support the SequentialImpulseConstraintSolver_reset

.gitignore

@@ -1,8 +1,11 @@
 .cache
+.cmake
 compile_commands.json
 build-for-vscode
 build-win
+build
 cocos
+publish
 bullet/build
 bullet/build-win
 bullet/examples/pybullet

.vscode/settings.json

@@ -1,6 +1,14 @@
 {
     "files.associations": {
-        "*.idl": "idl"
+        "*.ts": "typescriptreact",
+        "*.idl": "idl",
+        "memory": "cpp",
+        "optional": "cpp",
+        "functional": "cpp",
+        "charconv": "cpp",
+        "xhash": "cpp",
+        "xlocbuf": "cpp",
+        "xmemory": "cpp"
     },
     "C_Cpp.default.includePath": ["bullet/src"]
 }

ammo.idl

@@ -185,6 +185,7 @@ interface ClosestRayResultCallback {
 };
 ClosestRayResultCallback implements RayResultCallback;
 
+[Prefix="cc::"]
 interface ccClosestRayResultCallback {
   void ccClosestRayResultCallback([Const, Ref] btVector3 from, [Const, Ref] btVector3 to);
   attribute long m_shapeUserPointer;
@@ -222,6 +223,7 @@ interface AllHitsRayResultCallback {
 };
 AllHitsRayResultCallback implements RayResultCallback;
 
+[Prefix="cc::"]
 interface ccAllHitsRayResultCallback {
   void ccAllHitsRayResultCallback([Const, Ref] btVector3 from, [Const, Ref] btVector3 to);
   [Value] attribute btIntArray m_shapeUserPointers;
@@ -498,7 +500,7 @@ interface btCompoundShape {
   float getMargin();
 
   ///XXX
-  void setMaterial(long childShapeindex, float f, float r, optional float rf, optional float sf);
+  //void setMaterial(long childShapeindex, float f, float r, optional float rf, optional float sf);
 };
 btCompoundShape implements btCollisionShape;
 
@@ -618,6 +620,7 @@ interface btOverlappingPairCallback {
 interface btOverlapFilterCallback {
 };
 
+[Prefix="cc::"]
 interface ccOverlapFilterCallback {
   void ccOverlapFilterCallback();
 };
@@ -916,14 +919,15 @@ interface btDiscreteDynamicsWorld {
 };
 btDiscreteDynamicsWorld implements btDynamicsWorld;
 
+[Prefix="cc::"]
 interface ccDiscreteDynamicsWorld {
   void ccDiscreteDynamicsWorld(btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration);
   void setAllowSleep(boolean v);
   void setDeactivationTime(float v);
   void setNarrowPhaseMethod(long v);
   void setAllowCcdPenetration(float v);
-  void setCcdCastCheckResponse(boolean v);
-  [Ref] btIntArray getCcdTriggerRecorder();
+  //void setCcdCastCheckResponse(boolean v);
+  //[Ref] btIntArray getCcdTriggerRecorder();
 };
 ccDiscreteDynamicsWorld implements btDiscreteDynamicsWorld;
 
@@ -1043,6 +1047,7 @@ interface btKinematicCharacterController {
 };
 btKinematicCharacterController implements btActionInterface;
 
+[Prefix="cc::"]
 interface ccKinematicCharacterController {
   void ccKinematicCharacterController(btPairCachingGhostObject ghostObject, btConvexShape convexShape, float stepHeight, optional long upAxis);
 

ammo.release.idl

@@ -185,6 +185,7 @@ interface ClosestRayResultCallback {
 };
 ClosestRayResultCallback implements RayResultCallback;
 
+[Prefix="cc::"]
 interface ccClosestRayResultCallback {
   void ccClosestRayResultCallback([Const, Ref] btVector3 from, [Const, Ref] btVector3 to);
   // attribute long m_shapeUserPointer;
@@ -222,6 +223,7 @@ interface AllHitsRayResultCallback {
 };
 AllHitsRayResultCallback implements RayResultCallback;
 
+[Prefix="cc::"]
 interface ccAllHitsRayResultCallback {
   void ccAllHitsRayResultCallback([Const, Ref] btVector3 from, [Const, Ref] btVector3 to);
   // [Value] attribute btIntArray m_shapeParts;
@@ -353,7 +355,7 @@ interface btBoxShape {
   // XXX
   void setUnscaledHalfExtents([Ref] btVector3 boxHalfExtents);
 };
-btBoxShape implements btConvexInternalShape;
+btBoxShape implements btCollisionShape;
 
 interface btCapsuleShape {
   void btCapsuleShape(float radius, float height);
@@ -366,7 +368,7 @@ interface btCapsuleShape {
   // XXX
   void updateProp(float r, float h, long upAxis);
 };
-btCapsuleShape implements btConvexInternalShape;
+btBoxShape implements btCollisionShape;
 
