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  2015-12-22 17:59:06.345343465 -0600
  25 @@ -136,6 +136,7 @@
  26         m_upAxis = upAxis;
  27         m_addedMargin = 0.02;
  28         m_walkDirection.setValue(0,0,0);
  29 +       m_normalizedDirection.setValue(0,0,0);
  30         m_useGhostObjectSweepTest = true;
  31         m_ghostObject = ghostObject;
  32         m_stepHeight = stepHeight;
  33 @@ -187,7 +188,7 @@
  34
  35         collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
  36
  37 -       m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
  38 +       //m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
  39
  40         btScalar maxPen = btScalar(0.0);
  41         for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
  42 @@ -234,10 +235,13 @@
  43                         //manifold->clearManifold();
  44                 }
  45         }
  46 -       btTransform newTrans = m_ghostObject->getWorldTransform();
  47 -       newTrans.setOrigin(m_currentPosition);
  48 -       m_ghostObject->setWorldTransform(newTrans);
  49 -//     printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
  50 +       if (penetration == true)
  51 +       {
  52 +               btTransform newTrans = m_ghostObject->getWorldTransform();
  53 +               newTrans.setOrigin(m_currentPosition);
  54 +               m_ghostObject->setWorldTransform(newTrans);
  55 +               //printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
  56 +       }
  57         return penetration;
  58  }
  59
  60 @@ -338,17 +342,19 @@
  61         btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
  62  //     printf("distance2=%f\n",distance2);
  63
  64 -       if (m_touchingContact)
  65 +       /*if (m_touchingContact)
  66         {
  67                 if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
  68                 {
  69                         //interferes with step movement
  70 -                       //updateTargetPositionBasedOnCollision (m_touchingNormal);
  71 +                       updateTargetPositionBasedOnCollision (m_touchingNormal);
  72                 }
  73 -       }
  74 +       }*/
  75
  76         int maxIter = 10;
  77
  78 +       doPenetrationRecovery(collisionWorld);
  79 +
  80         while (fraction > btScalar(0.01) && maxIter-- > 0)
  81         {
  82                 start.setOrigin (m_currentPosition);
  83 @@ -607,24 +613,9 @@
  84  void btKinematicCharacterController::preStep (  btCollisionWorld* collisionWorld)
  85  {
  86
  87 -       int numPenetrationLoops = 0;
  88 -       m_touchingContact = false;
  89 -       while (recoverFromPenetration (collisionWorld))
  90 -       {
  91 -               numPenetrationLoops++;
  92 -               m_touchingContact = true;
  93 -               if (numPenetrationLoops > 4)
  94 -               {
  95 -                       //printf("character could not recover from penetration = %d\n", numPenetrationLoops);
  96 -                       break;
  97 -               }
  98 -       }
  99 -
 100         m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
 101         m_targetPosition = m_currentPosition;
 102  //     printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
 103 -
 104 -
 105  }
 106
 107  #include <stdio.h>
 108 @@ -768,3 +759,20 @@
 109  {
 110         m_interpolateUp = value;
 111  }
 112 +
 113 +void btKinematicCharacterController::doPenetrationRecovery(btCollisionWorld* collisionWorld)
 114 +{
 115 +       int numPenetrationLoops = 0;
 116 +       m_touchingContact = false;
 117 +
 118 +       while (recoverFromPenetration (collisionWorld))
 119 +       {
 120 +               numPenetrationLoops++;
 121 +               m_touchingContact = true;
 122 +               if (numPenetrationLoops > 4)
 123 +               {
 124 +                       //printf("character could not recover from penetration = %d\n", numPenetrationLoops);
 125 +                       break;
 126 +               }
 127 +       }
 128 +}
 129 diff -urN bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.h bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.h
 130 --- bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.h   2015-03-26 13:15:36.992897379 -0500
 131 +++ bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.h    2015-03-26 01:23:54.895928312 -0500
 132 @@ -94,6 +94,7 @@
 133         void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
 134         void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
 135         void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
 136 +       void doPenetrationRecovery(btCollisionWorld* collisionWorld);
 137  public:
 138
 139         BT_DECLARE_ALIGNED_ALLOCATOR();