Revert rev16344 on trunk, bullet work is done in sim_physics branch as discussed on sunday meeting

3 files changed, 34 insertions, 46 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index e85238b49c3..2ec96c75a68 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -126,14 +126,13 @@ void CcdPhysicsController::CreateRigidbody()
 
 	m_bulletMotionState = new BlenderBulletMotionState(m_MotionState);
 
-	btRigidBody::btRigidBodyConstructionInfo rbci(m_cci.m_mass,m_bulletMotionState,m_collisionShape,m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
-	rbci.m_linearDamping = m_cci.m_linearDamping;
-	rbci.m_angularDamping = m_cci.m_angularDamping;
-	rbci.m_friction = m_cci.m_friction;
-	rbci.m_restitution = m_cci.m_restitution;
-	
-	m_body = new btRigidBody(rbci);
-	
+	m_body = new btRigidBody(m_cci.m_mass,
+		m_bulletMotionState,
+		m_collisionShape,
+		m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor,
+		m_cci.m_linearDamping,m_cci.m_angularDamping,
+		m_cci.m_friction,m_cci.m_restitution);
+
 	//
 	// init the rigidbody properly
 	//
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index f9242e6876f..d14ddf8f65c 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -330,21 +330,30 @@ m_filterCallback(NULL)
 	{
 		m_triggerCallbacks[i] = 0;
 	}
-	m_collisionConfiguration = new btDefaultCollisionConfiguration();
-
 	if (!dispatcher)
 	{
-		dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+		dispatcher = new btCollisionDispatcher();
 		m_ownDispatcher = dispatcher;
 	}
 
-	m_broadphase = new btDbvtBroadphase();
+	if(!pairCache)
+	{
+
+		//todo: calculate/let user specify this world sizes
+		btVector3 worldMin(-10000,-10000,-10000);
+		btVector3 worldMax(10000,10000,10000);
+
+		pairCache = new btAxisSweep3(worldMin,worldMax);
+		// remember that this was allocated by us so that we can release it
+		m_ownPairCache = pairCache;
+		//broadphase = new btSimpleBroadphase();
+	}
 
 	m_filterCallback = new CcdOverlapFilterCallBack(this);
-	m_broadphase->getOverlappingPairCache()->setOverlapFilterCallback(m_filterCallback);
+	pairCache->setOverlapFilterCallback(m_filterCallback);
 
 	setSolverType(1);//issues with quickstep and memory allocations
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,m_solver);
 	m_debugDrawer = 0;
 	m_gravity = btVector3(0.f,-10.f,0.f);
 	m_dynamicsWorld->setGravity(m_gravity);
@@ -510,9 +519,6 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 		veh->SyncWheels();
 	}
 
-	m_dynamicsWorld->debugDrawWorld();
-
-
 	CallbackTriggers();
 
 	return true;
@@ -573,7 +579,7 @@ void		CcdPhysicsEnvironment::setSolverDamping(float damping)
 
 void		CcdPhysicsEnvironment::setLinearAirDamping(float damping)
 {
-	//gLinearAirDamping = damping;
+	gLinearAirDamping = damping;
 }
 
 void		CcdPhysicsEnvironment::setUseEpa(bool epa)
@@ -592,7 +598,7 @@ void		CcdPhysicsEnvironment::setSolverType(int solverType)
 			{
 
 				m_solver = new btSequentialImpulseConstraintSolver();
-//				((btSequentialImpulseConstraintSolver*)m_solver)->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
+				((btSequentialImpulseConstraintSolver*)m_solver)->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
 				break;
 			}
 		}
@@ -654,10 +660,9 @@ int			CcdPhysicsEnvironment::createUniversalD6Constraint(
 	{
 		
 
-		bool useReferenceFrameA = true;
 		genericConstraint = new btGeneric6DofConstraint(
 			*rb0,*rb1,
-			frameInA,frameInB,useReferenceFrameA);
+			frameInA,frameInB);
 		genericConstraint->setLinearLowerLimit(linearMinLimits);
 		genericConstraint->setLinearUpperLimit(linearMaxLimits);
 		genericConstraint->setAngularLowerLimit(angularMinLimits);
@@ -737,15 +742,14 @@ struct	FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResul
 		// save shape information as ClosestRayResultCallback::AddSingleResult() does not do it
 		if (rayResult.m_localShapeInfo)
 		{
-			m_hitTriangleShape = NULL;//rayResult.m_localShapeInfo->m_triangleShape;
-			m_hitTriangleIndex = 0;//rayResult.m_localShapeInfo->m_triangleIndex;
+			m_hitTriangleShape = rayResult.m_localShapeInfo->m_triangleShape;
+			m_hitTriangleIndex = rayResult.m_localShapeInfo->m_triangleIndex;
 		} else 
 		{
 			m_hitTriangleShape = NULL;
 			m_hitTriangleIndex = 0;
 		}
-		bool normalInWorldspace = true;
-		return ClosestRayResultCallback::addSingleResult(rayResult,normalInWorldspace);
+		return ClosestRayResultCallback::AddSingleResult(rayResult);
 	}
 
 };
@@ -771,11 +775,8 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallbac
 	memset(&result, 0, sizeof(result));
 
 	// don't collision with sensor object
-	rayCallback.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
-	//, ,filterCallback.m_faceNormal);
-
-	m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
-	if (rayCallback.hasHit())
+	m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback, CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter,filterCallback.m_faceNormal);
+	if (rayCallback.HasHit())
 	{
 		CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->getUserPointer());
 		result.m_controller = controller;
@@ -880,12 +881,6 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
 
 	if (NULL != m_filterCallback)
 		delete m_filterCallback;
-
-	if (NULL != m_collisionConfiguration)
-		delete m_collisionConfiguration;
-
-	if (NULL != m_broadphase)
-		delete m_broadphase;
 }
 
 
@@ -898,7 +893,7 @@ void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
 		{
 			//param = 1..12, min0,max0,min1,max1...min6,max6
 			btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
-			genCons->setLimit(param,value0,value1);
+			genCons->SetLimit(param,value0,value1);
 			break;
 		};
 	default:
@@ -1244,11 +1239,10 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 				btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA;
 				
 				frameInB = inv  * globalFrameA;
-				bool useReferenceFrameA = true;
-
+				
 				genericConstraint = new btGeneric6DofConstraint(
 					*rb0,*rb1,
-					frameInA,frameInB,useReferenceFrameA);
+					frameInA,frameInB);
 
 
 			} else
@@ -1269,10 +1263,9 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 				///frameInB in worldspace
 				frameInB = rb0->getCenterOfMassTransform() * frameInA;
 
-				bool useReferenceFrameA = true;
 				genericConstraint = new btGeneric6DofConstraint(
 					*rb0,s_fixedObject2,
-					frameInA,frameInB,useReferenceFrameA);
+					frameInA,frameInB);
 			}
 			
 			if (genericConstraint)
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 3cf5a943e3f..667e310dcb3 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -56,10 +56,6 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 
 protected:
 	btIDebugDraw*	m_debugDrawer;
-	
-	class btDefaultCollisionConfiguration* m_collisionConfiguration;
-	class btBroadphaseInterface*			m_broadphase;
-
 	//solver iterations
 	int	m_numIterations;