 // interface btCapsuleShapeX {
 //   void btCapsuleShapeX(float radius, float height);
@@ -502,7 +504,7 @@ interface btCompoundShape {
   float getMargin();
 
   ///XXX
-  void setMaterial(long childShapeindex, float f, float r, optional float rf, optional float sf);
+  //void setMaterial(long childShapeindex, float f, float r, optional float rf, optional float sf);
 };
 btCompoundShape implements btCollisionShape;
 
@@ -913,14 +915,15 @@ interface btDiscreteDynamicsWorld {
 };
 btDiscreteDynamicsWorld implements btDynamicsWorld;
 
+[Prefix="cc::"]
 interface ccDiscreteDynamicsWorld {
   void ccDiscreteDynamicsWorld(btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration);
   void setAllowSleep(boolean v);
   void setDeactivationTime(float v);
   void setNarrowPhaseMethod(long v);
   void setAllowCcdPenetration(float v);
-  void setCcdCastCheckResponse(boolean v);
-  [Ref] btIntArray getCcdTriggerRecorder();
+  //void setCcdCastCheckResponse(boolean v);
+  //[Ref] btIntArray getCcdTriggerRecorder();
 };
 ccDiscreteDynamicsWorld implements btDiscreteDynamicsWorld;
 

build-asm-debug.sh

@@ -0,0 +1,6 @@
+#!/bin/sh
+cd bullet
+sh autogen.sh
+cd ..
+python make.py add_func closure debug
+npm run port2node

build-asm-release.sh

@@ -0,0 +1,6 @@
+#!/bin/sh
+cd bullet
+sh autogen.sh
+cd ..
+python make.py add_func closure release
+npm run port2node

build-wasm-debug.sh

@@ -0,0 +1,5 @@
+#!/bin/sh
+cd bullet
+sh autogen.sh
+cd ..
+python make.py add_func wasm closure debug

build-wasm-release.sh

@@ -0,0 +1,5 @@
+#!/bin/sh
+cd bullet
+sh autogen.sh
+cd ..
+python make.py add_func wasm closure release

bullet/CMakeLists.txt

@@ -3,6 +3,8 @@ cmake_minimum_required(VERSION 3.8)
 PROJECT(BULLET_PHYSICS)
 SET(BULLET_VERSION 2.82)
 
+message(STATUS "Using toolchain file: ${CMAKE_TOOLCHAIN_FILE}.")
+
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../../bullet-release-embind/${CMAKE_BUILD_TYPE}")
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../../bullet-release-embind/${CMAKE_BUILD_TYPE}")
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../../bullet-release-embind/${CMAKE_BUILD_TYPE}")

bullet/webBinding/BulletWebBindings.cpp

@@ -269,6 +269,8 @@ EMSCRIPTEN_BINDINGS(bullet) {
         function("DbvtBroadphase_new", &DbvtBroadphase_new, allow_raw_pointers());
         function("SequentialImpulseConstraintSolver_new", &SequentialImpulseConstraintSolver_new, allow_raw_pointers());
 
+        function("ccDiscreteDynamicsWorld_reset", &ccDiscreteDynamicsWorld_reset, allow_raw_pointers());
+
         function("CollisionWorld_addCollisionObject", &CollisionWorld_addCollisionObject, allow_raw_pointers());
         function("CollisionWorld_removeCollisionObject", &CollisionWorld_removeCollisionObject, allow_raw_pointers());
         function("CollisionWorld_rayTest", &CollisionWorld_rayTest, allow_raw_pointers());

bullet/webBinding/bullet.d.ts

@@ -229,6 +229,7 @@ declare namespace Bullet {
 
         DbvtBroadphase_new(): ptr;
         SequentialImpulseConstraintSolver_new(): ptr;
+        ccDiscreteDynamicsWorld_reset(dispatcher: ptr,broadphase: ptr,solver: ptr): void;
 
         CollisionWorld_addCollisionObject(p: ptr, body: ptr, g: number, m: number): void;
         CollisionWorld_removeCollisionObject(p: ptr, body: ptr): void;

bullet/webBinding/collision-world.cpp

@@ -45,6 +45,16 @@
         return (int)new btSequentialImpulseConstraintSolver();
     }
 
+    void DLL_EXPORT ccDiscreteDynamicsWorld_reset(int dispatcher,int broadphase,int solver)
+    {
+        btCollisionDispatcher *m_dispatcher = (btCollisionDispatcher *)dispatcher;
+        btDbvtBroadphase *m_broadphase = (btDbvtBroadphase *)broadphase;
+        btConstraintSolver *m_solver = (btConstraintSolver *)solver;
+
+        m_broadphase->resetPool(m_dispatcher);
+        m_solver->reset();
+    }
+
     // btDispatcherInfo
     bool DLL_EXPORT CollisionWorld_get_m_useContinuous(int ptr)
     {