Merge branch 'master' of https://github.com/outerra/bullet3

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -35,7 +35,7 @@ ATTRIBUTE_ALIGNED16(class) btCollisionShape
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
+	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(0)
 	{
 	}
 

src/otbullet/discrete_dynamics_world.cpp

@@ -246,8 +246,10 @@ namespace ot {
             uint tri_count = 0;
 
 			for (uints j = 0; j < _cow_internal.size(); j++) {
-
-				btCollisionObjectWrapper internal_obj_wrapper(_cow_internal[j]._parent,
+                if (_cow_internal[j]._shape->getUserIndex() & 1) { // do not collide with terrain
+                    continue;
+                }
+ 				btCollisionObjectWrapper internal_obj_wrapper(_cow_internal[j]._parent,
 					_cow_internal[j]._shape,
 					obj,
 					_cow_internal[j]._worldTransform,
@@ -317,9 +319,13 @@ namespace ot {
                 //_relocation_offset = _tb_cache.get_array().ptr();
 
                 bool is_above_tm = false;
+                double3 under_terrain_contact;
+                float3 under_terrain_normal;
+
+                int col_result = _aabb_intersect(_context, _from, _basis, _lod_dim, _triangles, _tree_batches, _tb_cache, frame_count, is_above_tm, under_terrain_contact, under_terrain_normal);
 
-                if (!_aabb_intersect(_context, _from, _basis, _lod_dim, _triangles, _tree_batches, _tb_cache, frame_count,is_above_tm)) {
-                    DASSERT(_tree_batches.size() == 0);
+                if (col_result == 0) {
+                    //DASSERT(_tree_batches.size() == 0);
                     continue;
                 }
 /*                
@@ -357,7 +363,13 @@ namespace ot {
                     _stats.triangle_processing_time_ms += timer.time_ns() * 0.000001f;
 #endif // _PROFILING_ENABLED
 
-				}
+                }
+                else if (col_result == -1) {
+                    gContactAddedCallback = nullptr;
+                    res.addContactPoint(btVector3(under_terrain_normal.x, under_terrain_normal.y, under_terrain_normal.z),
+                        btVector3(_from.x, _from.y, _from.z),
+                        -glm::length(_from - under_terrain_contact));
+                }
 
                 if (_tree_batches.size() > 0) {
                     prepare_tree_collision_pairs(obj, _tree_batches, frame_count);
@@ -369,7 +381,7 @@ namespace ot {
 
             res.refreshContactPoints();
 
-            if (manifold->getNumContacts() == 0 || tri_count == 0) {
+            if (manifold->getNumContacts() == 0 /*|| (tri_count == 0)*/) {
                 getDispatcher()->releaseManifold(manifold);
                 _manifolds.get_item(rb->getTerrainManifoldHandle());
                 _manifolds.del(_manifolds.get_item(rb->getTerrainManifoldHandle()));

src/otbullet/discrete_dynamics_world.h

@@ -194,7 +194,7 @@ class discrete_dynamics_world : public btDiscreteDynamicsWorld
         coid::slotalloc<bt::tree_batch>& tree_batches,
         uint frame );
 
-    typedef bool(*fn_ext_collision_2)(
+    typedef int(*fn_ext_collision_2)(
         const void* context,
         const double3& center,
         const float3x3& basis,
@@ -203,7 +203,9 @@ class discrete_dynamics_world : public btDiscreteDynamicsWorld
         coid::dynarray<uint>& trees,
         coid::slotalloc<bt::tree_batch>& tree_batches,
         uint frame,
-        bool& is_above_tm);
+        bool& is_above_tm,
+        double3& under_contact,
+        float3& under_normal);
 
     typedef float3(*fn_process_tree_collision)(btRigidBody * obj, bt::tree_collision_contex & ctx, float time_step, coid::slotalloc<bt::tree_batch>& tree_batches );
 

src/otbullet/ot_terrain_contact_common.cpp

@@ -330,6 +330,10 @@ void ot_terrain_contact_common::collide_convex_triangle(const bt::triangle & tri
 
