minor update manual

fix vehicle demo (heightfield is broken, when using very large scaling factor)
add btConeShape serialization, see Issue 725
add btGearConstraint get/set, see Issue 685 and Issue 671

Demos/VehicleDemo/VehicleDemo.cpp

@@ -281,7 +281,8 @@ const float TRIANGLE_SIZE=20.f;
 #endif
 
 
-	btScalar maxHeight = 20000.f;
+	//btScalar maxHeight = 20000.f;//exposes a bug
+	btScalar maxHeight = 100;
 	
 	bool useFloatDatam=false;
 	bool flipQuadEdges=false;
@@ -298,7 +299,8 @@ const float TRIANGLE_SIZE=20.f;
 	localScaling[upIndex]=1.f;
 	groundShape->setLocalScaling(localScaling);
 
-	tr.setOrigin(btVector3(0,9940,0));//-64.5f,0));
+	//tr.setOrigin(btVector3(0,9940,0));
+	tr.setOrigin(btVector3(0,49.4,0));
 
 #endif //
 

Extras/Serialize/BulletFileLoader/autogenerated/bullet.h

@@ -57,6 +57,7 @@ typedef struct bInvalidHandle {
     class btCompoundShapeChildData;
     class btCompoundShapeData;
     class btCylinderShapeData;
+    class btConeShapeData;
     class btCapsuleShapeData;
     class btTriangleInfoData;
     class btTriangleInfoMapData;
@@ -425,6 +426,16 @@ typedef struct bInvalidHandle {
     };
 
 
+// -------------------------------------------------- //
+    class btConeShapeData
+    {
+    public:
+        btConvexInternalShapeData m_convexInternalShapeData;
+        int m_upIndex;
+        char m_padding[4];
+    };
+
+
 // -------------------------------------------------- //
     class btCapsuleShapeData
     {
@@ -689,13 +700,14 @@ typedef struct bInvalidHandle {
         int m_useReferenceFrameA;
         int m_angularOnly;
         int m_enableAngularMotor;
-        float m_motorTargetVelocity;
-        float m_maxMotorImpulse;
-        float m_lowerLimit;
-        float m_upperLimit;
-        float m_limitSoftness;
-        float m_biasFactor;
-        float m_relaxationFactor;
+        double m_motorTargetVelocity;
+        double m_maxMotorImpulse;
+        double m_lowerLimit;
+        double m_upperLimit;
+        double m_limitSoftness;
+        double m_biasFactor;
+        double m_relaxationFactor;
+        char m_padding1[4];
     };
 
 

Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp

@@ -199,6 +199,7 @@ btCollisionShape* btWorldImporter::convertCollisionShape(  btCollisionShapeData*
 		}
 
 		case CYLINDER_SHAPE_PROXYTYPE:
+		case CONE_SHAPE_PROXYTYPE:
 		case CAPSULE_SHAPE_PROXYTYPE:
 		case BOX_SHAPE_PROXYTYPE:
 		case SPHERE_SHAPE_PROXYTYPE:
@@ -286,6 +287,38 @@ btCollisionShape* btWorldImporter::convertCollisionShape(  btCollisionShapeData*
 							
 
 							
+							break;
+						}
+					case CONE_SHAPE_PROXYTYPE:
+						{
+							btConeShapeData* conData = (btConeShapeData*) shapeData;
+							btVector3 halfExtents = implicitShapeDimensions;//+margin;
+							switch (conData->m_upIndex)
+							{
+							case 0:
+								{
+									shape = createConeShapeX(halfExtents.getY(),halfExtents.getX());
+									break;
+								}
+							case 1:
+								{
+									shape = createConeShapeY(halfExtents.getX(),halfExtents.getY());
+									break;
+								}
+							case 2:
+								{
+									shape = createConeShapeZ(halfExtents.getX(),halfExtents.getZ());
+									break;
+								}
+							default:
+								{
+									printf("unknown Cone up axis\n");
+								}
+									
+							};
+							
+							
+							
 							break;
 						}
 					case MULTI_SPHERE_SHAPE_PROXYTYPE:
@@ -1077,6 +1110,27 @@ btCollisionShape* btWorldImporter::createCylinderShapeZ(btScalar radius,btScalar
 	return shape;
 }
 
+btCollisionShape* btWorldImporter::createConeShapeX(btScalar radius,btScalar height)
+{
+	btConeShapeX* shape = new btConeShapeX(radius,height);
+	m_allocatedCollisionShapes.push_back(shape);
+	return shape;
+}
+
+btCollisionShape* btWorldImporter::createConeShapeY(btScalar radius,btScalar height)
+{
+	btConeShape* shape = new btConeShape(radius,height);
+	m_allocatedCollisionShapes.push_back(shape);
+	return shape;
+}
+
+btCollisionShape* btWorldImporter::createConeShapeZ(btScalar radius,btScalar height)
+{
+	btConeShapeZ* shape = new btConeShapeZ(radius,height);
+	m_allocatedCollisionShapes.push_back(shape);
+	return shape;
+}
+
 btTriangleIndexVertexArray*	btWorldImporter::createTriangleMeshContainer()
 {
 	btTriangleIndexVertexArray* in = new btTriangleIndexVertexArray();

Extras/Serialize/BulletWorldImporter/btWorldImporter.h

@@ -162,6 +162,9 @@ public:
 	virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
 	virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
 	virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
+	virtual btCollisionShape* createConeShapeX(btScalar radius,btScalar height);
+	virtual btCollisionShape* createConeShapeY(btScalar radius,btScalar height);
+	virtual btCollisionShape* createConeShapeZ(btScalar radius,btScalar height);
 	virtual class btTriangleIndexVertexArray*	createTriangleMeshContainer();
 	virtual	btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
 	virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);

