update Bullet physics sdk to latest trunk/version 2.78

add PhysicsConstraints.exportBulletFile(char* fileName) python command
I'll be checking the bf-committers mailing list, in case this commit broke stuff
scons needs to be updated, I'll do that in a second.

1 files changed, 28 insertions, 36 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
index 9a749a03793..23a5c7526b4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
@@ -37,7 +37,7 @@ void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
 	btVector3 point,normal;
 	btScalar timeOfImpact = btScalar(1.);
 	btScalar depth = btScalar(0.);
-//	output.m_distance = btScalar(1e30);
+//	output.m_distance = btScalar(BT_LARGE_FLOAT);
 	//move sphere into triangle space
 	btTransform	sphereInTr = transformB.inverseTimes(transformA);
 
@@ -57,8 +57,6 @@ void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
 
 }
 
-#define MAX_OVERLAP btScalar(0.)
-
 
 
 // See also geometrictools.com
@@ -93,48 +91,39 @@ bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* ve
 	return pointInTriangle(vertices, lnormal, &lp);
 }
 
-///combined discrete/continuous sphere-triangle
 bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
 {
 
 	const btVector3* vertices = &m_triangle->getVertexPtr(0);
-	const btVector3& c = sphereCenter;
-	btScalar r = m_sphere->getRadius();
-
-	btVector3 delta (0,0,0);
+	
+	btScalar radius = m_sphere->getRadius();
+	btScalar radiusWithThreshold = radius + contactBreakingThreshold;
 
 	btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
 	normal.normalize();
-	btVector3 p1ToCentre = c - vertices[0];
+	btVector3 p1ToCentre = sphereCenter - vertices[0];
 	btScalar distanceFromPlane = p1ToCentre.dot(normal);
 
 	if (distanceFromPlane < btScalar(0.))
 	{
 		//triangle facing the other way
-	
 		distanceFromPlane *= btScalar(-1.);
 		normal *= btScalar(-1.);
 	}
 
-	btScalar contactMargin = contactBreakingThreshold;
-	bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
-	bool isInsideShellPlane = distanceFromPlane < r;
+	bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
 	
-	btScalar deltaDotNormal = delta.dot(normal);
-	if (!isInsideShellPlane && deltaDotNormal >= btScalar(0.0))
-		return false;
-
 	// Check for contact / intersection
 	bool hasContact = false;
 	btVector3 contactPoint;
 	if (isInsideContactPlane) {
-		if (facecontains(c,vertices,normal)) {
+		if (facecontains(sphereCenter,vertices,normal)) {
 			// Inside the contact wedge - touches a point on the shell plane
 			hasContact = true;
-			contactPoint = c - normal*distanceFromPlane;
+			contactPoint = sphereCenter - normal*distanceFromPlane;
 		} else {
 			// Could be inside one of the contact capsules
-			btScalar contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
+			btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
 			btVector3 nearestOnEdge;
 			for (int i = 0; i < m_triangle->getNumEdges(); i++) {
 				
@@ -143,7 +132,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 				
 				m_triangle->getEdge(i,pa,pb);
 
-				btScalar distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
+				btScalar distanceSqr = SegmentSqrDistance(pa,pb,sphereCenter, nearestOnEdge);
 				if (distanceSqr < contactCapsuleRadiusSqr) {
 					// Yep, we're inside a capsule
 					hasContact = true;
@@ -155,24 +144,27 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 	}
 
 	if (hasContact) {
-		btVector3 contactToCentre = c - contactPoint;
+		btVector3 contactToCentre = sphereCenter - contactPoint;
 		btScalar distanceSqr = contactToCentre.length2();
-		if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
-			btScalar distance = btSqrt(distanceSqr);
-			resultNormal = contactToCentre;
-			resultNormal.normalize();
-			point = contactPoint;
-			depth = -(r-distance);
+
+		if (distanceSqr < radiusWithThreshold*radiusWithThreshold)
+		{
+			if (distanceSqr>SIMD_EPSILON)
+			{
+				btScalar distance = btSqrt(distanceSqr);
+				resultNormal = contactToCentre;
+				resultNormal.normalize();
+				point = contactPoint;
+				depth = -(radius-distance);
+			} else
+			{
+				btScalar distance = 0.f;
+				resultNormal = normal;
+				point = contactPoint;
+				depth = -radius;
+			}
 			return true;
 		}
-
-		if (delta.dot(contactToCentre) >= btScalar(0.0)) 
-			return false;
-		
-		// Moving towards the contact point -> collision
-		point = contactPoint;
-		timeOfImpact = btScalar(0.0);
-		return true;
 	}
 	
 	return false;