 
     btCollisionObjectWrapper triObWrap(_manifold->getBody1Wrap(), &tm, _manifold->getBody1Wrap()->getCollisionObject(), _manifold->getBody1Wrap()->getWorldTransform(), 0, triangle.tri_idx);//correct transform?
+
+    const btCollisionObjectWrapper * curr_col_obj_wrapper = _manifold->getBody0Wrap();
+    _manifold->setBody0Wrap(_convex_object);
+
     btCollisionAlgorithm* colAlgo = _collision_world->getDispatcher()->findAlgorithm(_manifold->getBody0Wrap(), &triObWrap, _manifold->getPersistentManifold());
 
     const btCollisionObjectWrapper* tmpWrap = 0;
@@ -341,6 +345,7 @@ void ot_terrain_contact_common::collide_convex_triangle(const bt::triangle & tri
 
     colAlgo->processCollision(_manifold->getBody0Wrap(), &triObWrap, _collision_world->getDispatchInfo(), _manifold);
 
+    _manifold->setBody1Wrap(curr_col_obj_wrapper);
     _manifold->setBody1Wrap(tmpWrap);
 
     colAlgo->~btCollisionAlgorithm();

src/otbullet/otbullet.hpp

@@ -95,7 +95,7 @@ class physics : public policy_intrusive_base
         coid::slotalloc<bt::tree_batch>& tree_batches,
         uint frame );
 
-    ifc_event bool terrain_collisions_aabb(
+    ifc_event int terrain_collisions_aabb(
         const void* context,
         const double3& center,
         float3x3 basis,
@@ -104,7 +104,9 @@ class physics : public policy_intrusive_base
         coid::dynarray<uint>& trees,
         coid::slotalloc<bt::tree_batch>& tree_batches,
         uint frame, 
-        bool& is_above_tm);
+        bool& is_above_tm,
+        double3& under_contact,
+        float3& under_normal);
 
     ifc_event float3 tree_collisions(btRigidBody * obj,
         bt::tree_collision_contex & ctx,

src/otbullet/otbullet.intergen.cpp

@@ -205,10 +205,10 @@ class physics_dispatcher : public physics
             on ? (void*)&_generic_interface_creator : nullptr);
 
         interface_register::register_interface_creator(
-            "bt::physics.create@2719886067",
+            "bt::physics.create@2650151887",
             on ? (void*)&create : nullptr);
         interface_register::register_interface_creator(
-            "bt::physics.get@2719886067",
+            "bt::physics.get@2650151887",
             on ? (void*)&get : nullptr);
     }
 };
@@ -240,12 +240,12 @@ bool physics::terrain_collisions( const void* context, const double3& center, fl
         return _ifc_host->iface<bt::physics>()->terrain_collisions(context, center, radius, lod_dimension, data, trees, tree_batches, frame);
 }
 
-bool physics::terrain_collisions_aabb( const void* context, const double3& center, float3x3 basis, float lod_dimension, coid::dynarray<bt::triangle>& data, coid::dynarray<uint>& trees, coid::slotalloc<bt::tree_batch>& tree_batches, uint frame, bool& is_above_tm )
+int physics::terrain_collisions_aabb( const void* context, const double3& center, float3x3 basis, float lod_dimension, coid::dynarray<bt::triangle>& data, coid::dynarray<uint>& trees, coid::slotalloc<bt::tree_batch>& tree_batches, uint frame, bool& is_above_tm, double3& under_contact, float3& under_normal )
 {
 	if (!_ifc_host) 
         throw coid::exception() << "terrain_collisions_aabb" << " handler not implemented";
     else
-        return _ifc_host->iface<bt::physics>()->terrain_collisions_aabb(context, center, basis, lod_dimension, data, trees, tree_batches, frame, is_above_tm);
+        return _ifc_host->iface<bt::physics>()->terrain_collisions_aabb(context, center, basis, lod_dimension, data, trees, tree_batches, frame, is_above_tm, under_contact, under_normal);
 }
 
 float3 physics::tree_collisions( btRigidBody* obj, bt::tree_collision_contex& ctx, float time_step, coid::slotalloc<bt::tree_batch>& tree_batches )

src/otbullet/physics.h

@@ -122,7 +122,7 @@ class physics
 
     virtual bool terrain_collisions( const void* context, const double3& center, float radius, float lod_dimension, coid::dynarray<bt::triangle>& data, coid::dynarray<uint>& trees, coid::slotalloc<bt::tree_batch>& tree_batches, uint frame ){ throw coid::exception("handler not implemented"); }
 
