bullet-c-api.patch

Index: src/BulletDynamics/Dynamics/Bullet-C-API.cpp
===================================================================
--- src/BulletDynamics/Dynamics/Bullet-C-API.cpp	(revision 2443)
+++ src/BulletDynamics/Dynamics/Bullet-C-API.cpp	(working copy)
@@ -32,6 +32,7 @@
 #include "LinearMath/btTransform.h"
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "BulletCollision/CollisionShapes/btTriangleShape.h"
+#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
 
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 #include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
@@ -44,6 +45,11 @@
 #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
 
+inline void outputVector(plReal *out, const btVector3 &vec) {
+	out[0] = vec[0];
+	out[1] = vec[1];
+	out[2] = vec[2];
+}
 
 /*
 	Create and Delete a Physics SDK	
@@ -85,21 +91,35 @@
 
 
 /* Dynamics World */
-plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle)
-{
-	btPhysicsSdk* physicsSdk = reinterpret_cast<btPhysicsSdk*>(physicsSdkHandle);
+plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle, plBroadphase broadphase) {
+  btPhysicsSdk* physicsSdk = reinterpret_cast<btPhysicsSdk*>(physicsSdkHandle);
 	void* mem = btAlignedAlloc(sizeof(btDefaultCollisionConfiguration),16);
 	btDefaultCollisionConfiguration* collisionConfiguration = new (mem)btDefaultCollisionConfiguration();
 	mem = btAlignedAlloc(sizeof(btCollisionDispatcher),16);
 	btDispatcher*				dispatcher = new (mem)btCollisionDispatcher(collisionConfiguration);
-	mem = btAlignedAlloc(sizeof(btAxisSweep3),16);
-	btBroadphaseInterface*		pairCache = new (mem)btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax);
+  
+	btBroadphaseInterface* pairCache;
+	switch(broadphase) {
+	case PL_SAP:
+		mem = btAlignedAlloc(sizeof(btAxisSweep3),16);
+		pairCache = new (mem)btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax);
+		break;
+
+	case PL_DBVT:
+		mem = btAlignedAlloc(sizeof(btDbvtBroadphase),16);
+		pairCache = new (mem)btDbvtBroadphase();
+
+	default:
+		btAssert(!"Unsupported broadphase type");
+	}
+  
 	mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16);
 	btConstraintSolver*			constraintSolver = new(mem) btSequentialImpulseConstraintSolver();
 
 	mem = btAlignedAlloc(sizeof(btDiscreteDynamicsWorld),16);
 	return (plDynamicsWorldHandle) new (mem)btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
 }
+
 void           plDeleteDynamicsWorld(plDynamicsWorldHandle world)
 {
 	//todo: also clean up the other allocations, axisSweep, pairCache,dispatcher,constraintSolver,collisionConfiguration
@@ -107,11 +127,11 @@
 	btAlignedFree(dynamicsWorld);
 }
 
-void	plStepSimulation(plDynamicsWorldHandle world,	plReal	timeStep)
+void	plStepSimulation(plDynamicsWorldHandle world, plReal timeStep, int maxSubSteps, plReal fixedTimeStep)
 {
 	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
 	btAssert(dynamicsWorld);
-	dynamicsWorld->stepSimulation(timeStep);
+	dynamicsWorld->stepSimulation(timeStep, maxSubSteps, fixedTimeStep);
 }
 
 void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
@@ -207,7 +227,16 @@
 	return (plCollisionShapeHandle) new (mem)btConvexHullShape();
 }
 
+plCollisionShapeHandle plNewStaticPlaneShape(plVector3 normal, plReal constant) {
+  void* mem = btAlignedAlloc(sizeof(btStaticPlaneShape),16);
+  return (plCollisionShapeHandle) new (mem)btStaticPlaneShape(btVector3(normal[0], normal[1], normal[2]), constant);
+}
 
