- Added support for kinematic objects (interaction between rigidbodies), deriving linear/angular velocity from previous transform/current transform and deltatime.

- Made another attempt to migrate from Sumo to Bullet: import of older files automatically switch to Bullet, but you can override it, and save the file in 2.42 version. then it stays Sumo physics.

10 files changed, 98 insertions, 22 deletions

diff --git a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
index c797ed96503..c0796f9b9f3 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
+++ b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
@@ -194,7 +194,9 @@ void	SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProx
 	if (m_NumOverlapBroadphasePair >= m_maxOverlap)
 	{
 		//printf("Error: too many overlapping objects: m_NumOverlapBroadphasePair: %d\n",m_NumOverlapBroadphasePair);
+#ifdef DEBUG
 		assert(0);
+#endif 
 	} else
 	{
 		m_NumOverlapBroadphasePair++;
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
index 09b346c0372..9c4e3f14b4a 100644
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
+++ b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
@@ -31,8 +31,9 @@ struct	CollisionObject
 {
 	SimdTransform	m_worldTransform;
 	
-	//m_nextPredictedWorldTransform is used for CCD and interpolation
-	SimdTransform	m_nextPredictedWorldTransform;
+	//m_interpolationWorldTransform is used for CCD and interpolation
+	//it can be either previous or future (predicted) transform
+	SimdTransform	m_interpolationWorldTransform;
 	
 	enum CollisionFlags
 	{
@@ -57,7 +58,7 @@ struct	CollisionObject
 
 	bool			mergesSimulationIslands() const;
 
-	inline bool		IsStatic() {
+	inline bool		IsStatic() const {
 		return m_collisionFlags & isStatic;
 	}
 
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
index 292b0d72de1..36764ac3191 100644
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
@@ -184,7 +184,7 @@ float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,B
 
 	const SimdVector3& from = convexbody->m_worldTransform.getOrigin();
 	
-	SimdVector3 to = convexbody->m_nextPredictedWorldTransform.getOrigin();
+	SimdVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
 	//todo: only do if the motion exceeds the 'radius'
 
 	struct LocalTriangleRaycastCallback	: public TriangleRaycastCallback
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
index adb310c3f99..6963cf23548 100644
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
@@ -374,8 +374,8 @@ float	ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,Broad
 	if (disableCcd)
 		return 1.f;
 
-	if (ccd1.calcTimeOfImpact(col0->m_worldTransform,col0->m_nextPredictedWorldTransform,
-		col1->m_worldTransform,col1->m_nextPredictedWorldTransform,result))
+	if (ccd1.calcTimeOfImpact(col0->m_worldTransform,col0->m_interpolationWorldTransform,
+		col1->m_worldTransform,col1->m_interpolationWorldTransform,result))
 	{
 	
 		//store result.m_fraction in both bodies
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
index 315a9d66c38..e4ccf83953a 100644
--- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
+++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
@@ -33,7 +33,8 @@ RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdSc
 	m_linearDamping(0.f),
 	m_angularDamping(0.5f),
 	m_friction(friction),
-	m_restitution(restitution)
+	m_restitution(restitution),
+	m_kinematicTimeStep(0.f)
 {
 	m_debugBodyId = uniqueId++;
 	
@@ -57,6 +58,21 @@ void RigidBody::predictIntegratedTransform(SimdScalar timeStep,SimdTransform& pr
 	SimdTransformUtil::IntegrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
 }
 
+void			RigidBody::saveKinematicState(SimdScalar timeStep)
+{
+	
+	if (m_kinematicTimeStep)
+	{
+		SimdVector3 linVel,angVel;
+		SimdTransformUtil::CalculateVelocity(m_interpolationWorldTransform,m_worldTransform,m_kinematicTimeStep,m_linearVelocity,m_angularVelocity);
+		//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
+	}
+	
+
+	m_interpolationWorldTransform = m_worldTransform;
+	
+	m_kinematicTimeStep = timeStep;
+}
 	
 void	RigidBody::getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const
 {
@@ -65,6 +81,7 @@ void	RigidBody::getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const
 
