Merge pull request #2034 from erwincoumans/master

Cleaning up the issue tracked with old/out-of-date/issues that haven't been addressed for too long.

Author: erwincoumans

build3/premake5.exe

@@ -113,6 +113,12 @@ struct btCompoundLeafCallback : btDbvt::ICollide
 		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
 		btAssert(index < compoundShape->getNumChildShapes());
 
+		if (gCompoundChildShapePairCallback)
+		{
+			if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
+				return;
+		}
+
 		//backup
 		btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
 
@@ -130,11 +136,6 @@ struct btCompoundLeafCallback : btDbvt::ICollide
 		btVector3 aabbMin1, aabbMax1;
 		m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
 
-		if (gCompoundChildShapePairCallback)
-		{
-			if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
-				return;
-		}
 
 		if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
 		{

src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -50,10 +50,11 @@ class btPlaneShape : public btStaticPlaneShape
 
 	void get_plane_equation_transformed(const btTransform& trans, btVector4& equation) const
 	{
-		equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal);
-		equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal);
-		equation[2] = trans.getBasis().getRow(2).dot(m_planeNormal);
-		equation[3] = trans.getOrigin().dot(m_planeNormal) + m_planeConstant;
+		const btVector3 normal = trans.getBasis() * m_planeNormal;
+		equation[0] = normal[0];
+		equation[1] = normal[1];
+		equation[2] = normal[2];
+		equation[3] = normal.dot(trans * (m_planeConstant * m_planeNormal));
 	}
 };
 
@@ -821,6 +822,12 @@ void btGImpactCollisionAlgorithm::processCollision(const btCollisionObjectWrappe
 
 		gimpact_vs_shape(body1Wrap, body0Wrap, gimpactshape1, body0Wrap->getCollisionShape(), true);
 	}
+
+	// Ensure that gContactProcessedCallback is called for concave shapes.
+	if (getLastManifold())
+	{
+		m_resultOut->refreshContactPoints();
+	}
 }
 
 btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)

src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp

@@ -737,7 +737,7 @@ void btKinematicCharacterController::playerStep(btCollisionWorld* collisionWorld
 	}
 
 	// quick check...
-	if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0))
+	if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0 || m_walkDirection.fuzzyZero())) 
 	{
 		//		printf("\n");
 		return;  // no motion

src/BulletDynamics/Character/btKinematicCharacterController.cpp

@@ -918,9 +918,9 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
 	{
 		solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
 		if (rb0)
-			bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
+			bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
 		if (rb1)
-			bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
+			bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() , -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
 	}
 	else
 	{
@@ -990,9 +990,9 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverC
 		{
 			frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
 			if (rb0)
-				bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass() * rb0->getLinearFactor(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
+				bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass() , frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
 			if (rb1)
-				bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass() * rb1->getLinearFactor(), -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse);
+				bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass() , -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse);
 		}
 		else
 		{