bullet-changes.patch

   1 diff -urN bullet.orig/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp bullet.new/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
   2 --- bullet.orig/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp  2014-01-10 15:49:31.000000000 -0600
   3 +++ bullet.new/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp   2015-03-26 20:16:59.766935213 -0500
   4 @@ -51,7 +51,7 @@
   5  m_ignoreMargin(false),
   6  m_lastUsedMethod(-1),
   7  m_catchDegeneracies(1),
   8 -m_fixContactNormalDirection(1)
   9 +m_fixContactNormalDirection(0)
  10  {
  11  }
  12  btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*       penetrationDepthSolver)
  13 @@ -67,7 +67,7 @@
  14  m_ignoreMargin(false),
  15  m_lastUsedMethod(-1),
  16  m_catchDegeneracies(1),
  17 -m_fixContactNormalDirection(1)
  18 +m_fixContactNormalDirection(0)
  19  {
  20  }
  21
  22 diff -urN bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.cpp bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.cpp
  23 --- bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.cpp 2015-03-26 13:15:36.992897379 -0500
  24 +++ bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.cpp  2015-03-26 01:38:09.802905314 -0500
  25 @@ -234,10 +234,13 @@
  26                         //manifold->clearManifold();
  27                 }
  28         }
  29 -       btTransform newTrans = m_ghostObject->getWorldTransform();
  30 -       newTrans.setOrigin(m_currentPosition);
  31 -       m_ghostObject->setWorldTransform(newTrans);
  32 -//     printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
  33 +       if (penetration == true)
  34 +       {
  35 +               btTransform newTrans = m_ghostObject->getWorldTransform();
  36 +               newTrans.setOrigin(m_currentPosition);
  37 +               m_ghostObject->setWorldTransform(newTrans);
  38 +               //printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
  39 +       }
  40         return penetration;
  41  }
  42
  43 @@ -338,17 +341,19 @@
  44         btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
  45  //     printf("distance2=%f\n",distance2);
  46
  47 -       if (m_touchingContact)
  48 +       /*if (m_touchingContact)
  49         {
  50                 if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
  51                 {
  52                         //interferes with step movement
  53 -                       //updateTargetPositionBasedOnCollision (m_touchingNormal);
  54 +                       updateTargetPositionBasedOnCollision (m_touchingNormal);
  55                 }
  56 -       }
  57 +       }*/
  58
  59         int maxIter = 10;
  60
  61 +       doPenetrationRecovery(collisionWorld);
  62 +
  63         while (fraction > btScalar(0.01) && maxIter-- > 0)
  64         {
  65                 start.setOrigin (m_currentPosition);
  66 @@ -607,24 +612,9 @@
  67  void btKinematicCharacterController::preStep (  btCollisionWorld* collisionWorld)
  68  {
  69
  70 -       int numPenetrationLoops = 0;
  71 -       m_touchingContact = false;
  72 -       while (recoverFromPenetration (collisionWorld))
  73 -       {
  74 -               numPenetrationLoops++;
  75 -               m_touchingContact = true;
  76 -               if (numPenetrationLoops > 4)
  77 -               {
  78 -                       //printf("character could not recover from penetration = %d\n", numPenetrationLoops);
  79 -                       break;
  80 -               }
  81 -       }
  82 -
  83         m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
  84         m_targetPosition = m_currentPosition;
  85  //     printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
  86 -
  87 -
  88  }
  89
  90  #include <stdio.h>
  91 @@ -768,3 +758,20 @@
  92  {
  93         m_interpolateUp = value;
  94  }
  95 +
  96 +void btKinematicCharacterController::doPenetrationRecovery(btCollisionWorld* collisionWorld)
  97 +{
  98 +       int numPenetrationLoops = 0;
  99 +       m_touchingContact = false;
 100 +
 101 +       while (recoverFromPenetration (collisionWorld))
 102 +       {
 103 +               numPenetrationLoops++;
 104 +               m_touchingContact = true;
 105 +               if (numPenetrationLoops > 4)
 106 +               {
 107 +                       //printf("character could not recover from penetration = %d\n", numPenetrationLoops);
 108 +                       break;
 109 +               }
 110 +       }
 111 +}
 112 diff -urN bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.h bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.h
 113 --- bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.h   2015-03-26 13:15:36.992897379 -0500
 114 +++ bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.h    2015-03-26 01:23:54.895928312 -0500
 115 @@ -94,6 +94,7 @@
 116         void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
 117         void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
 118         void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
 119 +       void doPenetrationRecovery(btCollisionWorld* collisionWorld);
 120  public:
 121
 122         BT_DECLARE_ALIGNED_ALLOCATOR();