 
 
+
 void RigidBody::setGravity(const SimdVector3& acceleration) 
 {
 	if (m_inverseMass != 0.0f)
@@ -91,6 +108,9 @@ void RigidBody::setDamping(SimdScalar lin_damping, SimdScalar ang_damping)
 
 void RigidBody::applyForces(SimdScalar step)
 {
+	if (IsStatic())
+		return;
+
 	
 	applyCentralForce(m_gravity);	
 	
@@ -165,6 +185,9 @@ void RigidBody::updateInertiaTensor()
 
 void RigidBody::integrateVelocities(SimdScalar step) 
 {
+	if (IsStatic())
+		return;
+
 	m_linearVelocity += m_totalForce * (m_inverseMass * step);
 	m_angularVelocity += m_invInertiaTensorWorld * m_totalTorque * step;
 
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
index 8489778d824..fd96dc99d60 100644
--- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
+++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
@@ -48,6 +48,9 @@ public:
 	/// continuous collision detection needs prediction
 	void			predictIntegratedTransform(SimdScalar step, SimdTransform& predictedTransform) const;
 	
+	void			saveKinematicState(SimdScalar step);
+	
+
 	void			applyForces(SimdScalar step);
 	
 	void			setGravity(const SimdVector3& acceleration);  
@@ -65,7 +68,9 @@ public:
 	void			setMassProps(SimdScalar mass, const SimdVector3& inertia);
 	
 	SimdScalar		getInvMass() const { return m_inverseMass; }
-	const SimdMatrix3x3& getInvInertiaTensorWorld() const { return m_invInertiaTensorWorld; }
+	const SimdMatrix3x3& getInvInertiaTensorWorld() const { 
+		return m_invInertiaTensorWorld; 
+	}
 		
 	void			integrateVelocities(SimdScalar step);
 
@@ -104,7 +109,8 @@ public:
 	
   	void applyTorqueImpulse(const SimdVector3& torque)
 	{
-		m_angularVelocity += m_invInertiaTensorWorld * torque;
+		if (!IsStatic())
+			m_angularVelocity += m_invInertiaTensorWorld * torque;
 
 	}
 	
@@ -125,20 +131,37 @@ public:
 	
 	void updateInertiaTensor();    
 	
-	const SimdPoint3&     getCenterOfMassPosition() const { return m_worldTransform.getOrigin(); }
+	const SimdPoint3&     getCenterOfMassPosition() const { 
+		return m_worldTransform.getOrigin(); 
+	}
 	SimdQuaternion getOrientation() const;
 	
-	const SimdTransform&  getCenterOfMassTransform() const { return m_worldTransform; }
-	const SimdVector3&   getLinearVelocity() const { return m_linearVelocity; }
-	const SimdVector3&    getAngularVelocity() const { return m_angularVelocity; }
+	const SimdTransform&  getCenterOfMassTransform() const { 
+		return m_worldTransform; 
+	}
+	const SimdVector3&   getLinearVelocity() const { 
+		return m_linearVelocity; 
+	}
+	const SimdVector3&    getAngularVelocity() const { 
+		return m_angularVelocity; 
+	}
 	
 
 	void setLinearVelocity(const SimdVector3& lin_vel);
-	void setAngularVelocity(const SimdVector3& ang_vel) { m_angularVelocity = ang_vel; }
+	void setAngularVelocity(const SimdVector3& ang_vel) { 
+		if (!IsStatic())
+		{
+			m_angularVelocity = ang_vel; 
+		}
+	}
 
