Calculation of bounding box: margins should be added before basis transform.

Disable btSphereBoxCollisionAlgorithm, it is broken.
More fixes for btSimpleBroadphase
Moved quickstep to Extras/quickstep folder, so developers don't get confused which constraint solver is default.

Demos/BasicDemo/BasicDemo.cpp

@@ -92,6 +92,7 @@ void	BasicDemo::initPhysics()
 	///Don't make the world AABB size too large, it will harm simulation quality and performance
 	btVector3 worldAabbMin(-10000,-10000,-10000);
 	btVector3 worldAabbMax(10000,10000,10000);
+	//m_overlappingPairCache = new btSimpleBroadphase();//new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
 	m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
 
 	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
@@ -104,8 +105,8 @@ void	BasicDemo::initPhysics()
 	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
 
 	///create a few basic rigid bodies
-	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+//	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
-//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
 	
 	m_collisionShapes.push_back(groundShape);
 
@@ -161,13 +162,15 @@ void	BasicDemo::initPhysics()
 
 		for (int k=0;k<ARRAY_SIZE_Y;k++)
 		{
-			for (int i=0;i<ARRAY_SIZE_X;i++)
+			int i=0;
+//			for (int i=0;i<ARRAY_SIZE_X;i++)
 			{
-				for(int j = 0;j<ARRAY_SIZE_Z;j++)
+				int j=0;
+//				for(int j = 0;j<ARRAY_SIZE_Z;j++)
 				{
 					startTransform.setOrigin(btVector3(
 										2.0*i + start_x,
-										2.0*k + start_y,
+										10+2.0*k + start_y,
 										2.0*j + start_z));
 
 			
@@ -175,8 +178,10 @@ void	BasicDemo::initPhysics()
 					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
 					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
 					btRigidBody* body = new btRigidBody(rbInfo);
+					body->setActivationState(ISLAND_SLEEPING);
 
 					m_dynamicsWorld->addRigidBody(body);
+					body->setActivationState(ISLAND_SLEEPING);
 				}
 			}
 		}

Demos/Benchmarks/BenchmarkDemo.cpp

@@ -272,8 +272,9 @@ void	BenchmarkDemo::initPhysics()
 	///Don't make the world AABB size too large, it will harm simulation quality and performance
 	btVector3 worldAabbMin(-10000,-10000,-10000);
 	btVector3 worldAabbMax(10000,10000,10000);
-	m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,3500);
+	//m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,3500);
-	//m_overlappingPairCache = new btDbvtBroadphase();
+
+	m_overlappingPairCache = new btDbvtBroadphase();
 
 	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
 	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -186,7 +186,7 @@ void	ConcaveDemo::initPhysics()
 	bool useQuantizedAabbCompression = true;
 
 //comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
-#define SERIALIZE_TO_DISK 1
+//#define SERIALIZE_TO_DISK 1
 #ifdef SERIALIZE_TO_DISK
 	btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
 	

Demos/OpenGL/DemoApplication.cpp

@@ -1229,7 +1229,8 @@ void	DemoApplication::clientResetScene()
 				myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
 				colObj->setWorldTransform( myMotionState->m_graphicsWorldTrans );
 				colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
-				colObj->activate();
+				//colObj->activate();
+				colObj->setActivationState(WANTS_DEACTIVATION);
 			}
 			//removed cached contact points
 			m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -85,15 +85,15 @@ public:
 		normal.normalize();
 
 		glBegin(GL_TRIANGLES);
-		glColor3f(0, 1, 0);
+		glColor3f(1, 1, 1);
 		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
 		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
 
-		glColor3f(0, 1, 0);
+		//glColor3f(0, 1, 0);
 		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
 		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
 