+plCollisionShapeHandle plNewHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, void *heightfieldData, plReal heightScale, plReal minHeight, plReal maxHeight, int upAxis, plScalarType heightDataType, plBool flipQuadEdges) {
+  void* mem = btAlignedAlloc(sizeof(btHeightfieldTerrainShape),16);
+  return (plCollisionShapeHandle) new (mem)btHeightfieldTerrainShape(heightStickWidth, heightStickLength, heightfieldData, heightScale, minHeight, maxHeight, upAxis, (PHY_ScalarType)heightDataType, flipQuadEdges);
+}
+
 /* Concave static triangle meshes */
 plMeshInterfaceHandle		   plNewMeshInterface()
 {
@@ -316,9 +345,7 @@
 	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
 	btAssert(body);
 	const btVector3& pos = body->getWorldTransform().getOrigin();
-	position[0] = pos.getX();
-	position[1] = pos.getY();
-	position[2] = pos.getZ();
+	outputVector(position, pos);
 }
 
 void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation)
@@ -334,7 +361,19 @@
 
 
 
-//plRigidBodyHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
+plCollisionObjectHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd,
+																	plVector3 posWorld, plVector3 normalWorld) {
+	btDynamicsWorld *w = reinterpret_cast< btDynamicsWorld* >(world);
+	const btVector3 from(rayStart[0], rayStart[1], rayStart[2]), to(rayEnd[0], rayEnd[1], rayEnd[2]);
+	btCollisionWorld::ClosestRayResultCallback callback(from, to);
+	w->rayTest(from, to, callback);
+	if(callback.hasHit()) {
+		outputVector(posWorld, callback.m_hitPointWorld);
+		outputVector(normalWorld, callback.m_hitNormalWorld);
+		return reinterpret_cast<plCollisionObjectHandle>(callback.m_collisionObject);
+	}
+	return NULL;
+}
 
 //	extern  plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
 
@@ -385,19 +424,15 @@
 	
 	if (gjkOutput.m_hasResult)
 	{
-		
-		pb[0] = pa[0] = gjkOutput.m_pointInWorld[0];
-		pb[1] = pa[1] = gjkOutput.m_pointInWorld[1];
-		pb[2] = pa[2] = gjkOutput.m_pointInWorld[2];
+		outputVector(pa, gjkOutput.m_pointInWorld);
+		outputVector(pb, gjkOutput.m_pointInWorld);
 
 		pb[0]+= gjkOutput.m_normalOnBInWorld[0] * gjkOutput.m_distance;
 		pb[1]+= gjkOutput.m_normalOnBInWorld[1] * gjkOutput.m_distance;
 		pb[2]+= gjkOutput.m_normalOnBInWorld[2] * gjkOutput.m_distance;
-		
-		normal[0] = gjkOutput.m_normalOnBInWorld[0];
-		normal[1] = gjkOutput.m_normalOnBInWorld[1];
-		normal[2] = gjkOutput.m_normalOnBInWorld[2];
 
+		outputVector(normal, gjkOutput.m_normalOnBInWorld);
+
 		return gjkOutput.m_distance;
 	}
 	return -1.0f;	
Index: src/Bullet-C-Api.h
===================================================================
--- src/Bullet-C-Api.h	(revision 2443)
+++ src/Bullet-C-Api.h	(working copy)
@@ -31,9 +31,31 @@
 typedef float	plReal;
 #endif
 
+typedef enum plBool {
+  PL_FALSE = 0,
+  PL_TRUE
+} plBool;
+
 typedef plReal	plVector3[3];
 typedef plReal	plQuaternion[4];
 
+// Duplicated from BulletCollision/CollisionShapes/btConcaveShape.h
+// TODO: Use a common definition
+typedef enum plScalarType {
+	PL_FLOAT,
+	PL_DOUBLE,
+	PL_INTEGER,
+	PL_SHORT,
+	PL_FIXEDPOINT88,
+	PL_UCHAR
+} plScalarType;
+
+typedef enum plBroadphase {
+  PL_SAP,
+  PL_DBVT
+} plBroadphase;
+
+
 #ifdef __cplusplus
 extern "C" { 
 #endif
@@ -47,6 +69,9 @@
 /** Rigid Body that can be part of a Dynamics World (C-API)*/	
 	PL_DECLARE_HANDLE(plRigidBodyHandle);
 
