Add Character control to btDiscreteDynamicsWorld (moved btCharacterControllerInterface/btKinematicCharacterController functionality from demo)

Remove ibmsdk from CcdPhysicsDemo and CollisionDemo

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -51,6 +51,9 @@ subject to the following restrictions:
 #include "BulletDynamics/Vehicle/btRaycastVehicle.h"
 #include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
 #include "BulletDynamics/Vehicle/btWheelInfo.h"
+//character
+#include "BulletDynamics/Character/btCharacterControllerInterface.h"
+
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btMotionState.h"
@@ -403,7 +406,8 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 
 	///update vehicle simulation
 	updateVehicles(timeStep);
-
+	
+	updateCharacters(timeStep);
 
 	updateActivationState( timeStep );
 
@@ -479,6 +483,20 @@ void	btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
 	}
 }
 
+void	btDiscreteDynamicsWorld::updateCharacters(btScalar timeStep)
+{
+	BT_PROFILE("updateCharacters");
+	
+	for ( int i=0;i<m_characters.size();i++)
+	{
+		btCharacterControllerInterface* character = m_characters[i];
+		character->preStep (this);
+		character->playerStep (this,timeStep);
+	}
+}
+
+	
+	
 void	btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
 {
 	BT_PROFILE("updateActivationState");
@@ -543,6 +561,17 @@ void	btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
 	m_vehicles.remove(vehicle);
 }
 
+void	btDiscreteDynamicsWorld::addCharacter(btCharacterControllerInterface* character)
+{
+	m_characters.push_back(character);
+}
+
+void	btDiscreteDynamicsWorld::removeCharacter(btCharacterControllerInterface* character)
+{
+	m_characters.remove(character);
+}
+
+
 SIMD_FORCE_INLINE	int	btGetConstraintIslandId(const btTypedConstraint* lhs)
 {
 	int islandId;

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -26,6 +26,7 @@ class btTypedConstraint;
 
 
 class btRaycastVehicle;
+class btCharacterControllerInterface;
 class btIDebugDraw;
 #include "LinearMath/btAlignedObjectArray.h"
 
@@ -53,6 +54,9 @@ protected:
 
 	
 	btAlignedObjectArray<btRaycastVehicle*>	m_vehicles;
+	
+	btAlignedObjectArray<btCharacterControllerInterface*> m_characters;
+	
 
 	int	m_profileTimings;
 
@@ -68,6 +72,8 @@ protected:
 
 	void	updateVehicles(btScalar timeStep);
 
+	void	updateCharacters(btScalar timeStep);
+
 	void	startProfiling(btScalar timeStep);
 
 	virtual void	internalSingleStepSimulation( btScalar timeStep);
@@ -95,13 +101,18 @@ public:
 	///this can be useful to synchronize a single rigid body -> graphics object
 	void	synchronizeSingleMotionState(btRigidBody* body);
 
-	void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
+	virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
 
-	void	removeConstraint(btTypedConstraint* constraint);
+	virtual void	removeConstraint(btTypedConstraint* constraint);
 
-	void	addVehicle(btRaycastVehicle* vehicle);
+	virtual void	addVehicle(btRaycastVehicle* vehicle);
 
-	void	removeVehicle(btRaycastVehicle* vehicle);
+	virtual void	removeVehicle(btRaycastVehicle* vehicle);
+	
+	virtual void	addCharacter(btCharacterControllerInterface* character);
+
+	virtual void	removeCharacter(btCharacterControllerInterface* character);
+		
 
 	btSimulationIslandManager*	getSimulationIslandManager()
 	{

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -23,6 +23,7 @@ class btTypedConstraint;
 class btRaycastVehicle;
 class btConstraintSolver;
 class btDynamicsWorld;
+class btCharacterControllerInterface;
 
 /// Type for the callback for each tick
 typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
@@ -75,6 +76,11 @@ public:
 
 		virtual void	removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
 
+		virtual void	addCharacter(btCharacterControllerInterface* character) {(void)character;}
+
+		virtual void	removeCharacter(btCharacterControllerInterface* character) {(void)character;}
+
+
 		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
 		//existing rigidbodies in the world get gravity assigned too, during this method
 		virtual void	setGravity(const btVector3& gravity) = 0;