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, 120 insertions, 24 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index 1f785cf69e4..b42e2c40b21 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -1,5 +1,5 @@
 /*
-Bullet Continuous Collision Detection and Physics %Library
+Bullet Continuous Collision Detection and Physics Library
 Copyright (c) 2003-2006 Erwin Coumans  http://bulletphysics.com/Bullet/
 
 This software is provided 'as-is', without any express or implied warranty.
@@ -15,50 +15,48 @@ subject to the following restrictions:
 
 
 /**
- * \file btCollisionWorld.h
- * \ingroup bullet
- *
- * @page bulletdoc Bullet Documentation
+ * @mainpage Bullet Documentation
  *
  * @section intro_sec Introduction
  * Bullet Collision Detection & Physics SDK
  *
- * 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 ).
+ * 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 ).
  *
+ * The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
  * 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 the Google Code repository: http://code.google.com/p/bullet/downloads/list
+ * 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 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.
- * 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
+ * Bullet main build system for all platforms is cmake, you can download http://www.cmake.org
+ * cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
+ * The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
+ * You can also use cmake in the command-line. Here are some examples for various platforms:
+ * cmake . -G "Visual Studio 9 2008"
+ * cmake . -G Xcode
+ * cmake . -G "Unix Makefiles"
+ * Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make.
  * 
  * @subsection step3 Step 3: Testing demos
  * 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.
+ * 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 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)
+ * @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.
  * @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) 2005-2008 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.
+ * For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf
  * 
  */
  
@@ -71,6 +69,8 @@ class btStackAlloc;
 class btCollisionShape;
 class btConvexShape;
 class btBroadphaseInterface;
+class btSerializer;
+
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "btCollisionObject.h"
@@ -97,7 +97,12 @@ protected:
 
 	btIDebugDraw*	m_debugDrawer;
 
-	
+	///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs
+	///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)
+	bool m_forceUpdateAllAabbs;
+
+	void	serializeCollisionObjects(btSerializer* serializer);
+
 public:
 
 	//this constructor doesn't own the dispatcher and paircache/broadphase
@@ -150,6 +155,10 @@ public:
 		return m_debugDrawer;
 	}
 
+	virtual void	debugDrawWorld();
+
+	virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
+
 
 	///LocalShapeInfo gives extra information for complex shapes
 	///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
@@ -255,6 +264,45 @@ public:
 		}
 	};
 
+	struct	AllHitsRayResultCallback : public RayResultCallback
+	{
+		AllHitsRayResultCallback(const btVector3&	rayFromWorld,const btVector3&	rayToWorld)
+		:m_rayFromWorld(rayFromWorld),
+		m_rayToWorld(rayToWorld)
+		{
+		}
+
+		btAlignedObjectArray<btCollisionObject*>		m_collisionObjects;
+
+		btVector3	m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
+		btVector3	m_rayToWorld;
+
+		btAlignedObjectArray<btVector3>	m_hitNormalWorld;
+		btAlignedObjectArray<btVector3>	m_hitPointWorld;
+		btAlignedObjectArray<btScalar> m_hitFractions;
+			
+		virtual	btScalar	addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
+		{
+			m_collisionObject = rayResult.m_collisionObject;
+			m_collisionObjects.push_back(rayResult.m_collisionObject);
+			btVector3 hitNormalWorld;
+			if (normalInWorldSpace)
+			{
+				hitNormalWorld = rayResult.m_hitNormalLocal;
+			} else
+			{
+				///need to transform normal into worldspace
+				hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
+			}
+			m_hitNormalWorld.push_back(hitNormalWorld);
+			btVector3 hitPointWorld;
+			hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
+			m_hitPointWorld.push_back(hitPointWorld);
+			m_hitFractions.push_back(rayResult.m_hitFraction);
+			return m_closestHitFraction;
+		}
+	};
+
 
 	struct LocalConvexResult
 	{
@@ -350,6 +398,34 @@ public:
 		}
 	};
 
+	///ContactResultCallback is used to report contact points
+	struct	ContactResultCallback
+	{
+		short int	m_collisionFilterGroup;
+		short int	m_collisionFilterMask;
+		
+		ContactResultCallback()
+			:m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
+			m_collisionFilterMask(btBroadphaseProxy::AllFilter)
+		{
+		}
+
+		virtual ~ContactResultCallback()
+		{
+		}
+		
+		virtual bool needsCollision(btBroadphaseProxy* proxy0) const
+		{
+			bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
+			collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+			return collides;
+		}
+
+		virtual	btScalar	addSingleResult(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
+	};
+
+
+
 	int	getNumCollisionObjects() const
 	{
 		return int(m_collisionObjects.size());
@@ -359,10 +435,18 @@ public:
 	/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
 	virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; 
 
-	// 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.
+	/// 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,  btScalar allowedCcdPenetration = btScalar(0.)) const;
 
+	///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
+	///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
+	void	contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
+
+	///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
+	///it reports one or more contact points (including the one with deepest penetration)
+	void	contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);
+
 
 	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
 	/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
@@ -380,7 +464,7 @@ public:
 					  const btTransform& colObjWorldTransform,
 					  ConvexResultCallback& resultCallback, btScalar	allowedPenetration);
 
-	void	addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
+	virtual void	addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
 
 	btCollisionObjectArray& getCollisionObjectArray()
 	{
@@ -393,7 +477,7 @@ public:
 	}
 
 
-	void	removeCollisionObject(btCollisionObject* collisionObject);
+	virtual void	removeCollisionObject(btCollisionObject* collisionObject);
 
 	virtual void	performDiscreteCollisionDetection();
 
@@ -406,6 +490,18 @@ public:
 	{
 		return m_dispatchInfo;
 	}
+	
+	bool	getForceUpdateAllAabbs() const
+	{
+		return m_forceUpdateAllAabbs;
+	}
+	void setForceUpdateAllAabbs( bool forceUpdateAllAabbs)
+	{
+		m_forceUpdateAllAabbs = forceUpdateAllAabbs;
+	}
+
+	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)
+	virtual	void	serialize(btSerializer* serializer);
 
 };