bullet-changes.patch

   1 diff -urN bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.cpp bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.cpp
   2 --- bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.cpp 2015-03-26 13:15:36.992897379 -0500
   3 +++ bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.cpp  2015-03-26 01:38:09.802905314 -0500
   4 @@ -234,10 +234,13 @@
   5                         //manifold->clearManifold();
   6                 }
   7         }
   8 -       btTransform newTrans = m_ghostObject->getWorldTransform();
   9 -       newTrans.setOrigin(m_currentPosition);
  10 -       m_ghostObject->setWorldTransform(newTrans);
  11 -//     printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
  12 +       if (penetration == true)
  13 +       {
  14 +               btTransform newTrans = m_ghostObject->getWorldTransform();
  15 +               newTrans.setOrigin(m_currentPosition);
  16 +               m_ghostObject->setWorldTransform(newTrans);
  17 +               //printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
  18 +       }
  19         return penetration;
  20  }
  21
  22 @@ -338,17 +341,19 @@
  23         btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
  24  //     printf("distance2=%f\n",distance2);
  25
  26 -       if (m_touchingContact)
  27 +       /*if (m_touchingContact)
  28         {
  29                 if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
  30                 {
  31                         //interferes with step movement
  32 -                       //updateTargetPositionBasedOnCollision (m_touchingNormal);
  33 +                       updateTargetPositionBasedOnCollision (m_touchingNormal);
  34                 }
  35 -       }
  36 +       }*/
  37
  38         int maxIter = 10;
  39
  40 +       doPenetrationRecovery(collisionWorld);
  41 +
  42         while (fraction > btScalar(0.01) && maxIter-- > 0)
  43         {
  44                 start.setOrigin (m_currentPosition);
  45 @@ -607,24 +612,9 @@
  46  void btKinematicCharacterController::preStep (  btCollisionWorld* collisionWorld)
  47  {
  48
  49 -       int numPenetrationLoops = 0;
  50 -       m_touchingContact = false;
  51 -       while (recoverFromPenetration (collisionWorld))
  52 -       {
  53 -               numPenetrationLoops++;
  54 -               m_touchingContact = true;
  55 -               if (numPenetrationLoops > 4)
  56 -               {
  57 -                       //printf("character could not recover from penetration = %d\n", numPenetrationLoops);
  58 -                       break;
  59 -               }
  60 -       }
  61 -
  62         m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
  63         m_targetPosition = m_currentPosition;
  64  //     printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
  65 -
  66 -
  67  }
  68
  69  #include <stdio.h>
  70 @@ -768,3 +758,20 @@
  71  {
  72         m_interpolateUp = value;
  73  }
  74 +
  75 +void btKinematicCharacterController::doPenetrationRecovery(btCollisionWorld* collisionWorld)
  76 +{
  77 +       int numPenetrationLoops = 0;
  78 +       m_touchingContact = false;
  79 +
  80 +       while (recoverFromPenetration (collisionWorld))
  81 +       {
  82 +               numPenetrationLoops++;
  83 +               m_touchingContact = true;
  84 +               if (numPenetrationLoops > 4)
  85 +               {
  86 +                       //printf("character could not recover from penetration = %d\n", numPenetrationLoops);
  87 +                       break;
  88 +               }
  89 +       }
  90 +}
  91 diff -urN bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.h bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.h
  92 --- bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.h   2015-03-26 13:15:36.992897379 -0500
  93 +++ bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.h    2015-03-26 01:23:54.895928312 -0500
  94 @@ -94,6 +94,7 @@
  95         void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
  96         void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
  97         void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
  98 +       void doPenetrationRecovery(btCollisionWorld* collisionWorld);
  99  public:
 100
 101         BT_DECLARE_ALIGNED_ALLOCATOR();