Added refactored Bullet 2.x library. Important: these files are not part of the Blender build yet. First, the integration will be updated to make use of the new Bullet version. Then all build systems needs to be updated.

The refactoring didn't leave a single file the same, all filenames and classes have bt prefix, methodnames start with lowercase, a single headerfile can be included, and also a single include path.
Plan is to make use of this Bullet 2.x version in extern/bullet2 within the coming weeks, then extern/bullet can be discarded/ignored/content removed.

1 files changed, 242 insertions, 0 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
new file mode 100644
index 00000000000..d32818444d7
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
@@ -0,0 +1,242 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.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.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btSphereBoxCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+//#include <stdio.h>
+
+btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
+: btCollisionAlgorithm(ci),
+m_ownManifold(false),
+m_manifoldPtr(mf),
+m_isSwapped(isSwapped)
+{
+	btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
+	btCollisionObject* boxObj = m_isSwapped? col0 : col1;
+	
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
+	{
+		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
+		m_ownManifold = true;
+	}
+}
+
+
+btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
+{
+	if (m_ownManifold)
+	{
+		if (m_manifoldPtr)
+			m_dispatcher->releaseManifold(m_manifoldPtr);
+	}
+}
+
+
+
+void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	if (!m_manifoldPtr)
+		return;
+
+	btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
+	btCollisionObject* boxObj = m_isSwapped? body0 : body1;
+
+
+	btSphereShape* sphere0 = (btSphereShape*)sphereObj ->m_collisionShape;
+
+	btVector3 normalOnSurfaceB;
+	btVector3 pOnBox,pOnSphere;
+	btVector3 sphereCenter = sphereObj->m_worldTransform.getOrigin();
+	btScalar radius = sphere0->getRadius();
+	
+	float dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
+
+	if (dist < SIMD_EPSILON)
+	{
+		btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
+
+		/// report a contact. internally this will be kept persistent, and contact reduction is done
+
+		resultOut->setPersistentManifold(m_manifoldPtr);
+		resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
+		
+	}
+
+	
+
+}
+
+float btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	//not yet
+	return 1.f;
+}
+
+
+btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius ) 
+{
+
+	btScalar margins;
+	btVector3 bounds[2];
+	btBoxShape* boxShape= (btBoxShape*)boxObj->m_collisionShape;
+	
+	bounds[0] = -boxShape->getHalfExtents();
+	bounds[1] = boxShape->getHalfExtents();
+
+	margins = boxShape->getMargin();//also add sphereShape margin?
+
+	const btTransform&	m44T = boxObj->m_worldTransform;
+
+	btVector3	boundsVec[2];
+	btScalar	fPenetration;
+
+	boundsVec[0] = bounds[0];
+	boundsVec[1] = bounds[1];
+
+	btVector3	marginsVec( margins, margins, margins );
+
+	// add margins
+	bounds[0] += marginsVec;
+	bounds[1] -= marginsVec;
+
+	/////////////////////////////////////////////////
+
+	btVector3	tmp, prel, n[6], normal, v3P;
+	btScalar   fSep = 10000000.0f, fSepThis;
+
+	n[0].setValue( -1.0f,  0.0f,  0.0f );
+	n[1].setValue(  0.0f, -1.0f,  0.0f );
+	n[2].setValue(  0.0f,  0.0f, -1.0f );
+	n[3].setValue(  1.0f,  0.0f,  0.0f );
+	n[4].setValue(  0.0f,  1.0f,  0.0f );
+	n[5].setValue(  0.0f,  0.0f,  1.0f );
+
+	// convert  point in local space
+	prel = m44T.invXform( sphereCenter);
+	
+	bool	bFound = false;
+
+	v3P = prel;
+
+	for (int i=0;i<6;i++)
+	{
+		int j = i<3? 0:1;
+		if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > 0.0f )
+		{
+			v3P = v3P - n[i]*fSepThis;		
+			bFound = true;
+		}
+	}
+	
+	//
+
+	if ( bFound )
+	{
+		bounds[0] = boundsVec[0];
+		bounds[1] = boundsVec[1];
+
+		normal = (prel - v3P).normalize();
+		pointOnBox = v3P + normal*margins;
+		v3PointOnSphere = prel - normal*fRadius;
+
+		if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > 0.0f )
+		{
+			return 1.0f;
+		}
+
+		// transform back in world space
+		tmp = m44T( pointOnBox);
+		pointOnBox    = tmp;
+		tmp  = m44T( v3PointOnSphere);		
+		v3PointOnSphere = tmp;
+		btScalar fSeps2 = (pointOnBox-v3PointOnSphere).length2();
+		
+		//if this fails, fallback into deeper penetration case, below
+		if (fSeps2 > SIMD_EPSILON)
+		{
+			fSep = - btSqrt(fSeps2);
+			normal = (pointOnBox-v3PointOnSphere);
+			normal *= 1.f/fSep;
+		}
+
+		return fSep;
+	}
+
+	//////////////////////////////////////////////////
+	// Deep penetration case
+
+	fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
+
+	bounds[0] = boundsVec[0];
+	bounds[1] = boundsVec[1];
+
+	if ( fPenetration <= 0.0f )
+		return (fPenetration-margins);
+	else
+		return 1.0f;
+}
+
+btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax) 
+{
+
+	btVector3 bounds[2];
+
+	bounds[0] = aabbMin;
+	bounds[1] = aabbMax;
+
+	btVector3	p0, tmp, prel, n[6], normal;
+	btScalar   fSep = -10000000.0f, fSepThis;
+
+	n[0].setValue( -1.0f,  0.0f,  0.0f );
+	n[1].setValue(  0.0f, -1.0f,  0.0f );
+	n[2].setValue(  0.0f,  0.0f, -1.0f );
+	n[3].setValue(  1.0f,  0.0f,  0.0f );
+	n[4].setValue(  0.0f,  1.0f,  0.0f );
+	n[5].setValue(  0.0f,  0.0f,  1.0f );
+
+	const btTransform&	m44T = boxObj->m_worldTransform;
+
+	// convert  point in local space
+	prel = m44T.invXform( sphereCenter);
+
+	///////////
+
+	for (int i=0;i<6;i++)
+	{
+		int j = i<3 ? 0:1;
+		if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > 0.0f )	return 1.0f;
+		if ( fSepThis > fSep )
+		{
+			p0 = bounds[j];	normal = (btVector3&)n[i];
+			fSep = fSepThis;
+		}
+	}
+
+	pointOnBox = prel - normal*(normal.dot((prel-p0)));
+	v3PointOnSphere = pointOnBox + normal*fSep;
+
+	// transform back in world space
+	tmp  = m44T( pointOnBox);		
+	pointOnBox    = tmp;
+	tmp  = m44T( v3PointOnSphere);		v3PointOnSphere = tmp;
+	normal = (pointOnBox-v3PointOnSphere).normalize();
+
+	return fSep;
+
+}
+