Extras/Serialize/makesdna/makesdna.cpp

@@ -133,6 +133,7 @@ typedef unsigned long uintptr_t;
 #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 #include "BulletCollision/CollisionShapes/btCylinderShape.h"
+#include "BulletCollision/CollisionShapes/btConeShape.h"
 #include "BulletCollision/CollisionShapes/btCapsuleShape.h"
 #include "BulletCollision/CollisionShapes/btTriangleInfoMap.h"
 #include "BulletCollision/Gimpact/btGImpactShape.h"
@@ -176,6 +177,7 @@ char *includefiles[] = {
 	"../../../src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h",
 	"../../../src/BulletCollision/CollisionShapes/btCompoundShape.h",
 	"../../../src/BulletCollision/CollisionShapes/btCylinderShape.h",
+	"../../../src/BulletCollision/CollisionShapes/btConeShape.h",
 	"../../../src/BulletCollision/CollisionShapes/btCapsuleShape.h",
 	"../../../src/BulletCollision/CollisionShapes/btTriangleInfoMap.h",
 	"../../../src/BulletCollision/Gimpact/btGImpactShape.h",

src/BulletCollision/CollisionShapes/btConeShape.cpp

@@ -62,6 +62,10 @@ void	btConeShape::setConeUpIndex(int upIndex)
 	default:
 		btAssert(0);
 	};
+	
+	m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
+	m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
+	m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
 }
 
 btVector3 btConeShape::coneLocalSupport(const btVector3& v) const

src/BulletCollision/CollisionShapes/btConeShape.h

@@ -90,6 +90,13 @@ public:
 	}
 
 	virtual void	setLocalScaling(const btVector3& scaling);
+	
+	
+	virtual	int	calculateSerializeBufferSize() const;
+	
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+	
 
 };
 
@@ -104,19 +111,61 @@ class btConeShapeX : public btConeShape
 		return btVector3 (1,0,0);
 	}
 
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "ConeX";
+	}
+	
+	
 };
 
 ///btConeShapeZ implements a Cone shape, around the Z axis
 class btConeShapeZ : public btConeShape
 {
-	public:
-		btConeShapeZ(btScalar radius,btScalar height);
+public:
+	btConeShapeZ(btScalar radius,btScalar height);
 
 	virtual btVector3	getAnisotropicRollingFrictionDirection() const
 	{
 		return btVector3 (0,0,1);
 	}
 
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "ConeZ";
+	}
+	
+	
 };
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btConeShapeData
+{
+	btConvexInternalShapeData	m_convexInternalShapeData;
+	
+	int	m_upIndex;
+	
+	char	m_padding[4];
+};
+
+SIMD_FORCE_INLINE	int	btConeShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btConeShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btConeShapeData* shapeData = (btConeShapeData*) dataBuffer;
+	
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+	
+	shapeData->m_upIndex = m_coneIndices[1];
+	
+	return "btConeShapeData";
+}
+
 #endif //BT_CONE_MINKOWSKI_H
 

src/BulletCollision/CollisionShapes/btConvexShape.cpp

@@ -21,6 +21,7 @@ subject to the following restrictions:
 #include "btTriangleShape.h"
 #include "btSphereShape.h"
 #include "btCylinderShape.h"
+#include "btConeShape.h"
 #include "btCapsuleShape.h"
 #include "btConvexHullShape.h"
 #include "btConvexPointCloudShape.h"
@@ -336,6 +337,11 @@ btScalar btConvexShape::getMarginNonVirtual () const
 		btCylinderShape* cylShape = (btCylinderShape*)this;
 		return cylShape->getMarginNV();
 	}
+	case CONE_SHAPE_PROXYTYPE:
+	{
+		btConeShape* conShape = (btConeShape*)this;
+		return conShape->getMarginNV();
+	}
 	case CAPSULE_SHAPE_PROXYTYPE:
 	{
 		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;

src/BulletDynamics/ConstraintSolver/btGearConstraint.h

@@ -36,17 +36,48 @@ public:
 	///internal method used by the constraint solver, don't use them directly
 	virtual void getInfo1 (btConstraintInfo1* info);
 
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo2 (btConstraintInfo2* info);
-
-	virtual	void	setParam(int num, btScalar value, int axis = -1) 
+	///internal method used by the constraint solver, don't use them directly
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+	void setAxisA(btVector3& axisA) 
 	{
-		btAssert(0);
-	};
+		m_axisInA = axisA;
+	}
+	void setAxisB(btVector3& axisB)
+	{
+		m_axisInB = axisB;
+	}
+	void setRatio(btScalar ratio)
+	{
+		m_ratio = ratio;
+	}
+	const btVector3& getAxisA() const
+	{
+		return m_axisInA;
+	}
+	const btVector3& getAxisB() const
+	{
+		return m_axisInB;
+	}
+	btScalar getRatio() const
+	{
+		return m_ratio;
+	}
+
+
+	virtual	void	setParam(int num, btScalar value, int axis = -1) 
+	{
+		(void) num;
+		(void) value;
+		(void) axis;
+		btAssert(0);
+	}
 
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const 
 	{ 
+		(void) num;
+		(void) axis;
 		btAssert(0);
 		return 0.f;
 	}