fixed a crashing bug in new vehicle physics, and removed some debugging code in contact/friction physics code.

extern/bullet/Bullet/CollisionDispatch/CollisionWorld.cpp

@@ -124,15 +124,17 @@ void	CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
 	//bool removeFromBroadphase = false;
 	
 	{
-		/*BroadphaseInterface* scene = */GetBroadphase();
-		BroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
 		
+		BroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
+		if (bp)
+		{
 			//
 			// only clear the cached algorithms
 			//
 			GetBroadphase()->CleanProxyFromPairs(bp);
 			GetBroadphase()->DestroyProxy(bp);
 		}
+	}
 
 
 	std::vector<CollisionObject*>::iterator i =	std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);

extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp

@@ -128,7 +128,7 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
 			
 		}
 	}
-
+//#define DEBUG_DRAW 1
 #ifdef DEBUG_DRAW
 	if (debugDraw)
 	{
@@ -165,7 +165,9 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
 	MyResult res;
 	gjkdet.GetClosestPoints(input,res,debugDraw);
 
-	
+	//the penetration depth is over-estimated, relax it
+	float penetration_relaxation= 0.1f;
+	minNorm*=penetration_relaxation;
 
 	if (res.m_hasResult)
 	{
@@ -185,3 +187,6 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
 	}
 	return res.m_hasResult;
 }
+
+
+

extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp

@@ -123,18 +123,6 @@ float resolveSingleCollision(
 	
 //	printf("distance=%f\n",distance);
 
-	if (distance>0.f)
-	{
-		contactPoint.m_appliedImpulse = 0.f;
-		contactPoint.m_accumulatedTangentImpulse0 = 0.f;
-		contactPoint.m_accumulatedTangentImpulse1 = 0.f;
-		
-		return 0.f;
-	} 
-
-#define MAXPENETRATIONPERFRAME -0.05
-	distance = distance < MAXPENETRATIONPERFRAME? MAXPENETRATIONPERFRAME:distance;
-
 	const SimdVector3& normal = contactPoint.m_normalWorldOnB;
 
 	SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
@@ -153,7 +141,7 @@ float resolveSingleCollision(
 	SimdScalar Kfps = 1.f / solverInfo.m_timeStep ;
 
 	float damping = solverInfo.m_damping ;
-	float Kerp = solverInfo.m_tau;
+	float Kerp = solverInfo.m_erp;
 	
 	if (useGlobalSettingContacts)
 	{
@@ -168,7 +156,7 @@ float resolveSingleCollision(
 	float clipDist = distance + allowedPenetration;
 	float dist = (clipDist > 0.f) ? 0.f : clipDist;
 	//distance = 0.f;
-	SimdScalar positionalError = Kcor *-clipDist;
+	SimdScalar positionalError = Kcor *-dist;
 	//jacDiagABInv;
 	SimdScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
 

extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h

@@ -23,11 +23,12 @@ struct ContactSolverInfo
 	inline ContactSolverInfo()
 	{
 		m_tau = 0.4f;
-		m_damping = 0.9f;
+		m_damping = 1.0f;
 		m_friction = 0.3f;
 		m_restitution = 0.f;
 		m_maxErrorReduction = 20.f;
 		m_numIterations = 10;
+		m_erp = 0.4f;
 		m_sor = 1.3f;
 	}
 
@@ -39,6 +40,7 @@ struct ContactSolverInfo
 	int		m_numIterations;
 	float	m_maxErrorReduction;
 	float	m_sor;
+	float	m_erp;
 
 };
 

extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp

@@ -26,13 +26,6 @@ subject to the following restrictions:
 #include "JacobianEntry.h"
 #include "GEN_MinMax.h"
 
-//debugging
-bool doApplyImpulse = true;
-
-
-
-bool useImpulseFriction = true;//true;//false;
-
 
 
 
@@ -97,6 +90,8 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 		for (int i=0;i<numpoints ;i++)
 		{
 			ManifoldPoint& cp = manifoldPtr->GetContactPoint(i);
+			if (cp.GetDistance() <= 0.f)
+			{
 				const SimdVector3& pos1 = cp.GetPositionWorldOnA();
 				const SimdVector3& pos2 = cp.GetPositionWorldOnB();
 
@@ -147,7 +142,7 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 				//apply previous frames impulse on both bodies
 				body0->applyImpulse(totalImpulse, rel_pos1);
 				body1->applyImpulse(-totalImpulse, rel_pos2);
-
+			}
 			
 		}
 	}
@@ -166,6 +161,8 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 				j=i;
 
 			ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
+			if (cp.GetDistance() <= 0.f)
+			{
 
 				if (iter == 0)
 				{
@@ -189,6 +186,7 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 				}
 			}
 		}
+	}
 	return maxImpulse;
 }
 
@@ -208,7 +206,7 @@ float SimpleConstraintSolver::SolveFriction(PersistentManifold* manifoldPtr, con
 			int j=i;
 
 			ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
-
+			if (cp.GetDistance() <= 0.f)
 			{
 
 				resolveSingleFriction(