some more improvements to support basic CCD motion clamping

src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -31,7 +31,7 @@ btCollisionObject::btCollisionObject()
 		m_internalType(CO_COLLISION_OBJECT),
 		m_hitFraction(btScalar(1.)),
 		m_ccdSweptSphereRadius(btScalar(0.)),
-		m_ccdSquareMotionThreshold(btScalar(0.)),
+		m_ccdMotionThreshold(btScalar(0.)),
 		m_checkCollideWith(false)
 {
 	

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -81,8 +81,8 @@ protected:
 	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
 	btScalar		m_ccdSweptSphereRadius;
 
-	/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
-	btScalar		m_ccdSquareMotionThreshold;
+	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
+	btScalar		m_ccdMotionThreshold;
 	
 	/// If some object should have elaborate collision filtering by sub-classes
 	bool			m_checkCollideWith;
@@ -332,16 +332,22 @@ public:
 		m_ccdSweptSphereRadius = radius;
 	}
 
+	btScalar 	getCcdMotionThreshold() const
+	{
+		return m_ccdMotionThreshold;
+	}
+
 	btScalar 	getCcdSquareMotionThreshold() const
 	{
-		return m_ccdSquareMotionThreshold;
+		return m_ccdMotionThreshold*m_ccdMotionThreshold;
 	}
 
 
-	/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
-	void	setCcdSquareMotionThreshold(btScalar ccdSquareMotionThreshold)
+
+	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
+	void	setCcdMotionThreshold(btScalar ccdMotionThreshold)
 	{
-		m_ccdSquareMotionThreshold = ccdSquareMotionThreshold;
+		m_ccdMotionThreshold = ccdMotionThreshold*ccdMotionThreshold;
 	}
 
 	///users can point to their objects, userPointer is not used by Bullet

src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h

@@ -51,7 +51,8 @@ public:
 		int i;
 		for (i=0;i<m_childCollisionAlgorithms.size();i++)
 		{
-			m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
+			if (m_childCollisionAlgorithms[i])
+				m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
 		}
 	}