improved some Bullet Dynamics, related to friction/contact constraints.

14 files changed, 124 insertions, 91 deletions

diff --git a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
index c415b7b997d..c42386af580 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
+++ b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
@@ -21,7 +21,7 @@ subject to the following restrictions:
 #include "SimdTransform.h"
 #include "SimdMatrix3x3.h"
 #include <vector>
-#include "CollisionShapes/CollisionMargin.h"
+
 
 SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap)
 	:m_firstFreeProxy(0),
diff --git a/extern/bullet/Bullet/Bullet3_vc8.vcproj b/extern/bullet/Bullet/Bullet3_vc8.vcproj
index c6a7f31f3a3..256cfd63d06 100644
--- a/extern/bullet/Bullet/Bullet3_vc8.vcproj
+++ b/extern/bullet/Bullet/Bullet3_vc8.vcproj
@@ -378,14 +378,6 @@
 				>
 			</File>
 			<File
-				RelativePath=".\CollisionShapes\ConvexTriangleCallback.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\ConvexTriangleCallback.h"
-				>
-			</File>
-			<File
 				RelativePath=".\CollisionShapes\CylinderShape.cpp"
 				>
 			</File>
@@ -655,10 +647,6 @@
 			</File>
 		</Filter>
 		<File
-			RelativePath=".\VTune\Bullet3ContinuousCollision.vpj"
-			>
-		</File>
-		<File
 			RelativePath=".\CollisionShapes\BvhTriangleMeshShape.cpp"
 			>
 		</File>
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp
index 45b173d0842..191bd8e1c71 100644
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp
@@ -23,6 +23,11 @@ void CollisionObject::SetActivationState(int newState)
 		m_activationState1 = newState;
 }
 
+void CollisionObject::ForceActivationState(int newState)
+{
+	m_activationState1 = newState;
+}
+
 void CollisionObject::activate()
 {
 		SetActivationState(1);
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
index d412ffbf9d2..9a74954d36f 100644
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
+++ b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
@@ -76,6 +76,8 @@ struct	CollisionObject
 	
 	void SetActivationState(int newState);
 
+	void ForceActivationState(int newState);
+
 	void	activate();
 
 
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp
index 71a74f65bc2..35cad78fbb9 100644
--- a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp
@@ -74,7 +74,7 @@ void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle)
 	input.m_maximumDistanceSquared = 1e30f;//?
 	
 		
-	gjkDetector.GetClosestPoints(input,output,0);
+	gjkDetector.GetClosestPoints(input,output);
 
 
 }
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h
index 3ef93fc5de2..000dc4c1057 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h
@@ -75,8 +75,8 @@ class ManifoldPoint
 			void	CopyPersistentInformation(const ManifoldPoint& otherPoint)
 			{
 				m_appliedImpulse = otherPoint.m_appliedImpulse;
-				m_accumulatedTangentImpulse0 = 0.f;//otherPoint.m_accumulatedTangentImpulse0;
-				m_accumulatedTangentImpulse1 = 0.f;//otherPoint.m_accumulatedTangentImpulse1;
+				m_accumulatedTangentImpulse0 = otherPoint.m_accumulatedTangentImpulse0;
+				m_accumulatedTangentImpulse1 = otherPoint.m_accumulatedTangentImpulse1;
 				m_prevAppliedImpulse = otherPoint.m_prevAppliedImpulse;
 				m_lifeTime = otherPoint.m_lifeTime;
 
diff --git a/extern/bullet/BulletDynamics/BulletDynamics_vc8.vcproj b/extern/bullet/BulletDynamics/BulletDynamics_vc8.vcproj
index 943479dc623..785945f2680 100644
--- a/extern/bullet/BulletDynamics/BulletDynamics_vc8.vcproj
+++ b/extern/bullet/BulletDynamics/BulletDynamics_vc8.vcproj
@@ -163,14 +163,6 @@
 				>
 			</File>
 			<File
-				RelativePath=".\ConstraintSolver\HingeConstraint.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\ConstraintSolver\HingeConstraint.h"
-				>
-			</File>
-			<File
 				RelativePath=".\ConstraintSolver\JacobianEntry.h"
 				>
 			</File>
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
index e8e8d37f6d6..ae1e6ce2221 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
@@ -42,7 +42,7 @@ SimdScalar	calculateCombinedFriction(RigidBody& body0,RigidBody& body1)
 {
 	SimdScalar friction = body0.getFriction() * body1.getFriction();
 
