Add support for childshape index for btCompoundShape during ContactAddedCallback,

see example in Bullet/Demos/ConvexDecompositionDemo
Removed some warnings

src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp

@@ -267,7 +267,7 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
 		 int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output)
 {
   const btScalar fudge_factor = btScalar(1.05);
-  btVector3 p,pp,normalC;
+  btVector3 p,pp,normalC(0.f,0.f,0.f);
   const btScalar *normalR = 0;
   btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
     Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l;

src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -142,6 +142,15 @@ public:
 			if (!m_childCollisionAlgorithms[index])
 				m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
 
+			///detect swapping case
+			if (m_resultOut->getBody0Internal() == m_compoundColObj)
+			{
+				m_resultOut->setShapeIdentifiersA(-1,index);
+			} else
+			{
+				m_resultOut->setShapeIdentifiersB(-1,index);
+			}
+
 			m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
 			if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
 			{

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -124,8 +124,8 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 		///this should use the btDispatcher, so the actual registered algorithm is used
 		//		btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
 
-		m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
-	//	cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
+		m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
+	
 //		cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
 		colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
 		colAlgo->~btCollisionAlgorithm();

src/BulletCollision/CollisionDispatch/btManifoldResult.cpp

@@ -47,6 +47,12 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
 		:m_manifoldPtr(0),
 		m_body0(body0),
 		m_body1(body1)
+#ifdef DEBUG_PART_INDEX
+		,m_partId0(-1),
+	m_partId1(-1),
+	m_index0(-1),
+	m_index1(-1)
+#endif //DEBUG_PART_INDEX
 {
 	m_rootTransA = body0->getWorldTransform();
 	m_rootTransB = body1->getWorldTransform();
@@ -88,10 +94,19 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
 
    //BP mod, store contact triangles.
-   newPt.m_partId0 = m_partId0;
-   newPt.m_partId1 = m_partId1;
-   newPt.m_index0  = m_index0;
-   newPt.m_index1  = m_index1;
+	if (isSwapped)
+	{
+		newPt.m_partId0 = m_partId1;
+		newPt.m_partId1 = m_partId0;
+		newPt.m_index0  = m_index1;
+		newPt.m_index1  = m_index0;
+	} else
+	{
+		newPt.m_partId0 = m_partId0;
+		newPt.m_partId1 = m_partId1;
+		newPt.m_index0  = m_index0;
+		newPt.m_index1  = m_index1;
+	}
 	//printf("depth=%f\n",depth);
 	///@todo, check this for any side effects
 	if (insertIndex >= 0)
@@ -112,7 +127,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 		//experimental feature info, for per-triangle material etc.
 		btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
 		btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
-		(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
+		(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
 	}
 
 }

src/BulletCollision/CollisionDispatch/btManifoldResult.h

@@ -28,6 +28,7 @@ class btManifoldPoint;
 typedef bool (*ContactAddedCallback)(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
 extern ContactAddedCallback		gContactAddedCallback;
 
+//#define DEBUG_PART_INDEX 1
 
 
 ///btManifoldResult is a helper class to manage  contact results.
@@ -50,6 +51,13 @@ class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
 public:
 
 	btManifoldResult()
+#ifdef DEBUG_PART_INDEX
+		:
+	m_partId0(-1),
+	m_partId1(-1),
+	m_index0(-1),
+	m_index1(-1)
+#endif //DEBUG_PART_INDEX
 	{
 	}
 
@@ -71,12 +79,16 @@ public:
 		return m_manifoldPtr;
 	}
 
-	virtual void setShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
+	virtual void setShapeIdentifiersA(int partId0,int index0)
 	{
-			m_partId0=partId0;
-			m_partId1=partId1;
-			m_index0=index0;
-			m_index1=index1;		
+		m_partId0=partId0;
+		m_index0=index0;
+	}
+
+	virtual void setShapeIdentifiersB(	int partId1,int index1)
+	{
+		m_partId1=partId1;
+		m_index1=index1;
 	}
 
 
@@ -99,7 +111,16 @@ public:
 		}
 	}
 
+	const btCollisionObject* getBody0Internal() const
+	{
+		return m_body0;
+	}
 
+	const btCollisionObject* getBody1Internal() const
+	{
+		return m_body1;
+	}
+	
 };
 
 #endif //MANIFOLD_RESULT_H