-		glColor3f(0, 1, 0);
+		//glColor3f(0, 1, 0);
 		glNormal3d(normal.getX(),normal.getY(),normal.getZ());
 		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
 		glEnd();
@@ -237,11 +237,11 @@ public:
 		} else
 		{
 			glBegin(GL_TRIANGLES);
-			glColor3f(1, 0, 0);
+			glColor3f(1, 1, 1);
 			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
-			glColor3f(0, 1, 0);
+			//glColor3f(0, 1, 0);
 			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
-			glColor3f(0, 0, 1);
+			//glColor3f(0, 0, 1);
 			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
 			glEnd();
 		}

src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp

@@ -55,7 +55,7 @@ btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* o
 	m_maxHandles = maxProxies;
 	m_numHandles = 0;
 	m_firstFreeHandle = 0;
-	m_firstAllocatedHandle = -1;
+	
 
 	{
 		for (int i = m_firstFreeHandle; i < maxProxies; i++)

src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h

@@ -61,11 +61,10 @@ protected:
 
 	void* m_pHandlesRawPtr;
 	int		m_firstFreeHandle;		// free handles list
-	int		m_firstAllocatedHandle;
+	
-
 	int allocHandle()
 	{
-		btAssert(m_firstFreeHandle);
+		btAssert(m_numHandles < m_maxHandles);
 		int freeHandle = m_firstFreeHandle;
 		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
 		m_numHandles++;

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -127,6 +127,11 @@ void	btCollisionWorld::updateAabbs()
 		{
 			btPoint3 minAabb,maxAabb;
 			colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+			//need to increase the aabb for contact thresholds
+			btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
+			minAabb -= contactThreshold;
+			maxAabb += contactThreshold;
+
 			btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
 
 			//moving objects should be moderately sized, probably something wrong if not

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -22,7 +22,9 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
+#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
 #include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
+#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
 #include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
@@ -70,11 +72,14 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 	
 	mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
 	m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
+#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
 	mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
 	m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
 	mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
 	m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
 	m_boxSphereCF->m_swapped = true;
+#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
+
 	mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
 	m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
 	mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
@@ -176,10 +181,13 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
 	m_sphereSphereCF->~btCollisionAlgorithmCreateFunc();
 	btAlignedFree( m_sphereSphereCF);
 
+#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
 	m_sphereBoxCF->~btCollisionAlgorithmCreateFunc();
 	btAlignedFree( m_sphereBoxCF);
 	m_boxSphereCF->~btCollisionAlgorithmCreateFunc();
 	btAlignedFree( m_boxSphereCF);
+#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
+
 	m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc();
 	btAlignedFree( m_sphereTriangleCF);
 	m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
@@ -212,7 +220,7 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 	{
 		return	m_sphereSphereCF;
 	}
-
+#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
 	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
 	{
 		return	m_sphereBoxCF;
@@ -222,6 +230,8 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 	{
 		return	m_boxSphereCF;
 	}
+#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
+
 
 	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE))
 	{

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -71,8 +71,11 @@ class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 	btCollisionAlgorithmCreateFunc*	m_swappedCompoundCreateFunc;
 	btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
 	btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
+#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
 	btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
 	btCollisionAlgorithmCreateFunc* m_boxSphereCF;
+#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
+
 	btCollisionAlgorithmCreateFunc* m_boxBoxCF;
 	btCollisionAlgorithmCreateFunc*	m_sphereTriangleCF;
 	btCollisionAlgorithmCreateFunc*	m_triangleSphereCF;

src/BulletCollision/CollisionShapes/btBoxShape.cpp

@@ -21,14 +21,15 @@ subject to the following restrictions:
 
 void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
 {
-	const btVector3& halfExtents = getHalfExtentsWithoutMargin();
+	btVector3 halfExtents = getHalfExtentsWithoutMargin();
+	halfExtents += btVector3(getMargin(),getMargin(),getMargin());
+
 
 	btMatrix3x3 abs_b = t.getBasis().absolute();  
 	btPoint3 center = t.getOrigin();
 	btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
 		   abs_b[1].dot(halfExtents),
 		  abs_b[2].dot(halfExtents));
-	extent += btVector3(getMargin(),getMargin(),getMargin());
 
