fixing some issues: force needs to wake up objects, property sensor issue, island activation issue

2 files changed, 32 insertions, 21 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 3f51e9ec0a6..5a642643eed 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -271,41 +271,50 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 	int islandId;
 
 
-		//update the sleeping state for bodies, if all are sleeping
+	//solve the constraint for each islands, if there are contacts/constraints
 	for (int startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
 	{
 		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
 
-		for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
+		bool islandSleeping = false;
+
+		for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
 		{
+			int i = getUnionFind().getElement(endIslandIndex).m_sz;
+			btCollisionObject* colObj0 = collisionObjects[i];
+			if (!colObj0->isActive())
+				islandSleeping = true;
 		}
 
-		//find the accompanying contact manifold for this islandId
-		int numIslandManifolds = 0;
-		btPersistentManifold** startManifold = 0;
-
-		if (startManifoldIndex<numManifolds)
+		if (!islandSleeping)
 		{
-			int curIslandId = getIslandId(islandmanifold[startManifoldIndex]);
-			if (curIslandId == islandId)
+			//find the accompanying contact manifold for this islandId
+			int numIslandManifolds = 0;
+			btPersistentManifold** startManifold = 0;
+
+			if (startManifoldIndex<numManifolds)
 			{
-				startManifold = &islandmanifold[startManifoldIndex];
-			
-				for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
+				int curIslandId = getIslandId(islandmanifold[startManifoldIndex]);
+				if (curIslandId == islandId)
 				{
+					startManifold = &islandmanifold[startManifoldIndex];
+				
+					for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
+					{
 
+					}
+					/// Process the actual simulation, only if not sleeping/deactivated
+					numIslandManifolds = endManifoldIndex-startManifoldIndex;
 				}
-				/// Process the actual simulation, only if not sleeping/deactivated
-				numIslandManifolds = endManifoldIndex-startManifoldIndex;
-			}
 
-		}
+			}
 
-		callback->ProcessIsland(startManifold,numIslandManifolds, islandId);
+			callback->ProcessIsland(startManifold,numIslandManifolds, islandId);
 
-		if (numIslandManifolds)
-		{
-			startManifoldIndex = endManifoldIndex;
+			if (numIslandManifolds)
+			{
+				startManifoldIndex = endManifoldIndex;
+			}
 		}
 	}
 }
diff --git a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
index 79469c03c29..3a66ebbec22 100644
--- a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
+++ b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
@@ -68,8 +68,10 @@ class btAlignedObjectArray
 
 		SIMD_FORCE_INLINE	void	deallocate()
 		{
-			if(m_data)	
+			if(m_data)	{
 				m_allocator.deallocate(m_data);
+				m_data = 0;
+			}
 		}