Support for Bullet v2.81

dtool/src/parser-inc/btBulletDynamicsCommon.h

@@ -13,6 +13,7 @@ class btCharacterControllerInterface;
 class btCollisionConfiguration;
 class btCollisionDispatcher;
 class btCollisionObject;
+class btCollisionObjectWrapper;
 class btCollisionShape;
 class btCompoundShape;
 class btConcaveShape;

panda/src/bullet/bulletAllHitsRayResult.h

@@ -39,7 +39,7 @@ PUBLISHED:
   PN_stdfloat get_hit_fraction() const;
 
 private:
-  btCollisionObject *_object; 
+  const btCollisionObject *_object; 
   btVector3 _normal;
   btVector3 _pos;
   btScalar _fraction;

panda/src/bullet/bulletClosestHitRayResult.cxx

@@ -72,11 +72,11 @@ get_hit_fraction() const {
 //       Access: Published
 //  Description:
 ////////////////////////////////////////////////////////////////////
-PandaNode *BulletClosestHitRayResult::
+const PandaNode *BulletClosestHitRayResult::
 get_node() const {
 
-  btCollisionObject *objectPtr = m_collisionObject;
-  return (objectPtr) ? (PandaNode *)objectPtr->getUserPointer() : NULL;
+  const btCollisionObject *objectPtr = m_collisionObject;
+  return (objectPtr) ? (const PandaNode *)objectPtr->getUserPointer() : NULL;
 }
 
 ////////////////////////////////////////////////////////////////////

panda/src/bullet/bulletClosestHitRayResult.h

@@ -38,7 +38,7 @@ PUBLISHED:
 
   bool has_hit() const;
 
-  PandaNode *get_node() const;
+  const PandaNode *get_node() const;
   LPoint3 get_hit_pos() const;
   LVector3 get_hit_normal() const;
   PN_stdfloat get_hit_fraction() const;

panda/src/bullet/bulletClosestHitSweepResult.cxx

@@ -33,11 +33,6 @@ BulletClosestHitSweepResult(const btVector3 &from_pos, const btVector3 &to_pos,
 bool BulletClosestHitSweepResult::
 needsCollision(btBroadphaseProxy* proxy0) const {
 
-  // Original implementation:
-  //bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
-  //collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-  //return collides;
-
   btCollisionObject *obj0 = (btCollisionObject *) proxy0->m_clientObject;
   PandaNode *node0 = (PandaNode *) obj0->getUserPointer();
   CollideMask mask0 = node0->get_into_collide_mask();
@@ -72,11 +67,11 @@ get_hit_fraction() const {
 //       Access: Published
 //  Description:
 ////////////////////////////////////////////////////////////////////
-PandaNode *BulletClosestHitSweepResult::
+const PandaNode *BulletClosestHitSweepResult::
 get_node() const {
 
-  btCollisionObject *objectPtr = m_hitCollisionObject;
-  return (objectPtr) ? (PandaNode *)objectPtr->getUserPointer() : NULL;
+  const btCollisionObject *objectPtr = m_hitCollisionObject;
+  return (objectPtr) ? (const PandaNode *)objectPtr->getUserPointer() : NULL;
 }
 
 ////////////////////////////////////////////////////////////////////

panda/src/bullet/bulletClosestHitSweepResult.h

@@ -38,7 +38,7 @@ PUBLISHED:
 
   bool has_hit() const;
 
-  PandaNode *get_node() const;
+  const PandaNode *get_node() const;
   LPoint3 get_hit_pos() const;
   LVector3 get_hit_normal() const;
   PN_stdfloat get_hit_fraction() const;

panda/src/bullet/bulletContactCallbacks.h

@@ -39,16 +39,30 @@ struct UserPersitentData {
 ////////////////////////////////////////////////////////////////////
 static bool
 contact_added_callback(btManifoldPoint &cp,
+#if BT_BULLET_VERSION >= 281
+                       const btCollisionObjectWrapper *wrap0,
+#else
                        const btCollisionObject *obj0,
+#endif
                        int id0,
                        int index0,
+#if BT_BULLET_VERSION >= 281
+                       const btCollisionObjectWrapper *wrap1,
+#else
                        const btCollisionObject *obj1,
+#endif
                        int id1,
                        int index1) {
 
   if (cp.m_userPersistentData == NULL) {
+
+#if BT_BULLET_VERSION >= 281
+    PT(PandaNode) node0 = (PandaNode *)wrap0->getCollisionObject()->getUserPointer();
+    PT(PandaNode) node1 = (PandaNode *)wrap1->getCollisionObject()->getUserPointer();
+#else
     PT(PandaNode) node0 = (PandaNode *)obj0->getUserPointer();
     PT(PandaNode) node1 = (PandaNode *)obj1->getUserPointer();
+#endif
 
     bullet_cat.debug() << "contact added: " << cp.m_userPersistentData << endl;
 

panda/src/bullet/bulletContactResult.cxx

@@ -26,6 +26,32 @@ BulletContactResult() : btCollisionWorld::ContactResultCallback() {
 