 	aabbMin = center - extent;
 	aabbMax = center + extent;

src/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -112,6 +112,7 @@ void btCompoundShape::recalculateLocalAabb()
 void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
 {
 	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
+	localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
 	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
 	
 	btMatrix3x3 abs_b = trans.getBasis().absolute();  
@@ -121,10 +122,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
 	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
 		   abs_b[1].dot(localHalfExtents),
 		  abs_b[2].dot(localHalfExtents));
-	extent += btVector3(getMargin(),getMargin(),getMargin());
 
-	aabbMin = center - extent;
-	aabbMax = center + extent;
 }
 
 void	btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

@@ -53,6 +53,7 @@ public:
 
 
 		btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
+		localHalfExtents+= btVector3(margin,margin,margin);
 		btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
 		
 		btMatrix3x3 abs_b = trans.getBasis().absolute();  
@@ -62,10 +63,6 @@ public:
 		btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
 			   abs_b[1].dot(localHalfExtents),
 			  abs_b[2].dot(localHalfExtents));
-		extent += btVector3(margin,margin,margin);
-
-		aabbMin = center - extent;
-		aabbMax = center + extent;
 
 		
 	}

src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp

@@ -47,6 +47,7 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
 {
 
 	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
+	localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
 	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
 	
 	btMatrix3x3 abs_b = trans.getBasis().absolute();  
@@ -56,12 +57,7 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
 	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
 		   abs_b[1].dot(localHalfExtents),
 		  abs_b[2].dot(localHalfExtents));
-	extent += btVector3(getMargin(),getMargin(),getMargin());
 
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-
-	
 }
 
 void	btTriangleMeshShape::recalcLocalAabb()

src/BulletDynamics/CMakeLists.txt

@@ -22,19 +22,6 @@ ADD_LIBRARY(LibBulletDynamics
 	ConstraintSolver/btSolve2LinearConstraint.h
 	ConstraintSolver/btTypedConstraint.cpp
 	ConstraintSolver/btTypedConstraint.h
-	ConstraintSolver/btOdeContactJoint.cpp
-	ConstraintSolver/btOdeContactJoint.h
-	ConstraintSolver/btOdeJoint.cpp
-	ConstraintSolver/btOdeJoint.h
-	ConstraintSolver/btOdeSolverBody.h
-	ConstraintSolver/btOdeQuickstepConstraintSolver.cpp
-	ConstraintSolver/btOdeQuickstepConstraintSolver.h
-	ConstraintSolver/btOdeTypedJoint.cpp
-	ConstraintSolver/btOdeTypedJoint.h
-	ConstraintSolver/btSorLcp.cpp
-	ConstraintSolver/btSorLcp.h
-	ConstraintSolver/btOdeQuickstepConstraintSolver.h
-	ConstraintSolver/btOdeMacros.h	
 	Dynamics/Bullet-C-API.cpp
 	Dynamics/btDiscreteDynamicsWorld.cpp
 	Dynamics/btDiscreteDynamicsWorld.h

src/btBulletCollisionCommon.h

@@ -43,7 +43,9 @@ subject to the following restrictions:
 
 ///Narrowphase Collision Detector
 #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
+
+//btSphereBoxCollisionAlgorithm is broken, use gjk for now
+//#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
 
 ///Dispatching and generation of collision pairs (broadphase)

src/btBulletDynamicsCommon.h

@@ -32,9 +32,7 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
 
 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-///Optional ODE quickstep constraint solver, redistributed under ZLib license
+
-#include "BulletDynamics/ConstraintSolver/btOdeQuickstepConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btOdeTypedJoint.h"
 
 ///Vehicle simulation, with wheel contact simulated by raycasts
 #include "BulletDynamics/Vehicle/btRaycastVehicle.h"