Updated the collision callbacks so the callback only occurs if the ma…

…nifold has contact points.

Added the Bullet manual
Improved the readme documentation.

UnityProject/Assets/BulletUnity/Documentation/README-REALY-README.txt

@@ -1,34 +1,66 @@
 GETTING STARTED WITH BULLET PHYSICS
 ===================================
 
+BULLET UNITY CONTAINS TWO API'S
+
+1) BulletSharp - Located in Plugins/BulletSharp is a low level set of C# wrappers for the native bullet libraries. These wrappers are not integrated with Unity in
+any way. Simulations can be run that are not synchronized with Unity's game loop. The demos in BulletUnity/Examples/Scenes/BulletSharpDemos use this API.
+
+2) BulletUnity - Located in BulletUnity/Scripts is a set of Unity Components similar to the PhysX components. These components use the lower level BulletSharp API.
+
+======================
 SOURCES OF INFORMATION
 
-The Bullet Physics Manual. Download it from the Bullet Physics project on github. It is short (can be read in 1 hour) and will set you up well for working with 
+The BULLET PHYSICS MANUAL. Download it from the Bullet Physics project on github. It is short (can be read in 1 hour) and will set you up well for working with 
 Bullet Physics.
 
 The Bullet Physics Wiki has a lot of good information http://bulletphysics.org/mediawiki-1.5.8/index.php/Main_Page.
 
 The Bullet Physics Forums http://www.bulletphysics.org/Bullet/phpBB3/
 
-The Bullet Physics Examples (ported to C#, then ported to Unity) located in the BulletUnity/BulletSharpExamples folder. At the time of writing not all of these
-have been ported. More are available in the https://github.com/Phong13/BulletSharpPInvoke project.
+The Bullet Physics Examples (ported to C#, then ported to Unity) located in the BulletUnity/Examples/Scenes/BulletSharpDemos folder. More are available in the https://github.com/Phong13/BulletSharpPInvoke project.
 
 DON'T BE AFRAID TO LOOK AT THE BULLET PHYSICS SOURCE CODE. I know it sounds intimidating, but it is much easier than you think. If you are not sure what an API
  call or class does or what a member variable is for, then search for it in the bullet sourcecode. Even if you are not a C++ programmer you can probably deduce
  what it does. I recently spent a few hours on google trying to find good information explaining the difference between btGhostObject and btPairCachingGhostObject.
 Eventually I opened the btGhostObject.cpp source file and had a look. The entire sourcecode for both classes is only 170 lines. In about 10 minutes I had a complete
 understanding how both classes worked. Much better than an online tutorial.
 
-It is possible to debug from Unity into the Bullet Physics library with Visual Studio (probably possible with other IDEs but I havn't tried). To do this you need
-to clone the https://github.com/Phong13/BulletSharpPInvoke project. Build a debug, x64 version of libbulletc for windows. Copy the .dll and .pdb file to Unity project. 
+It is possible to debug from Unity into the Bullet Physics library native code with Visual Studio (probably possible with other IDEs but I havn't tried). To do this you need
+to clone the https://github.com/Phong13/BulletSharpPInvoke project. Build a debug, x64 version of libbulletc for windows. Copy the .dll and .pdb file to Unity project (Plugins/Native/x64. 
 Then launch Unity from the Visual Studio as described here https://msdn.microsoft.com/en-us/library/605a12zt.aspx.
 
-IMPORTANT DIFFERENCES WITH UNITY'S PHYSICS
+================================================
+IMPORTANT DIFFERENCES WITH UNITY'S PHYSX PHYSICS
 
 Don't try to move the rigid bodies by writing to myRigidBody.transform.position or .rotation. Bullet Physics is not as tightly integrated with Unity as PhysX.
-Consider the transform to be completely under the control of Bullet Physics and translate/rotate your rigidBodies using the Bullet Physics API calls.
+Consider the transform to be completely under the control of Bullet Physics (for non-kinematic RigidBodies) and translate/rotate your rigidBodies using the Bullet Physics API calls.
 