 	SimdVector3 getVelocityInLocalPoint(const SimdVector3& rel_pos) const
 	{
+		//we also calculate lin/ang velocity for kinematic objects
 		return m_linearVelocity + m_angularVelocity.cross(rel_pos);
+
+		//for kinematic objects, we could also use use:
+		//		return 	(m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
 	}
 
 	void translate(const SimdVector3& v) 
@@ -208,9 +231,13 @@ private:
 	SimdScalar		m_friction;
 	SimdScalar		m_restitution;
 
+	SimdScalar		m_kinematicTimeStep;
+
 	BroadphaseProxy*	m_broadphaseProxy;
 
 
+	
+
 
 	
 public:
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
index 79b311bd691..b8ce09729c2 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
@@ -31,7 +31,7 @@ class BP_Proxy;
 float	gDeactivationTime = 2.f;
 bool	gDisableDeactivation = false;
 
-float gLinearSleepingTreshold = 0.8f;
+float gLinearSleepingTreshold = 0.4f;
 float gAngularSleepingTreshold = 1.0f;
 
 #include "Dynamics/MassProps.h"
@@ -136,7 +136,7 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 		m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
 		SimdTransform oldTrans = m_body->getCenterOfMassTransform();
 		SimdTransform newTrans(worldquat,worldPos);
-		
+				
 		m_body->setCenterOfMassTransform(newTrans);
 		//need to keep track of previous position for friction effects...
 		
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
index f1933d55137..646b21f285e 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
@@ -171,6 +171,17 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		void	SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);
 
 
+		class	PHY_IMotionState*			GetMotionState()
+		{
+			return m_MotionState;
+		}
+
+		const class	PHY_IMotionState*			GetMotionState() const
+		{
+			return m_MotionState;
+		}
+
+
 };
 
 #endif //BULLET2_PHYSICSCONTROLLER_H
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index 9583839a7ae..7afd7bf8fc5 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -586,6 +586,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 		m_scalingPropagated = true;
 	}
 
+
 #ifdef USE_QUICKPROF
 	Profiler::endBlock("SyncMotionStates");
 
@@ -605,9 +606,12 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 			RigidBody* body = ctrl->GetRigidBody();
 			if (body->GetActivationState() != ISLAND_SLEEPING)
 			{
-				body->applyForces( timeStep);
-				body->integrateVelocities( timeStep);
-				body->predictIntegratedTransform(timeStep,body->m_nextPredictedWorldTransform);
+				if (!body->IsStatic())
+				{
+					body->applyForces( timeStep);
+					body->integrateVelocities( timeStep);
+					body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
+				}
 			}
 
 		}
@@ -807,8 +811,15 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 					if (body->GetActivationState() != ISLAND_SLEEPING)
 					{
 
-						body->predictIntegratedTransform(timeStep*	toi, predictedTrans);
-						body->proceedToTransform( predictedTrans);
+						if (body->IsStatic())
+						{
+							//to calculate velocities next frame
+							body->saveKinematicState(timeStep);
+						} else
+						{
+							body->predictIntegratedTransform(timeStep*	toi, predictedTrans);
+							body->proceedToTransform( predictedTrans);
+						}
 
 					}
 				}
@@ -893,6 +904,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 		}
 #endif //NEW_BULLET_VEHICLE_SUPPORT
 	}
+
 	return true;
 }
 
diff --git a/extern/bullet/LinearMath/SimdTransformUtil.h b/extern/bullet/LinearMath/SimdTransformUtil.h
index 14c70c26326..9f6619ab43e 100644
--- a/extern/bullet/LinearMath/SimdTransformUtil.h
+++ b/extern/bullet/LinearMath/SimdTransformUtil.h
@@ -119,7 +119,7 @@ public:
 		axis[3] = 0.f;
 		//check for axis length
 		SimdScalar len = axis.length2();
-		if (len < 0.001f)
+		if (len < SIMD_EPSILON*SIMD_EPSILON)
 			axis = SimdVector3(1.f,0.f,0.f);
 		else
 			axis /= SimdSqrt(len);