bullet-changes.patch

diff -urN bullet.orig/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp bullet.new/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
--- bullet.orig/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp	2014-01-10 15:49:31.000000000 -0600
+++ bullet.new/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp	2015-03-26 20:16:59.766935213 -0500
@@ -51,7 +51,7 @@
 m_ignoreMargin(false),
 m_lastUsedMethod(-1),
 m_catchDegeneracies(1),
-m_fixContactNormalDirection(1)
+m_fixContactNormalDirection(0)
 {
 }
 btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver)
@@ -67,7 +67,7 @@
 m_ignoreMargin(false),
 m_lastUsedMethod(-1),
 m_catchDegeneracies(1),
-m_fixContactNormalDirection(1)
+m_fixContactNormalDirection(0)
 {
 }
 
diff -urN bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.cpp bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.cpp
--- bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.cpp	2015-03-26 13:15:36.992897379 -0500
+++ bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.cpp	2015-12-22 17:59:06.345343465 -0600
@@ -136,6 +136,7 @@
        m_upAxis = upAxis;
        m_addedMargin = 0.02;
        m_walkDirection.setValue(0,0,0);
+       m_normalizedDirection.setValue(0,0,0);
        m_useGhostObjectSweepTest = true;
        m_ghostObject = ghostObject;
        m_stepHeight = stepHeight;
@@ -187,7 +188,7 @@
 
 	collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
 
-	m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
+	//m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
 	
 	btScalar maxPen = btScalar(0.0);
 	for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
@@ -234,10 +235,13 @@
 			//manifold->clearManifold();
 		}
 	}
-	btTransform newTrans = m_ghostObject->getWorldTransform();
-	newTrans.setOrigin(m_currentPosition);
-	m_ghostObject->setWorldTransform(newTrans);
-//	printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
+	if (penetration == true)
+	{
+		btTransform newTrans = m_ghostObject->getWorldTransform();
+		newTrans.setOrigin(m_currentPosition);
+		m_ghostObject->setWorldTransform(newTrans);
+		//printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
+	}
 	return penetration;
 }
 
@@ -338,17 +342,19 @@
 	btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
 //	printf("distance2=%f\n",distance2);
 
-	if (m_touchingContact)
+	/*if (m_touchingContact)
 	{
 		if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
 		{
 			//interferes with step movement
-			//updateTargetPositionBasedOnCollision (m_touchingNormal);
+			updateTargetPositionBasedOnCollision (m_touchingNormal);
 		}
-	}
+	}*/
 
 	int maxIter = 10;
 
+	doPenetrationRecovery(collisionWorld);
+
 	while (fraction > btScalar(0.01) && maxIter-- > 0)
 	{
 		start.setOrigin (m_currentPosition);
@@ -607,24 +613,9 @@
 void btKinematicCharacterController::preStep (  btCollisionWorld* collisionWorld)
 {
 	
-	int numPenetrationLoops = 0;
-	m_touchingContact = false;
-	while (recoverFromPenetration (collisionWorld))
-	{
-		numPenetrationLoops++;
-		m_touchingContact = true;
-		if (numPenetrationLoops > 4)
-		{
-			//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
-			break;
-		}
-	}
-
 	m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
 	m_targetPosition = m_currentPosition;
 //	printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
-
-	
 }
 
 #include <stdio.h>
@@ -768,3 +759,20 @@
 {
 	m_interpolateUp = value;
 }
+
+void btKinematicCharacterController::doPenetrationRecovery(btCollisionWorld* collisionWorld)
+{
+	int numPenetrationLoops = 0;
+	m_touchingContact = false;
+
+	while (recoverFromPenetration (collisionWorld))
+	{
+		numPenetrationLoops++;
+		m_touchingContact = true;
+		if (numPenetrationLoops > 4)
+		{
+			//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
+			break; +		}
+	}
+}
diff -urN bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.h bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.h
--- bullet.orig/src/BulletDynamics/Character/btKinematicCharacterController.h	2015-03-26 13:15:36.992897379 -0500
+++ bullet.new/src/BulletDynamics/Character/btKinematicCharacterController.h	2015-03-26 01:23:54.895928312 -0500
@@ -94,6 +94,7 @@
 	void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
 	void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
 	void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
+	void doPenetrationRecovery(btCollisionWorld* collisionWorld);
 public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -162,6 +163,10 @@
	{
                m_useGhostObjectSweepTest = useGhostObjectSweepTest;
        }

        bool onGround () const;
        void setUpInterpolate (bool value);
+	void setShape(btConvexShape* shape)
+       {
+               m_convexShape = shape;
+       }