-    virtual bool terrain_collisions_aabb( const void* context, const double3& center, float3x3 basis, float lod_dimension, coid::dynarray<bt::triangle>& data, coid::dynarray<uint>& trees, coid::slotalloc<bt::tree_batch>& tree_batches, uint frame, bool& is_above_tm ){ throw coid::exception("handler not implemented"); }
+    virtual int terrain_collisions_aabb( const void* context, const double3& center, float3x3 basis, float lod_dimension, coid::dynarray<bt::triangle>& data, coid::dynarray<uint>& trees, coid::slotalloc<bt::tree_batch>& tree_batches, uint frame, bool& is_above_tm, double3& under_contact, float3& under_normal ){ throw coid::exception("handler not implemented"); }
 
     virtual float3 tree_collisions( btRigidBody* obj, bt::tree_collision_contex& ctx, float time_step, coid::slotalloc<bt::tree_batch>& tree_batches ){ throw coid::exception("handler not implemented"); }
 
@@ -170,7 +170,7 @@ class physics
         if (_cleaner) _cleaner(this,0);
     }
 
-    static const int HASHID = 2719886067;
+    static const int HASHID = 2650151887;
 
     int intergen_hash_id() const override final { return HASHID; }
 
@@ -184,7 +184,7 @@ class physics
     }
 
     static const coid::token& intergen_default_creator_static( EBackend bck ) {
-        static const coid::token _dc("bt::physics.get@2719886067");
+        static const coid::token _dc("bt::physics.get@2650151887");
         static const coid::token _djs("bt::physics@wrapper.js");
         static const coid::token _dlua("bt::physics@wrapper.lua");
         static const coid::token _dnone;
@@ -258,7 +258,7 @@ inline iref<T> physics::create( T* _subclass_, double r, void* context )
     typedef iref<T> (*fn_creator)(physics*, double, void*);
 
     static fn_creator create = 0;
-    static const coid::token ifckey = "bt::physics.create@2719886067";
+    static const coid::token ifckey = "bt::physics.create@2650151887";
 
     if (!create)
         create = reinterpret_cast<fn_creator>(
@@ -276,7 +276,7 @@ inline iref<T> physics::get( T* _subclass_ )
     typedef iref<T> (*fn_creator)(physics*);
 
     static fn_creator create = 0;
-    static const coid::token ifckey = "bt::physics.get@2719886067";
+    static const coid::token ifckey = "bt::physics.get@2650151887";
 
     if (!create)
         create = reinterpret_cast<fn_creator>(

src/otbullet/wrapper.cpp

@@ -40,7 +40,7 @@ extern bool _ext_collider(const void* context,
     coid::slotalloc<bt::tree_batch>& tree_batches,
     uint frame );
 
-extern bool _ext_collider_obb(
+extern int _ext_collider_obb(
     const void * context,
     const double3& center,
     const float3x3& basis,
@@ -49,7 +49,9 @@ extern bool _ext_collider_obb(
     coid::dynarray<uint>& trees,
     coid::slotalloc<bt::tree_batch>& tree_batches,
     uint frame,
-    bool& is_above_tm);
+    bool& is_above_tm,
+    double3& under_contact,
+    float3& under_normal);
 
 extern float _ext_terrain_ray_intersect(
     const void* planet,
@@ -86,7 +88,7 @@ static bool _ext_collider(
     return _physics->terrain_collisions(planet, center, radius, lod_dimension, data, trees, tree_batches, frame);
 }
 
-static bool _ext_collider_obb(
+static int _ext_collider_obb(
     const void * planet,
     const double3& center,
     const float3x3& basis,
@@ -95,9 +97,11 @@ static bool _ext_collider_obb(
     coid::dynarray<uint>& trees,
     coid::slotalloc<bt::tree_batch>& tree_batches,
     uint frame,
-    bool& is_above_tm)
+    bool& is_above_tm,
+    double3& under_contact,
+    float3& under_normal)
 {
-    return _physics->terrain_collisions_aabb(planet, center, basis, lod_dimension, data, trees, tree_batches, frame,is_above_tm);
+    return _physics->terrain_collisions_aabb(planet, center, basis, lod_dimension, data, trees, tree_batches, frame,is_above_tm, under_contact, under_normal);
 }
 
 static float _ext_terrain_ray_intersect(