 Be careful of localScale. It is almost completely ignored by Bullet Physics. There are only a few CollisionShapes that can be scaled in the Bullet API (at the time
-of writing these have not been implemented in Unity). Modify the shape of the CollisionShape and leave localScale at 1,1,1.
+of writing these have not been implemented in Unity). Modify the shape of the CollisionShape and leave localScale at 1,1,1. You can add your MeshRender as a child of
+the CollisionShape and scale that.
+
+Don't try to nest Rigid Bodies. Bullet Unity has no control over the order that bullet updates the transforms of objects each simulation step. If the child RigidBodies get
+updated before the parent RigidBodies then the child will jitter terribly.
+
+	WRONG
+		RigidBodyGameObjectA
+			-RigidBodyGameObjectB
+				-RigidBodyGameObjectC
+
+	CORRECT
+		RigidBodyGameObjectA
+		RigidBodyGameObjectB
+		RigidBodyGameObjectC
+
+======================================
+FEEL FREE TO CONTRIBUTE TO THE PROJECT
+
+Bullet Unity is an open source project in GitHub. Please feel free to clone the github repository and contribute:
+
+	https://github.com/Phong13/BulletUnity
+	https://github.com/Phong13/BulletSharpPInvoke
+
+
 
 

UnityProject/Assets/BulletUnity/Scripts/BCharacterController.cs

@@ -117,7 +117,7 @@ public void FixedUpdate()
             transform.rotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref trans);
             transform.localScale = BSExtensionMethods2.ExtractScaleFromMatrix(ref trans);
         }
-
+        /*
         public void OldUpdate()
         {
             float FrameDelta = Time.fixedDeltaTime; // todo put a variable in the physics world for this.
@@ -177,5 +177,6 @@ public void OldUpdate()
             transform.position = trans.Origin.ToUnity();
 
         }
+        */
     }
 }

UnityProject/Assets/BulletUnity/Scripts/BCollisionCallbacksDefault.cs

@@ -18,7 +18,7 @@ public class PersistentManifoldList
         List<PersistentManifoldList> newContacts = new List<PersistentManifoldList>();
         List<CollisionObject> objectsToRemove = new List<CollisionObject>();
 
-        public void Start()
+        public virtual void Start()
         {
 
             BCollisionObject co = GetComponent<BCollisionObject>();
@@ -32,6 +32,10 @@ public void Start()
 
         public override void OnVisitPersistentManifold(PersistentManifold pm)
         {
+            if (pm.NumContacts == 0)
+            {
+                return;
+            }
             CollisionObject other;
             if (pm.Body0 == myCollisionObject)
             {

UnityProject/Assets/BulletUnity/Scripts/BCollisionObject.cs

@@ -122,6 +122,7 @@ public virtual CollisionObject GetCollisionObject()
             return m_collisionObject;
         }
 
+        //Don't try to call functions on other objects such as the Physics world since they may not exit.
         protected virtual void Awake()
         {
             m_collisionShape = GetComponent<BCollisionShape>();
@@ -141,12 +142,22 @@ protected virtual void RemoveObjectFromBulletWorld()
             BPhysicsWorld.Get().RemoveCollisionObject(m_collisionObject);
         }
 
+
+        //Add this object to the world on Start. We are doing this so that scripts which add this componnet to 
+        //game objects have a chance to configure them before the object is added to the bullet world.
+        //Be aware that Start is not affected by script execution order so objects such as constraints should
+        //make sure that objects they depend on have been added to the world before they add themselves.
         internal virtual void Start()
         {
             m_startHasBeenCalled = true;
             AddObjectToBulletWorld();
         }
 
+        //OnEnable and OnDisable are called when a game object is Activated and Deactivated. 
+        //Unfortunately the first call comes before Awake and Start. We suppress this call so that the component
+        //has a chance to initialize itself. Objects that depend on other objects such as constraints should make
+        //sure those objects have been added to the world first.
+        //don't try to call functions on world before Start is called. It may not exist.
         protected virtual void OnEnable()
         {
             if (!isInWorld && m_startHasBeenCalled)
@@ -155,6 +166,9 @@ protected virtual void OnEnable()
             }
         }
 
+        // when scene is closed objects, including the physics world, are destroyed in random order. 
+        // There is no way to distinquish between scene close destruction and normal gameplay destruction.
+        // Objects cannot depend on world existing when they Dispose of themselves. World may have been destroyed first.
         protected virtual void OnDisable()
         {
             if (isInWorld)

