moved some hardcoded constants into tweaking tresholds

exposed those tresholds to python (more 'expert' settings)

9 files changed, 71 insertions, 27 deletions

diff --git a/extern/bullet/Bullet/Bullet3_vc8.vcproj b/extern/bullet/Bullet/Bullet3_vc8.vcproj
index b9046f451e5..c2f3e70180f 100644
--- a/extern/bullet/Bullet/Bullet3_vc8.vcproj
+++ b/extern/bullet/Bullet/Bullet3_vc8.vcproj
@@ -4,6 +4,7 @@
 	Version="8.00"
 	Name="Bullet3ContinuousCollision"
 	ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
+	SignManifests="true"
 	>
 	<Platforms>
 		<Platform
@@ -277,6 +278,14 @@
 				>
 			</File>
 			<File
+				RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.h"
+				>
+			</File>
+			<File
 				RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp"
 				>
 			</File>
@@ -429,14 +438,6 @@
 				>
 			</File>
 			<File
-				RelativePath=".\CollisionShapes\TriangleMesh.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\TriangleMesh.h"
-				>
-			</File>
-			<File
 				RelativePath=".\CollisionShapes\TriangleMeshShape.cpp"
 				>
 			</File>
@@ -509,10 +510,6 @@
 				>
 			</File>
 			<File
-				RelativePath="..\LinearMath\IDebugDraw.h"
-				>
-			</File>
-			<File
 				RelativePath="..\LinearMath\SimdMatrix3x3.h"
 				>
 			</File>
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
index 29b13f67b8f..16cd219903d 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
@@ -14,6 +14,7 @@
 #include "SimdTransform.h"
 #include <assert.h>
 
+float gContactBreakingTreshold = 0.02f;
 
 PersistentManifold::PersistentManifold()
 :m_body0(0),
@@ -113,7 +114,7 @@ void PersistentManifold::AddManifoldPoint(const ManifoldPoint& newPoint)
 
 float	PersistentManifold::GetManifoldMargin() const
 {
-	return 0.02f;
+	return gContactBreakingTreshold;
 }
 
 void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const SimdTransform& trB)
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
index 96f91d5900e..ca02aa9c9a4 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
@@ -19,6 +19,9 @@
 
 struct CollisionResult;
 
+///contact breaking and merging treshold
+extern float gContactBreakingTreshold;
+
 #define MANIFOLD_CACHE_SIZE 4
 
 ///PersistentManifold maintains contact points, and reduces them to 4
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
index a67da9bc889..da72d3e0cad 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
@@ -38,7 +38,10 @@ ToiContactDispatcher::ToiContactDispatcher (ConstraintSolver* solver):
 	m_useIslands(true),
 		m_unionFind(MAX_RIGIDBODIES),
 		m_solver(solver),
-		m_count(0)
+		m_count(0),
+		m_sor(1.3f),
+		m_tau(0.4f),
+		m_damping(0.9f)
 		
 {
 	int i;
@@ -158,13 +161,15 @@ void ToiContactDispatcher::SolveConstraints(float timeStep, int numIterations,in
 
 			///This island solving can all be scheduled in parallel
 			ContactSolverInfo info;
-			info.m_damping = 0.9f;
 			info.m_friction = 0.9f;
 			info.m_numIterations = numIterations;
 			info.m_timeStep = timeStep;
-			info.m_tau = 0.4f;
+			
 			info.m_restitution = 0.0f;//m_restitution;
-
+			
+			info.m_sor = m_sor;
+			info.m_tau = m_tau;
+			info.m_damping = m_damping;
 
 			m_solver->SolveGroup( &islandmanifold[0], islandmanifold.size(),info,debugDrawer );
 
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h
index 97897a69dc4..b1793f70979 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h
@@ -44,6 +44,10 @@ class ToiContactDispatcher : public Dispatcher
 	UnionFind m_unionFind;
 	ConstraintSolver*	m_solver;
 	
+	float	m_sor;
+	float	m_tau;
+	float	m_damping;
+	
 	CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
 	
 public:
@@ -97,6 +101,22 @@ public:
 	
 	virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
 	
+	void	SetSor(float sor)
+	{
+		m_sor = sor;
+	}
+
+	void	SetTau(float tau)
+	{
+		m_tau = tau;
+	}
+	
+	void	SetDamping( float damping)
+	{
+		m_damping = damping;
+	}
+	
+
 };
 
 #endif //TOI_CONTACT_DISPATCHER_H
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h b/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
index 83460771279..e262b1a599b 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
@@ -23,6 +23,7 @@ struct ContactSolverInfo
 		m_restitution = 0.f;
 		m_maxErrorReduction = 20.f;
 		m_numIterations = 10;
+		m_sor = 1.3f;
 	}
 
 	float	m_tau;
@@ -32,7 +33,7 @@ struct ContactSolverInfo
 	float	m_restitution;
 	int		m_numIterations;
 	float	m_maxErrorReduction;
-
+	float	m_sor;
 
 };
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
index 37b3668bbf7..4050e75f90f 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
@@ -43,11 +43,13 @@ class BU_Joint;
 
 //see below
 
+OdeConstraintSolver::OdeConstraintSolver():
+m_cfm(1e-5f),
+m_erp(0.2f)
+{
+}
 
 
-int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
-void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
-					   RigidBody** bodies,int bodyId0,int bodyId1);
 
 
 
@@ -59,8 +61,6 @@ float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numM
 	m_CurBody = 0;
 	m_CurJoint = 0;
 
-	float cfm = 1e-5f;
-	float erp = 0.2f;
 
 	RigidBody* bodies [128];
 
@@ -82,7 +82,7 @@ float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numM
 		}
 	}
 
-	SolveInternal1(cfm,erp,bodies,numBodies,joints,numJoints,infoGlobal);
+	SolveInternal1(m_cfm,m_erp,bodies,numBodies,joints,numJoints,infoGlobal);
 
 	return 0.f;
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.h b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.h
index 354a444caa8..101f24867c5 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.h
@@ -25,6 +25,9 @@ private:
 	int m_CurBody;
 	int m_CurJoint;
 
+	float	m_cfm;
+	float	m_erp;
+	
 
 	int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
 	void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
@@ -32,10 +35,24 @@ private:
 
 public:
 
+	OdeConstraintSolver();
+
 	virtual ~OdeConstraintSolver() {}
 	
 	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info,IDebugDraw* debugDrawer = 0);
 
+	///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
+	///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
+	void	setConstraintForceMixing(float cfm) { 
+		m_cfm  = cfm;
+	}
+
+	///setErrorReductionParamter sets the maximum amount of error reduction
+	///which limits energy addition during penetration depth recovery
+	void	setErrorReductionParamter(float erp)
+	{
+		m_erp = erp;
+	}
 };
 
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
index 700419f48b5..678536cd905 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
@@ -590,8 +590,8 @@ void SolveInternal1 (float global_cfm,
 					const ContactSolverInfo& solverInfo)
 {
 
-	int numIter = 30;
-	float sOr = 1.3f;
+	int numIter = solverInfo.m_numIterations;
+	float sOr = solverInfo.m_sor;
 
 	int i,j;
 	
@@ -756,7 +756,7 @@ void SolveInternal1 (float global_cfm,
 
 		// scale CFM
 		for (i=0; i<m; i++) 
-			cfm[i] =0;//*= stepsize1;
+			cfm[i] *= stepsize1;
 
 		// load lambda from the value saved on the previous iteration
 		dRealAllocaArray (lambda,m);