- added debug line drawing in gameengine (handy for debugging physics problems)

- added #ifdef for a visual studio 8 crashing problems
- added scaling and tolerances to triangle meshes

9 files changed, 44 insertions, 18 deletions

diff --git a/extern/bullet/Bullet/CollisionShapes/CollisionShape.h b/extern/bullet/Bullet/CollisionShapes/CollisionShape.h
index 6969075f38c..2a2d0543bb2 100644
--- a/extern/bullet/Bullet/CollisionShapes/CollisionShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/CollisionShape.h
@@ -69,6 +69,8 @@ public:
 	const char * m_tempDebug;
 //endif debugging support
 
+	virtual void	SetMargin(float margin) = 0;
+	virtual float	GetMargin() const = 0;
 
 };	
 
diff --git a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h b/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h
index 3bdcd7edb38..d212c6f8904 100644
--- a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h
+++ b/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h
@@ -34,7 +34,7 @@ class  StridingMeshInterface
 	public:
 		StridingMeshInterface() :m_scaling(1.f,1.f,1.f)
 		{
-			
+
 		}
 
 		virtual ~StridingMeshInterface();
@@ -64,6 +64,8 @@ class  StridingMeshInterface
 		{
 			m_scaling = scaling;
 		}
+
+
 };
 
 #endif //STRIDING_MESHINTERFACE_H
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h b/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h
index 6701ccbc328..37e29bf3b08 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h
@@ -27,6 +27,7 @@ struct MyTriangle
 class TriangleMesh : public StridingMeshInterface
 {
 	std::vector<MyTriangle>	m_triangles;
+	
 
 	public:
 		TriangleMesh ();
@@ -56,8 +57,7 @@ class TriangleMesh : public StridingMeshInterface
 		virtual void	preallocateVertices(int numverts){}
 		virtual void	preallocateIndices(int numindices){}
 
-
-
+		
 };
 
 #endif //TRIANGLE_MESH_H
\ No newline at end of file
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
index 996c740acce..c9c7a73b932 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
@@ -17,7 +17,8 @@
 
 
 TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
-: m_meshInterface(meshInterface)
+: m_meshInterface(meshInterface),
+m_collisionMargin(0.1f)
 {
 }
 
@@ -31,16 +32,16 @@ TriangleMeshShape::~TriangleMeshShape()
 
 void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
 {
-	SimdScalar margin = 0.5f;
+
 	for (int i=0;i<3;i++)
 	{
 		SimdVector3 vec(0.f,0.f,0.f);
 		vec[i] = 1.f;
 		SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
-		aabbMax[i] = tmp[i]+margin;
+		aabbMax[i] = tmp[i]+m_collisionMargin;
 		vec[i] = -1.f;
 		tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
-		aabbMin[i] = tmp[i]-margin;
+		aabbMin[i] = tmp[i]-m_collisionMargin;
 	}
 }
 
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
index ecd9cc530fd..2083985e6cc 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
@@ -24,7 +24,8 @@ class TriangleMeshShape : public CollisionShape
 {
 
 	StridingMeshInterface* m_meshInterface;
-	
+	float m_collisionMargin;
+
 public:
 	TriangleMeshShape(StridingMeshInterface* meshInterface);
 
@@ -57,6 +58,16 @@ public:
 	//debugging
 	virtual char*	GetName()const {return "TRIANGLEMESH";}
 
+	
+	virtual float GetMargin() const {
+		return m_collisionMargin;
+	}
+	virtual void SetMargin(float collisionMargin)
+	{
+		m_collisionMargin = collisionMargin;
+	}
+
+
 
 };
 
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp
index 21baabfb864..2369b02b1b9 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp
@@ -120,13 +120,18 @@ bool	ContinuousConvexCollision::calcTimeOfImpact(
 
 			lambda = lambda + dLambda;
 
+			if (lambda > 1.f)
+				return false;
+
+			if (lambda < 0.f)
+				return false;
+
 			//todo: next check with relative epsilon
 			if (lambda <= lastLambda)
 				break;
 			lastLambda = lambda;
 
