperatingAxisInB = normalInB* input.m_transformB.getBasis();
+								
+
+									btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+									btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+
+									btVector3  pWorld = localTransA(pInA);	
+									btVector3  qWorld = localTransB(qInB);
+									btVector3 w	= pWorld - qWorld;
+									d0 = normalInB.dot(w);
+								}
+								if (d1>d0)
+								{
+									m_lastUsedMethod = 10;
+									normalInB*=-1;
+								} 
+
+							}
 							isValid = true;
-							m_lastUsedMethod = 3;
+							
 						} else
 						{
 							m_lastUsedMethod = 8;