-	const SimdScalar MAX_FRICTION  = 1.f;
+	const SimdScalar MAX_FRICTION  = 10.f;
 	if (friction < -MAX_FRICTION)
 		friction = -MAX_FRICTION;
 	if (friction > MAX_FRICTION)
@@ -102,7 +102,7 @@ void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
 #endif
 }
 
-float allowedPenetration = 0.0f;
+
 
 
 //velocity + friction
@@ -153,10 +153,9 @@ float resolveSingleCollision(
 
 	//printf("dist=%f\n",distance);
 
-	float clipDist = distance + allowedPenetration;
-	float dist = (clipDist > 0.f) ? 0.f : clipDist;
+
 	//distance = 0.f;
-	SimdScalar positionalError = Kcor *-dist;
+	SimdScalar positionalError = Kcor *-distance;
 	//jacDiagABInv;
 	SimdScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
 
@@ -197,7 +196,7 @@ float resolveSingleFriction(
 	float combinedFriction = calculateCombinedFriction(body1,body2);
 	
 	SimdScalar limit = contactPoint.m_appliedImpulse * combinedFriction;
-	if (contactPoint.m_appliedImpulse>0.f)
+	//if (contactPoint.m_appliedImpulse>0.f)
 	//friction
 	{
 		//apply friction in the 2 tangential directions
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h b/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
index 6c6325df8a6..2ec9b7f6ca1 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
@@ -22,7 +22,7 @@ struct ContactSolverInfo
 
 	inline ContactSolverInfo()
 	{
-		m_tau = 0.4f;
+		m_tau = 0.6f;
 		m_damping = 1.0f;
 		m_friction = 0.3f;
 		m_restitution = 0.f;
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
index 1b5f2d6139e..64b470f4391 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
@@ -67,8 +67,7 @@ void	Point2PointConstraint::SolveConstraint(SimdScalar	timeStep)
 
 
 	SimdVector3 normal(0,0,0);
-	SimdScalar tau = 0.3f;
-	SimdScalar damping = 1.f;
+	
 
 //	SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
 //	SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
@@ -98,7 +97,7 @@ void	Point2PointConstraint::SolveConstraint(SimdScalar	timeStep)
 		//positional error (zeroth order error)
 		SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
 		
-		SimdScalar impulse = depth*tau/timeStep  * jacDiagABInv -  damping * rel_vel * jacDiagABInv * damping;
+		SimdScalar impulse = depth*m_setting.m_tau/timeStep  * jacDiagABInv -  m_setting.m_damping * rel_vel * jacDiagABInv;
 
 		SimdVector3 impulse_vector = normal * impulse;
 		m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
index bb5e3ef8e80..bd28ac7b1e5 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
@@ -23,6 +23,16 @@ subject to the following restrictions:
 
 class RigidBody;
 
+struct	ConstraintSetting
+{
+	ConstraintSetting()	:
+		m_tau(0.3f),
+		m_damping(1.f)
+	{
+	}
+	float		m_tau;
+	float		m_damping;
+};
 
 /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
 class Point2PointConstraint : public TypedConstraint
@@ -33,8 +43,11 @@ class Point2PointConstraint : public TypedConstraint
 	SimdVector3	m_pivotInB;
 	
 	
+	
 public:
 
+	ConstraintSetting	m_setting;
+
 	Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);
 
 	Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA);
@@ -48,7 +61,15 @@ public:
 
 	void	UpdateRHS(SimdScalar	timeStep);
 
-	
+	void	SetPivotA(const SimdVector3& pivotA)
+	{
+		m_pivotInA = pivotA;
+	}
+
+	void	SetPivotB(const SimdVector3& pivotB)
+	{
+		m_pivotInB = pivotB;
+	}
 
 
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
index acfca631b72..d2d3636442e 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
@@ -43,25 +43,25 @@ float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int n
 		for (j=0;j<numManifolds;j++)
 		{
 			int k=j;
-			if (i&&1)
+			if (i&1)
 				k=numManifolds-j-1;
 
