further work on shared memory API

fix dependency of BulletDynamics to Bullet3Common (b3Printf)

src/Bullet3Common/b3Logging.h

@@ -2,6 +2,10 @@
 #ifndef B3_LOGGING_H
 #define B3_LOGGING_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+    
 ///We add the do/while so that the statement "if (condition) b3Printf("test"); else {...}" would fail
 ///You can also customize the message by uncommenting out a different line below
 #define b3Printf(...) b3OutputPrintfVarArgsInternal(__VA_ARGS__)
@@ -18,6 +22,7 @@
 
 void b3EnterProfileZone(const char* name);
 void b3LeaveProfileZone();
+#ifdef __cplusplus
 
 class	b3ProfileZone
 {
@@ -34,6 +39,7 @@ public:
 };
 
 #define	B3_PROFILE( name )			b3ProfileZone __profile( name )
+#endif
 
 #else //B3_NO_PROFILE
 
@@ -64,6 +70,8 @@ void b3OutputPrintfVarArgsInternal(const char *str, ...);
 void b3OutputWarningMessageVarArgsInternal(const char *str, ...);
 void b3OutputErrorMessageVarArgsInternal(const char *str, ...);
 
-
+#ifdef __cplusplus
+    }
+#endif
 
 #endif//B3_LOGGING_H

src/BulletCollision/CollisionShapes/btConvexShape.cpp

@@ -48,7 +48,7 @@ btConvexShape::~btConvexShape()
 }
 
 
-void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin,btVector3& witnesPtMax) const
 {
 	btVector3 localAxis = dir*trans.getBasis();
 	btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
@@ -56,12 +56,16 @@ void btConvexShape::project(const btTransform& trans, const btVector3& dir, btSc
 
 	min = vtx1.dot(dir);
 	max = vtx2.dot(dir);
-
+	witnesPtMax = vtx2;
+	witnesPtMin = vtx1;
+	
 	if(min>max)
 	{
 		btScalar tmp = min;
 		min = max;
 		max = tmp;
+		witnesPtMax = vtx1;
+		witnesPtMin = vtx2;
 	}
 }
 

src/BulletCollision/CollisionShapes/btConvexShape.h

@@ -52,7 +52,8 @@ public:
 	btScalar getMarginNonVirtual () const;
 	void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
+
+	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
 
 	
 	//notice that the vectors should be unit length

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -846,8 +846,8 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
 		btVector3 linkAppliedTorque =isConstraintPass ? m_links[i].m_appliedConstraintTorque : m_links[i].m_appliedTorque;
  
 		zeroAccSpatFrc[i+1].setVector(-(rot_from_world[i+1] * linkAppliedTorque), -(rot_from_world[i+1] * linkAppliedForce ));
-		
-		if (0)
+	
+#if 0	
 		{
 
 			b3Printf("stepVelocitiesMultiDof zeroAccSpatFrc[%d] linear:%f,%f,%f, angular:%f,%f,%f",
@@ -860,6 +860,7 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
 			zeroAccSpatFrc[i+1].m_bottomVec[1],
 			zeroAccSpatFrc[i+1].m_bottomVec[2]);
 		}
+#endif
 		//
 		//adding damping terms (only)
 		btScalar linDampMult = 1., angDampMult = 1.;