merging trunk 19093:19274etch-a-ton

1 files changed, 29 insertions, 18 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index 7557691a9a9..87f7137a55b 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  http://bulletphysics.com/Bullet/
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -22,39 +22,39 @@ subject to the following restrictions:
  *
  * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
  *
- * There is the Physics Forum for Feedback and bteral Collision Detection and Physics discussions.
- * Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php
+ * There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
+ * Please visit http://www.bulletphysics.com
  *
  * @section install_sec Installation
  *
  * @subsection step1 Step 1: Download
- * You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/
+ * You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
  * @subsection step2 Step 2: Building
  * Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
  * The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
  * 
- * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using cmake, http://www.cmake.org, or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
+ * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
+ * So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam.
  * Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
- * So if you are not using MSVC, you can run configure and jam .
- * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/
+ * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam
  * 
  * @subsection step3 Step 3: Testing demos
- * Try to run and experiment with CcdPhysicsDemo executable as a starting point.
+ * Try to run and experiment with BasicDemo executable as a starting point.
  * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
  * The Dependencies can be seen in this documentation under Directories
  * 
- * @subsection step4 Step 4: Integrating in your application, Full Rigid Body Simulation
- * Check out CcdPhysicsDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
- * PLEASE NOTE THE CcdPhysicsEnvironment and CcdPhysicsController is obsolete and will be removed. It has been replaced by classes derived frmo btDynamicsWorld and btRididBody
+ * @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation
+ * Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
+ * Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld.
  * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
  * Bullet Collision Detection can also be used without the Dynamics/Extras.
- * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. Also in Extras/test_BulletOde.cpp there is a sample Collision Detection integration with Open Dynamics Engine, ODE, http://www.ode.org
+ * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo.
  * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
  * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
  *
  * @section copyright Copyright
- * Copyright (C) 2005-2007 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
- * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
+ * Copyright (C) 2005-2008 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
+ * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, John McCutchan, Nathanael Presson, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
  * Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
  * 
  */
@@ -71,7 +71,7 @@ class btBroadphaseInterface;
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "btCollisionObject.h"
-#include "btCollisionDispatcher.h" //for definition of btCollisionObjectArray
+#include "btCollisionDispatcher.h"
 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
@@ -107,6 +107,11 @@ public:
 		m_broadphasePairCache = pairCache;
 	}
 
+	const btBroadphaseInterface*	getBroadphase() const
+	{
+		return m_broadphasePairCache;
+	}
+
 	btBroadphaseInterface*	getBroadphase()
 	{
 		return m_broadphasePairCache;
@@ -128,8 +133,10 @@ public:
 		return m_dispatcher1;
 	}
 
-	virtual void	updateAabbs();
+	void	updateSingleAabb(btCollisionObject* colObj);
 
+	virtual void	updateAabbs();
+	
 	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
 	{
 			m_debugDrawer = debugDrawer;
@@ -179,6 +186,8 @@ public:
 		btCollisionObject*		m_collisionObject;
 		short int	m_collisionFilterGroup;
 		short int	m_collisionFilterMask;
+      //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
+      unsigned int m_flags;
 
 		virtual ~RayResultCallback()
 		{
@@ -192,7 +201,9 @@ public:
 			:m_closestHitFraction(btScalar(1.)),
 			m_collisionObject(0),
 			m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
-			m_collisionFilterMask(btBroadphaseProxy::AllFilter)
+			m_collisionFilterMask(btBroadphaseProxy::AllFilter),
+         //@BP Mod
+         m_flags(0)
 		{
 		}
 
@@ -347,7 +358,7 @@ public:
 
 	// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
 	// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
-	void    convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback) const;
+	void    convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback,  btScalar allowedCcdPenetration = btScalar(0.)) const;
 
 
 	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.