 }
 
+#if BT_BULLET_VERSION >= 281
+////////////////////////////////////////////////////////////////////
+//     Function: BulletContactResult::addSingleResult
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+btScalar BulletContactResult::
+addSingleResult(btManifoldPoint &mp,
+                const btCollisionObjectWrapper *wrap0, int part_id0, int idx0,
+                const btCollisionObjectWrapper *wrap1, int part_id1, int idx1) {
+
+  BulletContact contact;
+
+  contact._mp = mp;
+  contact._obj0 = wrap0->getCollisionObject();
+  contact._obj1 = wrap1->getCollisionObject();
+  contact._part_id0 = part_id0;
+  contact._part_id1 = part_id1;
+  contact._idx0 = idx0;
+  contact._idx1 = idx1;
+
+  _contacts.push_back(contact);
+
+  return 1.0f;
+}
+#else
 ////////////////////////////////////////////////////////////////////
 //     Function: BulletContactResult::addSingleResult
 //       Access: Published
@@ -50,4 +76,5 @@ addSingleResult(btManifoldPoint &mp,
 
   return 1.0f;
 }
+#endif
 

panda/src/bullet/bulletContactResult.h

@@ -61,9 +61,15 @@ PUBLISHED:
   MAKE_SEQ(get_contacts, get_num_contacts, get_contact);
 
 public:
+#if BT_BULLET_VERSION >= 281
+  virtual btScalar addSingleResult(btManifoldPoint &mp,
+      const btCollisionObjectWrapper *wrap0, int part_id0, int idx0, 
+      const btCollisionObjectWrapper *wrap1, int part_id1, int idx1); 
+#else
   virtual btScalar addSingleResult(btManifoldPoint &mp,
       const btCollisionObject *obj0, int part_id0, int idx0,
       const btCollisionObject *obj1, int part_id1, int idx1);
+#endif
 
 protected:
   BulletContactResult();

panda/src/bullet/bulletPersistentManifold.cxx

@@ -63,12 +63,16 @@ clear_manifold() {
 //       Access: Published
 //  Description:
 ////////////////////////////////////////////////////////////////////
-PandaNode *BulletPersistentManifold::
+const PandaNode *BulletPersistentManifold::
 get_node0() {
 
-  btCollisionObject *obj = static_cast<btCollisionObject *>(_manifold->getBody0());
+#if BT_BULLET_VERSION >= 281
+  const btCollisionObject *obj = _manifold->getBody0();
+#else
+  const btCollisionObject *obj = (btCollisionObject *)_manifold->getBody0();
+#endif
 
-  return (obj) ? (PandaNode *)obj->getUserPointer(): NULL;
+  return (obj) ? (const PandaNode *)obj->getUserPointer(): NULL;
 }
 
 ////////////////////////////////////////////////////////////////////
@@ -76,12 +80,16 @@ get_node0() {
 //       Access: Published
 //  Description:
 ////////////////////////////////////////////////////////////////////
-PandaNode *BulletPersistentManifold::
+const PandaNode *BulletPersistentManifold::
 get_node1() {
 
-  btCollisionObject *obj = static_cast<btCollisionObject *>(_manifold->getBody1());
+#if BT_BULLET_VERSION >= 281
+  const btCollisionObject *obj = _manifold->getBody1();
+#else
+  const btCollisionObject *obj = (btCollisionObject *)_manifold->getBody1();
+#endif
 
-  return (obj) ? (PandaNode *)obj->getUserPointer(): NULL;
+  return (obj) ? (const PandaNode *)obj->getUserPointer(): NULL;
 }
 
 ////////////////////////////////////////////////////////////////////

panda/src/bullet/bulletPersistentManifold.h

@@ -32,8 +32,8 @@ class EXPCL_PANDABULLET BulletPersistentManifold {
 PUBLISHED:
   INLINE ~BulletPersistentManifold();
 
-  PandaNode *get_node0();
-  PandaNode *get_node1();
+  const PandaNode *get_node0();
+  const PandaNode *get_node1();
 
   int get_num_manifold_points() const;
   BulletManifoldPoint *get_manifold_point(int idx) const;

panda/src/bullet/config_bullet.cxx

@@ -130,11 +130,11 @@ PRC_DESC("Only used when bullet-additional-damping is set to TRUE. "
          "Default value is 0.01."));
 
 ConfigVariableBool bullet_full_sync
-("bullet-full-sync", true,
+("bullet-full-sync", false,
 PRC_DESC("Enables optional synchronisation features like checking "
          "for changed in a nodes net transform before each simulation "
          "step. Disable these features for better performance. "
-         "Default value is TRUE."));
+         "Default value is FALSE."));
 
 ////////////////////////////////////////////////////////////////////
 //     Function: init_libbullet