 			Solve(manifoldPtr[k],info,i,debugDrawer);
 		}
-		for (j=0;j<numManifolds;j++)
-		{
-			int k = j;
-			if (i&&1)
-				k=numManifolds-j-1;
-			SolveFriction(manifoldPtr[k],info,i,debugDrawer);
-		}
+		
 	}
 
 	//now solve the friction		
 	for (int i = 0;i<numiter;i++)
 	{
 		int j;
-	
+	for (j=0;j<numManifolds;j++)
+		{
+			int k = j;
+			if (i&1)
+				k=numManifolds-j-1;
+			SolveFriction(manifoldPtr[k],info,i,debugDrawer);
+		}
 	}
 
 	return 0.f;
@@ -108,14 +108,16 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 				
 				cp.m_jacDiagABInv = 1.f / jacDiagAB;
 
-				//for friction
-				cp.m_prevAppliedImpulse = cp.m_appliedImpulse;
+				
 
 				float relaxation = info.m_damping;
 				cp.m_appliedImpulse *= relaxation;
+				//for friction
+				cp.m_prevAppliedImpulse = cp.m_appliedImpulse;
 				
 				//re-calculate friction direction every frame, todo: check if this is really needed
 				SimdPlaneSpace1(cp.m_normalWorldOnB,cp.m_frictionWorldTangential0,cp.m_frictionWorldTangential1);
+#define NO_FRICTION_WARMSTART 1
 
 	#ifdef NO_FRICTION_WARMSTART
 				cp.m_accumulatedTangentImpulse0 = 0.f;
@@ -161,7 +163,7 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 				j=i;
 
 			ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
-			if (cp.GetDistance() <= 0.f)
+				if (cp.GetDistance() <= 0.f)
 			{
 
 				if (iter == 0)
@@ -204,9 +206,11 @@ float SimpleConstraintSolver::SolveFriction(PersistentManifold* manifoldPtr, con
 		{
 
 			int j=i;
+			//if (iter % 2)
+			//	j = numpoints-1-i;
 
 			ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
-			if (cp.GetDistance() <= 0.f)
+				if (cp.GetDistance() <= 0.f)
 			{
 
 				resolveSingleFriction(
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index 3039bba8565..f715387a189 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -452,9 +452,12 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 
 	if (!SimdFuzzyZero(timeStep))
 	{
-		//Blender runs 30hertz, so subdivide so we get 60 hertz
+#ifdef SPLIT_TIMESTEP
 		proceedDeltaTimeOneStep(0.5f*timeStep);
 		proceedDeltaTimeOneStep(0.5f*timeStep);
+#else		
+		proceedDeltaTimeOneStep(timeStep);
+#endif
 	} else
 	{
 		//todo: interpolate
@@ -542,44 +545,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 	//contacts
 
 	
-	struct InplaceSolverIslandCallback : public CollisionDispatcher::IslandCallback
-	{
-
-		ContactSolverInfo& m_solverInfo;
-		ConstraintSolver*	m_solver;
-		IDebugDraw*	m_debugDrawer;
-		
-		InplaceSolverIslandCallback(
-			ContactSolverInfo& solverInfo,
-			ConstraintSolver*	solver,
-			IDebugDraw*	debugDrawer)
-			:m_solverInfo(solverInfo),
-			m_solver(solver),
-			m_debugDrawer(debugDrawer)
-		{
-			
-		}
-		
-		virtual	void	ProcessIsland(PersistentManifold**	manifolds,int numManifolds)
-		{
-			m_solver->SolveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
-		}
-		
-	};
-
-
-	m_solverInfo.m_friction = 0.9f;
-	m_solverInfo.m_numIterations = m_numIterations;
-	m_solverInfo.m_timeStep = timeStep;
-	m_solverInfo.m_restitution = 0.f;//m_restitution;
-
-	InplaceSolverIslandCallback	solverCallback(
-			m_solverInfo,
-			m_solver,
-			m_debugDrawer);
-
-	GetDispatcher()->BuildAndProcessIslands(numRigidBodies,&solverCallback);
-
+	//solve the regular constraints (point 2 point, hinge, etc)
 
 	for (int g=0;g<numsubstep;g++)
 	{
@@ -606,6 +572,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 		
 	}
 	
+	//solve the vehicles
 
 	#ifdef NEW_BULLET_VEHICLE_SUPPORT
 		//vehicles
@@ -618,7 +585,47 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 		}
 #endif //NEW_BULLET_VEHICLE_SUPPORT
 
