+ improved KinematicCharacterController

+ improved btSubsimplexConvexCast, btContinuousConvexCollision and btGjkConvexCast to support configuration that start in touching/penetration, required for 'sliding'.
+ added files to CMakeLists.txt for CharacterController
+ bump up version to 2.70 (preparation for beta)

src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp

@@ -51,10 +51,18 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 	btTransformUtil::calculateVelocity(fromA,toA,btScalar(1.),linVelA,angVelA);
 	btTransformUtil::calculateVelocity(fromB,toB,btScalar(1.),linVelB,angVelB);
 
+
 	btScalar boundingRadiusA = m_convexA->getAngularMotionDisc();
 	btScalar boundingRadiusB = m_convexB->getAngularMotionDisc();
 
 	btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
+	btVector3 relLinVel = (linVelB-linVelA);
+
+	btScalar relLinVelocLength = (linVelB-linVelA).length();
+	
+	if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f)
+		return false;
+
 
 	btScalar radius = btScalar(0.001);
 
@@ -108,8 +116,8 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 		dist = pointCollector1.m_distance;
 		n = pointCollector1.m_normalOnBInWorld;
 
-	
-
+		btScalar projectedLinearVelocity = relLinVel.dot(n);
+		
 		//not close enough
 		while (dist > radius)
 		{
@@ -120,7 +128,7 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 			}
 			btScalar dLambda = btScalar(0.);
 
-				btScalar projectedLinearVelocity = (linVelB-linVelA).dot(n);
+			projectedLinearVelocity = relLinVel.dot(n);
 
 			//calculate safe moving fraction from distance / (linear+rotational velocity)
 			
@@ -130,6 +138,8 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 			
 			dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
 
+			
+			
 			lambda = lambda + dLambda;
 
 			if (lambda > btScalar(1.))
@@ -187,6 +197,10 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 
 		}
 
+		//don't report time of impact for motion away from the contact normal (or causes minor penetration)
+		if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON)
+			return false;
+
 		result.m_fraction = lambda;
 		result.m_normal = n;
 		result.m_hitPoint = c;

src/BulletCollision/NarrowPhaseCollision/btConvexCast.h

@@ -42,20 +42,21 @@ public:
 
 		CastResult()
 			:m_fraction(btScalar(1e30)),
-			m_debugDrawer(0)
+			m_debugDrawer(0),
+			m_allowedPenetration(btScalar(0))
 		{
 		}
 
 
 		virtual ~CastResult() {};
 
-		btVector3	m_normal;
-		btVector3   m_hitPoint;
-		btScalar	m_fraction;
 		btTransform	m_hitTransformA;
 		btTransform	m_hitTransformB;
-
+		btVector3	m_normal;
+		btVector3   m_hitPoint;
+		btScalar	m_fraction; //input and output
 		btIDebugDraw* m_debugDrawer;
+		btScalar	m_allowedPenetration;
 
 	};
 

src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp

@@ -158,6 +158,11 @@ bool	btGjkConvexCast::calcTimeOfImpact(
 
 		}
 
+		//is n normalized?
+		//don't report time of impact for motion away from the contact normal (or causes minor penetration)
+		if (n.dot(r)>=-result.m_allowedPenetration)
+			return false;
+
 		result.m_fraction = lambda;
 		result.m_normal = n;
 		result.m_hitPoint = c;

src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp

@@ -119,6 +119,8 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 		{
 			dist2 = v.length2();
 			hasResult = true;
+			//todo: check this normal for validity
+			n=v;
 			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
 			//printf("DIST2=%f\n",dist2);
 			//printf("numverts = %i\n",m_simplexSolver->numVertices());
@@ -130,8 +132,17 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 
 	//int numiter = MAX_ITERATIONS - maxIter;
 //	printf("number of iterations: %d", numiter);
+	
+	//don't report a time of impact when moving 'away' from the hitnormal
+	
+
 	result.m_fraction = lambda;
 	result.m_normal = n.normalized();
+
+	//don't report time of impact for motion away from the contact normal (or causes minor penetration)
+	if (result.m_normal.dot(r)>=-result.m_allowedPenetration)
+		return false;
+
 	btVector3 hitA,hitB;
 	m_simplexSolver->compute_points(hitA,hitB);
 	result.m_hitPoint=hitB;