+/** Superclass of rigid body; may also represent ghost objects*/
+  PL_DECLARE_HANDLE(plCollisionObjectHandle);
+
 /** 	Collision Shape/Geometry, property of a Rigid Body (C-API)*/
 	PL_DECLARE_HANDLE(plCollisionShapeHandle);
 
@@ -91,11 +116,11 @@
 
 /* Dynamics World */
 
-	extern  plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk);
+  extern  plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk, plBroadphase broadphase);
 
 	extern  void           plDeleteDynamicsWorld(plDynamicsWorldHandle world);
 
-	extern	void	plStepSimulation(plDynamicsWorldHandle,	plReal	timeStep);
+	extern	void	plStepSimulation(plDynamicsWorldHandle,	plReal timeStep, int maxSubSteps, plReal fixedTimeStep);
 
 	extern  void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
 
@@ -125,6 +150,8 @@
 	extern  plCollisionShapeHandle plNewConvexHullShape(void);
 	extern  void		plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z);
 /* Concave static triangle meshes */
+  extern  plCollisionShapeHandle plNewStaticPlaneShape(plVector3 normal, plReal constant);
+  extern  plCollisionShapeHandle plNewHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, void *heightfieldData, plReal heightScale, plReal minHeight, plReal maxHeight, int upAxis, plScalarType heightDataType, plBool flipQuadEdges);
 	extern  plMeshInterfaceHandle		   plNewMeshInterface(void);
 	extern  void		plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
 	extern  plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
@@ -149,15 +176,9 @@
 	extern	void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
 	extern	void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
 
-	typedef struct plRayCastResult {
-		plRigidBodyHandle		m_body;  
-		plCollisionShapeHandle	m_shape; 		
-		plVector3				m_positionWorld; 		
-		plVector3				m_normalWorld;
-	} plRayCastResult;
+	extern plCollisionObjectHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd,
+                                           plVector3 posWorld, plVector3 normalWorld);
 
-	extern  int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res);
-
 	/* Sweep API */
 
 	/* extern  plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */
Index: Demos/CMakeLists.txt
===================================================================
--- Demos/CMakeLists.txt	(revision 2443)
+++ Demos/CMakeLists.txt	(working copy)
@@ -22,6 +22,7 @@
 			MultiThreadedDemo
 			ParticlesOpenCL
 			OpenCLClothDemo
+			BulletDinoDemo
 			)
 		ELSE()
 			SET(SharedDemoSubdirs
Index: Demos/BulletDinoDemo/BulletDino.c
===================================================================
--- Demos/BulletDinoDemo/BulletDino.c	(revision 2443)
+++ Demos/BulletDinoDemo/BulletDino.c	(working copy)
@@ -718,7 +718,7 @@
   }
 
   if (dynamicsWorld)
-		plStepSimulation(dynamicsWorld,dtime);
+		plStepSimulation(dynamicsWorld,dtime, 1, (plReal)1./60.);
   
   glutPostRedisplay();
 }
@@ -845,7 +845,7 @@
 	void* user_data=NULL;
 	
 	physicsSdk = plNewBulletSdk();
-	dynamicsWorld = plCreateDynamicsWorld(physicsSdk);
+	dynamicsWorld = plCreateDynamicsWorld(physicsSdk, PL_DBVT);
 
 	//create ground plane
 
Index: Demos/BulletDinoDemo/CMakeLists.txt
===================================================================
--- Demos/BulletDinoDemo/CMakeLists.txt	(revision 2443)
+++ Demos/BulletDinoDemo/CMakeLists.txt	(working copy)
@@ -52,7 +52,7 @@
 )
 
 LINK_LIBRARIES(
- LibOpenGLSupport LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY}
+ OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(BulletDino