updated testbed demo

4 files changed, 34 insertions, 12 deletions

diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
index 8b423204bec..19c4632820c 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
@@ -31,7 +31,7 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 
 	MassProps mp(ci.m_mass, ci.m_localInertiaTensor);
 
-	m_body = new RigidBody(mp,0,0);
+	m_body = new RigidBody(mp,0,0,ci.m_friction,ci.m_restitution);
 	
 	m_broadphaseHandle = ci.m_broadphaseHandle;
 
@@ -44,12 +44,10 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 	m_body->setMassProps(ci.m_mass, ci.m_localInertiaTensor);
 	m_body->setGravity( ci.m_gravity);
 
-	m_friction = ci.m_friction;
-	m_restitution = ci.m_restitution;
-
+	
 	m_body->setDamping(ci.m_linearDamping, ci.m_angularDamping);
 
-	
+
 	m_body->setCenterOfMassTransform( trans );
 
 	#ifdef WIN32
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
index 3a8590e261c..235931ebab4 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
@@ -15,7 +15,6 @@ struct CcdConstructionInfo
 	CcdConstructionInfo()
 		: m_gravity(0,0,0),
 		m_mass(0.f),
-		m_friction(0.1f),
 		m_restitution(0.1f),
 		m_linearDamping(0.1f),
 		m_angularDamping(0.1f),
@@ -27,9 +26,8 @@ struct CcdConstructionInfo
 	SimdVector3	m_localInertiaTensor;
 	SimdVector3	m_gravity;
 	SimdScalar	m_mass;
-	SimdScalar	m_friction;
 	SimdScalar	m_restitution;
-	
+	SimdScalar	m_friction;
 	SimdScalar	m_linearDamping;
 	SimdScalar	m_angularDamping;
 	void*		m_broadphaseHandle;
@@ -54,8 +52,6 @@ class CcdPhysicsController : public PHY_IPhysicsController
 	
 		int				m_collisionDelay;
 	
-		SimdScalar	m_friction;
-		SimdScalar	m_restitution;
 		void*  m_broadphaseHandle;
 
 		CcdPhysicsController (const CcdConstructionInfo& ci);
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index 885304983a6..5b6db434f8b 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -33,7 +33,7 @@ bool useIslands = true;
 //#include "BroadphaseCollision/QueryBox.h"
 //todo: change this to allow dynamic registration of types!
 
-unsigned long gNumIterations = 1;
+unsigned long gNumIterations = 10;
 
 #ifdef WIN32
 void DrawRasterizerLine(const float* from,const float* to,int color);
@@ -366,6 +366,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 
 	//contacts
 
+	
 	m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
 
 	for (int g=0;g<numsubstep;g++)
@@ -438,7 +439,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 					
 #ifdef WIN32
 					SimdVector3 color (1,0,0);
-					if (0)//m_debugDrawer)
+					if (m_debugDrawer)
 					{	
 						//draw aabb
 
@@ -540,6 +541,29 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	return true;
 }
 
+void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
+{
+	if (debugMode > 10)
+	{
+		if (m_dispatcher)
+			delete m_dispatcher;
+
+		if (debugMode == 11)
+		{
+			SimpleConstraintSolver* solver= new SimpleConstraintSolver();
+			m_dispatcher = new ToiContactDispatcher(solver);
+		} else
+		{
+			OdeConstraintSolver* solver = new OdeConstraintSolver();
+			m_dispatcher = new ToiContactDispatcher(solver);
+		}
+	}
+	if (m_debugDrawer){
+		m_debugDrawer->SetDebugMode(debugMode);
+	}
+}
+
+
 void	CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
 {
 	std::vector<CcdPhysicsController*>::iterator i;
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
index fc3786885b7..be6f6c648c7 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
@@ -50,8 +50,11 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		virtual	bool		proceedDeltaTime(double curTime,float timeStep);
 		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
 		//returns 0.f if no fixed timestep is used
+
 		virtual	float		getFixedTimeStep(){ return 0.f;};
 
+		virtual void		setDebugMode(int debugMode);
+
 		virtual	void		setGravity(float x,float y,float z);
 
 		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
@@ -113,6 +116,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 
 		bool	m_scalingPropagated;
 
+
 };
 
 #endif //CCDPHYSICSENVIRONMENT