-			if (lambda > 1.f)
-				return false;
+			
 
 			//interpolate to next lambda
 			SimdTransform interpolatedTransA,interpolatedTransB,relativeTrans;
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
index 5dac60a9e06..6a815cb3113 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
@@ -83,6 +83,8 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle)
 	if (m_boxProxy->IsConvexShape())
 	{
 		TriangleShape tm(triangle[0],triangle[1],triangle[2]);	
+		tm.SetMargin(m_collisionMarginTriangle);
+
 		RigidBody* triangleBody = (RigidBody* )m_triangleProxy.m_clientObject;
 		
 		triangleBody->SetCollisionShape(&tm);
@@ -97,11 +99,12 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle)
 
 
 
-void	BoxTriangleCallback::SetTimeStepAndCounters(float timeStep,int stepCount,bool useContinuous)
+void	BoxTriangleCallback::SetTimeStepAndCounters(float timeStep,int stepCount,float collisionMarginTriangle,bool useContinuous)
 {
 	m_timeStep = timeStep;
 	m_stepCount = stepCount;
 	m_useContinuous = useContinuous;
+	m_collisionMarginTriangle = collisionMarginTriangle;
 
 	//recalc aabbs
 	RigidBody* boxBody = (RigidBody* )m_boxProxy->m_clientObject;
@@ -141,8 +144,9 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
 		
 		if (m_convex.IsConvexShape())
 		{
+			float collisionMarginTriangle = triangleMesh->GetMargin();
 					
-			m_boxTriangleCallback.SetTimeStepAndCounters(timeStep,stepCount, useContinuous);
+			m_boxTriangleCallback.SetTimeStepAndCounters(timeStep,stepCount, collisionMarginTriangle,useContinuous);
 #ifdef USE_BOX_TRIANGLE
 			m_boxTriangleCallback.m_manifoldPtr->ClearManifold();
 #endif
@@ -161,6 +165,8 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
 float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount)
 {
 
+	return 1.f;
+
 	//quick approximation using raycast, todo: use proper continuou collision detection
 	RigidBody* convexbody = (RigidBody* )m_convex.m_clientObject;
 	const SimdVector3& from = convexbody->getCenterOfMassPosition();
@@ -193,7 +199,7 @@ float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,B
 		RigidBody* concavebody = (RigidBody* )m_concave.m_clientObject;
 
 		TriangleMeshShape* triangleMesh = (TriangleMeshShape*) concavebody->GetCollisionShape();
-
+		
 		if (triangleMesh)
 		{
 			triangleMesh->ProcessAllTriangles(&raycastCallback,aabbMin,aabbMax);
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h
index 35248c841c6..10ff0718d92 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h
@@ -33,6 +33,7 @@ class BoxTriangleCallback : public TriangleCallback
 	float	m_timeStep;
 	int	m_stepCount;
 	bool m_useContinuous;
+	float m_collisionMarginTriangle;
 	
 public:
 
@@ -40,7 +41,7 @@ public:
 
 	BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
 
-	void	SetTimeStepAndCounters(float timeStep,int stepCount, bool useContinuous);
+	void	SetTimeStepAndCounters(float timeStep,int stepCount, float collisionMarginTriangle,bool useContinuous);
 
 	virtual ~BoxTriangleCallback();
 
diff --git a/extern/bullet/LinearMath/SimdQuadWord.h b/extern/bullet/LinearMath/SimdQuadWord.h
index efce56617a6..f256a215559 100644
--- a/extern/bullet/LinearMath/SimdQuadWord.h
+++ b/extern/bullet/LinearMath/SimdQuadWord.h
@@ -92,16 +92,14 @@ class	SimdQuadWord
 		}
 
 		SIMD_FORCE_INLINE SimdQuadWord() 
-		:m_x(0),m_y(0),m_z(0)
-		//todo, remove this in release/simd ?
-		,m_unusedW(0)
+		:m_x(0.f),m_y(0.f),m_z(0.f),m_unusedW(0.f)
 		{
 		}
 
 		SIMD_FORCE_INLINE SimdQuadWord(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z) 
 		:m_x(x),m_y(y),m_z(z)
 		//todo, remove this in release/simd ?
-		,m_unusedW(0)
+		,m_unusedW(0.f)
 		{
 		}