UnityProject/Assets/BulletUnity/Scripts/BGhostObject.cs

@@ -69,7 +69,7 @@ internal override bool _BuildCollisionObject()
         HashSet<CollisionObject> objsCurrentlyInContactWith = new HashSet<CollisionObject>();
         void FixedUpdate()
         {
-            //TODO what if objects are destroyed. How will TriggerExit be called for that object? Should be tracking InstanceIDs
+            //TODO should do two passes like with collisions
             objsCurrentlyInContactWith.Clear();
             for (int i = 0; i < m_ghostObject.NumOverlappingObjects; i++)
             {

UnityProject/Assets/BulletUnity/Scripts/BPhysicsWorld.cs

@@ -7,9 +7,6 @@
 using BulletUnity.Debugging;
 
 
-// TODO order of destruction is an issue
-// TODO all constraints need to be removed from a rigid body before the rigid body is destroyed / removed
-
 namespace BulletUnity {
     public class BPhysicsWorld : MonoBehaviour, IDisposable {
 
@@ -667,109 +664,4 @@ public void OnPhysicsStep(CollisionWorld world)
             }
         }
     }
-
-    /*
-    public class BDefaultCollisionHandler{
-        public struct CollisionPair
-        {
-            public int obj0ID;
-            public int obj1ID;
-
-            public CollisionPair(CollisionObject a, CollisionObject b)
-            {
-                int idA = a.BroadphaseHandle.UniqueId;
-                int idB = b.BroadphaseHandle.UniqueId;
-                if (idA < idB) {
-                    obj0ID = idA;
-                    obj1ID = idB;
-                } else
-                {
-                    obj0ID = idB;
-                    obj1ID = idB;
-                }
-            }
-
-            public override int GetHashCode()
-            {
-                return obj0ID ^ obj1ID;
-            }
-
-            public override bool Equals(object obj)
-            {
-                if (obj is CollisionPair) return false;
-                else
-                {
-                    if (((CollisionPair) obj).obj0ID == obj0ID &&
-                        ((CollisionPair) obj).obj1ID == obj1ID)
-                    {
-                        return true;
-                    }
-                    return false;
-                }
-            }
-        }
-
-        public class ManifoldPoints
-        {
-            public int frameLastVisited = 0;
-            public List<PersistentManifold> manifolds = List<PersistentManifold>();
-        }
-
-        CollisionWorld m_world;
-        Dictionary<CollisionPair, ManifoldPoints> pair2ManifoldMap = new Dictionary<CollisionPair, List<ManifoldPoints>>();
-
-        public void OnPhysicsStep()
-        {
-            int numManifolds = m_world.Dispatcher.NumManifolds;
-            // collect manifolds
-            pair2ManifoldMap.Clear();
-            for (int i = 0; i < numManifolds; i++)
-            {
-                PersistentManifold contactManifold = m_world.Dispatcher.GetManifoldByIndexInternal(i);
-                CollisionObject a = contactManifold.Body0;
-                CollisionObject b = contactManifold.Body1;
-                bool hasCallback = false;
-                if (a is CollisionObject && a.UserObject is BCollisionObject && ((BCollisionObject)a.UserObject).onCollisionCallback != null){
-                    hasCallback = true;
-                }
-                if (b is CollisionObject && b.UserObject is BCollisionObject && ((BCollisionObject)b.UserObject).onCollisionCallback != null)
-                {
-                    hasCallback = true;
-                }
-                if (hasCallback)
-                {
-                    CollisionPair pair = new CollisionPair(contactManifold.Body0, contactManifold.Body1);
-                    ManifoldPoints pms;
-                    if (!pair2ManifoldMap.TryGetValue(pair, out pms))
-                    {
-                        //TODO implement pool
-                        pms = new ManifoldPoints();
-                        pair2ManifoldMap.Add(pair, pms);
-                    }
-                    pms.Add(contactManifold);  
-                }
-            }
-
-            //second call the callbacks
-            foreach (CollisionPair p in pair2ManifoldMap.Keys)
-            {
-                List<PersistentManifold> pms = pair2ManifoldMap[p];
-                for (int i = 0; i < pms.Count; i++)
-                {
-
-                    CollisionObject a = pms[i].Body0;
-                    CollisionObject b = pms[i].Body1;
-                    if (a is CollisionObject && a.UserObject is BCollisionObject && ((BCollisionObject)a.UserObject).onCollisionCallback != null)
-                    {
-                        ((BCollisionObject)a.UserObject).onCollisionCallback(pms[i]);
-                    }
-                    if (b is CollisionObject && b.UserObject is BCollisionObject && ((BCollisionObject)b.UserObject).onCollisionCallback != null)
-                    {
-                        ((BCollisionObject)b.UserObject).onCollisionCallback(pms[i]);
-                    }
-                }
-            }
-        }
-    }
-    */
 }