+	
+		struct InplaceSolverIslandCallback : public CollisionDispatcher::IslandCallback
+	{
+
+		ContactSolverInfo& m_solverInfo;
+		ConstraintSolver*	m_solver;
+		IDebugDraw*	m_debugDrawer;
 		
+		InplaceSolverIslandCallback(
+			ContactSolverInfo& solverInfo,
+			ConstraintSolver*	solver,
+			IDebugDraw*	debugDrawer)
+			:m_solverInfo(solverInfo),
+			m_solver(solver),
+			m_debugDrawer(debugDrawer)
+		{
+			
+		}
+		
+		virtual	void	ProcessIsland(PersistentManifold**	manifolds,int numManifolds)
+		{
+			m_solver->SolveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
+		}
+		
+	};
+
+
+	m_solverInfo.m_friction = 0.9f;
+	m_solverInfo.m_numIterations = m_numIterations;
+	m_solverInfo.m_timeStep = timeStep;
+	m_solverInfo.m_restitution = 0.f;//m_restitution;
+
+	InplaceSolverIslandCallback	solverCallback(
+			m_solverInfo,
+			m_solver,
+			m_debugDrawer);
+
+	/// solve all the contact points and contact friction
+	GetDispatcher()->BuildAndProcessIslands(numRigidBodies,&solverCallback);
+
+
 
 
 	{
@@ -943,13 +950,13 @@ void		CcdPhysicsEnvironment::setGravity(float x,float y,float z)
 
 #ifdef NEW_BULLET_VEHICLE_SUPPORT
 
-class BlenderVehicleRaycaster : public VehicleRaycaster
+class DefaultVehicleRaycaster : public VehicleRaycaster
 {
 	CcdPhysicsEnvironment* m_physEnv;
 	PHY_IPhysicsController*	m_chassis;
 
 public:
-	BlenderVehicleRaycaster(CcdPhysicsEnvironment* physEnv,PHY_IPhysicsController* chassis):
+	DefaultVehicleRaycaster(CcdPhysicsEnvironment* physEnv,PHY_IPhysicsController* chassis):
 	m_physEnv(physEnv),
 		m_chassis(chassis)
 	{
@@ -1061,7 +1068,7 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 		{
 			RaycastVehicle::VehicleTuning* tuning = new RaycastVehicle::VehicleTuning();
 			RigidBody* chassis = rb0;
-			BlenderVehicleRaycaster* raycaster = new BlenderVehicleRaycaster(this,ctrl0);
+			DefaultVehicleRaycaster* raycaster = new DefaultVehicleRaycaster(this,ctrl0);
 			RaycastVehicle* vehicle = new RaycastVehicle(*tuning,chassis,raycaster);
 			WrapperVehicle* wrapperVehicle = new WrapperVehicle(vehicle,ctrl0);
 			m_wrapperVehicles.push_back(wrapperVehicle);
@@ -1300,6 +1307,20 @@ const PersistentManifold*	CcdPhysicsEnvironment::GetManifold(int index) const
 	return GetDispatcher()->GetManifoldByIndexInternal(index);
 }
 
+Point2PointConstraint*	CcdPhysicsEnvironment::getPoint2PointConstraint(int constraintId)
+{
+	int nump2p = m_p2pConstraints.size();
+	int i;
+	for (i=0;i<nump2p;i++)
+	{
+		Point2PointConstraint* p2p = m_p2pConstraints[i];
+		if (p2p->GetUserConstraintId()==constraintId)
+		{
+			return p2p;
+		}
+	}
+	return 0;
+}
 
 
 #ifdef NEW_BULLET_VEHICLE_SUPPORT
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
index 712620e7165..37c78168ba6 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
@@ -14,7 +14,7 @@ class Dispatcher;
 //#include "BroadphaseInterface.h"
 
 //switch on/off new vehicle support
-#define NEW_BULLET_VEHICLE_SUPPORT 1
+//#define NEW_BULLET_VEHICLE_SUPPORT 1
 
 #include "ConstraintSolver/ContactSolverInfo.h"
 
@@ -96,6 +96,8 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		}
 #endif //NEW_BULLET_VEHICLE_SUPPORT
 
+		Point2PointConstraint*	getPoint2PointConstraint(int constraintId);
+
 		virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 										float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);