Update Bullet to version 2.80 (bullet svn revision 2537)

Remove Jamfiles and other unused files that stuck around during previous updates.

Add patches for local changes to the patches directory.

Update readme.txt, it had outdated infromation.

1 files changed, 25 insertions, 7 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
index dda85dc693f..b2e9bfaf593 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@@ -96,23 +96,41 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
 	if (!m_manifoldPtr)
 		return;
 
-    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+	btCollisionObject* convexObj = m_isSwapped? body1 : body0;
 	btCollisionObject* planeObj = m_isSwapped? body0: body1;
 
 	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
 	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
 
-    
+	bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
-	//const btScalar& planeConstant = planeShape->getPlaneConstant();
+	const btScalar& planeConstant = planeShape->getPlaneConstant();
+	btTransform planeInConvex;
+	planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
+	btTransform convexInPlaneTrans;
+	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
+
+	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
+	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
+
+	btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+	btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
 
-	//first perform a collision query with the non-perturbated collision objects
+	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
+	resultOut->setPersistentManifold(m_manifoldPtr);
+	if (hasCollision)
 	{
-		btQuaternion rotq(0,0,0,1);
-		collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
+		/// report a contact. internally this will be kept persistent, and contact reduction is done
+		btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
+		btVector3 pOnB = vtxInPlaneWorld;
+		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 	}
 
-	if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
+	//the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
+	//they keep on rolling forever because of the additional off-center contact points
+	//so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
+	if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
 	{
 		btVector3 v0,v1;
 		btPlaneSpace1(planeNormal,v0,v1);