UnityProject/Assets/BulletUnity/Scripts/Constraints/B6DOFConstraint.cs

@@ -8,7 +8,6 @@ namespace BulletUnity {
     [System.Serializable]
     public class B6DOFConstraint : BTypedConstraint {
         //Todo not sure if this is working
-        //Todo breaking strength
         //todo should be properties so can capture changes and propagate to scene
         public static string HelpMessage = "\n" +
                                             "\nTIP: To see constraint limits:\n" +
@@ -95,6 +94,8 @@ internal override bool _BuildConstraint() {
             sl.AngularUpperLimit = m_angularLimitUpperRadians.ToBullet();
             sl.TranslationalLimitMotor.TargetVelocity = m_motorLinearTargetVelocity.ToBullet();
             sl.TranslationalLimitMotor.MaxMotorForce = m_motorLinearMaxMotorForce.ToBullet();
+            sl.BreakingImpulseThreshold = m_breakingImpulseThreshold;
+            sl.DebugDrawSize = m_debugDrawSize;
             return true;
         }
     }

UnityProject/Assets/BulletUnity/Scripts/Constraints/BBallSocketConstraint.cs

@@ -66,6 +66,8 @@ internal override bool _BuildConstraint() {
                 m_constraintPtr = new Point2PointConstraint(rba, m_localConstraintPoint.ToBullet());
             }
             m_constraintPtr.Userobject = this;
+            m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
+            m_constraintPtr.DebugDrawSize = m_debugDrawSize;
             return true;
         }
     }

UnityProject/Assets/BulletUnity/Scripts/Constraints/BConeTwistConstraint.cs

@@ -94,6 +94,7 @@ internal override bool _BuildConstraint() {
             sl.SetLimit(m_swingSpan1Radians, m_swingSpan2Radians, m_twistSpanRadians, m_softness, m_biasFactor, m_relaxationFactor);
             m_constraintPtr.Userobject = this;
             m_constraintPtr.DebugDrawSize = m_debugDrawSize;
+            m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
             return true;
         }
     }

UnityProject/Assets/BulletUnity/Scripts/Constraints/BFixedConstraint.cs

@@ -67,6 +67,8 @@ internal override bool _BuildConstraint() {
                 return false;
             }
             m_constraintPtr.Userobject = this;
+            m_constraintPtr.DebugDrawSize = m_debugDrawSize;
+            m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
 
             return true;
         }

UnityProject/Assets/BulletUnity/Scripts/Constraints/BHingedConstraint.cs

@@ -105,6 +105,8 @@ internal override bool _BuildConstraint() {
                 ((HingeConstraint)m_constraintPtr).SetLimit(m_lowLimitAngleRadians, m_highLimitAngleRadians, m_limitSoftness, m_limitBiasFactor);
             }
             m_constraintPtr.Userobject = this;
+            m_constraintPtr.DebugDrawSize = m_debugDrawSize;
+            m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
             return true;
         }
     }

UnityProject/Assets/BulletUnity/Scripts/Constraints/BSliderConstraint.cs

@@ -92,6 +92,8 @@ internal override bool _BuildConstraint() {
             sl.LowerAngularLimit = m_lowerAngularLimitRadians;
             sl.UpperAngularLimit = m_upperAngularLimitRadians;
             m_constraintPtr.Userobject = this;
+            m_constraintPtr.DebugDrawSize = m_debugDrawSize;
+            m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
             return true;
         }
     }