bullet: Update to current svn, r2636

Apply patches in patches directory, remove patches that were applied
upstream.
If you made changes without adding a patch, please check.

Fixes [#32233] exporting bullet format results in corrupt files.

1 files changed, 109 insertions, 155 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
index 8df876928c1..e8b567e0efc 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
@@ -18,20 +18,21 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 //#include <stdio.h>
 
-btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
-: btActivatingCollisionAlgorithm(ci,col0,col1),
+btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
+: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf),
 m_isSwapped(isSwapped)
 {
-	btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
-	btCollisionObject* boxObj = m_isSwapped? col0 : col1;
+	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? col0Wrap : col1Wrap;
 	
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
+		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -48,36 +49,31 @@ btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
 
 
 
-void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 	(void)resultOut;
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
-	btCollisionObject* boxObj = m_isSwapped? body0 : body1;
+	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? body0Wrap : body1Wrap;
 
-
-	btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
+	btVector3 pOnBox;
 
 	btVector3 normalOnSurfaceB;
-	btVector3 pOnBox,pOnSphere;
-	btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
+	btScalar penetrationDepth;
+	btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin();
+	const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
 	btScalar radius = sphere0->getRadius();
-	
-	btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
+	btScalar maxContactDistance = m_manifoldPtr->getContactBreakingThreshold();
 
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-	if (dist < SIMD_EPSILON)
+	if (getSphereDistance(boxObjWrap, pOnBox, normalOnSurfaceB, penetrationDepth, sphereCenter, radius, maxContactDistance))
 	{
-		btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
-
 		/// report a contact. internally this will be kept persistent, and contact reduction is done
-
-		resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
-		
+		resultOut->addContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth);
 	}
 
 	if (m_ownManifold)
@@ -102,159 +98,117 @@ btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 }
 
 
-btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius ) 
+bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& sphereCenter, btScalar fRadius, btScalar maxContactDistance ) 
 {
-
-	btScalar margins;
-	btVector3 bounds[2];
-	btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
+	const btBoxShape* boxShape= (const btBoxShape*)boxObjWrap->getCollisionShape();
+	btVector3 const &boxHalfExtent = boxShape->getHalfExtentsWithoutMargin();
+	btScalar boxMargin = boxShape->getMargin();
+	penetrationDepth = 1.0f;
+
+	// convert the sphere position to the box's local space
+	btTransform const &m44T = boxObjWrap->getWorldTransform();
+	btVector3 sphereRelPos = m44T.invXform(sphereCenter);
+
+	// Determine the closest point to the sphere center in the box
+	btVector3 closestPoint = sphereRelPos;
+	closestPoint.setX( btMin(boxHalfExtent.getX(), closestPoint.getX()) );
+	closestPoint.setX( btMax(-boxHalfExtent.getX(), closestPoint.getX()) );
+	closestPoint.setY( btMin(boxHalfExtent.getY(), closestPoint.getY()) );
+	closestPoint.setY( btMax(-boxHalfExtent.getY(), closestPoint.getY()) );
+	closestPoint.setZ( btMin(boxHalfExtent.getZ(), closestPoint.getZ()) );
+	closestPoint.setZ( btMax(-boxHalfExtent.getZ(), closestPoint.getZ()) );
 	
-	bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
-	bounds[1] = boxShape->getHalfExtentsWithoutMargin();
-
-	margins = boxShape->getMargin();//also add sphereShape margin?
-
-	const btTransform&	m44T = boxObj->getWorldTransform();
-
-	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 = btScalar(10000000.0), fSepThis;
+	btScalar intersectionDist = fRadius + boxMargin;
+	btScalar contactDist = intersectionDist + maxContactDistance;
+	normal = sphereRelPos - closestPoint;
 
-	n[0].setValue( btScalar(-1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[1].setValue(  btScalar(0.0), btScalar(-1.0),  btScalar(0.0) );
-	n[2].setValue(  btScalar(0.0),  btScalar(0.0), btScalar(-1.0) );
-	n[3].setValue(  btScalar(1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[4].setValue(  btScalar(0.0),  btScalar(1.0),  btScalar(0.0) );
-	n[5].setValue(  btScalar(0.0),  btScalar(0.0),  btScalar(1.0) );
-
-	// convert  point in local space
-	prel = m44T.invXform( sphereCenter);
-	
-	bool	bFound = false;
+	//if there is no penetration, we are done
+	btScalar dist2 = normal.length2();
+	if (dist2 > contactDist * contactDist)
+	{
+		return false;
+	}
 
-	v3P = prel;
+	btScalar distance;
 
-	for (int i=0;i<6;i++)
+	//special case if the sphere center is inside the box
+	if (dist2 <= SIMD_EPSILON)
 	{
-		int j = i<3? 0:1;
-		if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) )
-		{
-			v3P = v3P - n[i]*fSepThis;		
-			bFound = true;
-		}
+		distance = -getSpherePenetration(boxHalfExtent, sphereRelPos, closestPoint, normal);
 	}
-	
-	//
-
-	if ( bFound )
+	else //compute the penetration details
 	{
-		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)) > btScalar(0.0) )
-		{
-			return btScalar(1.0);
-		}
-
-		// 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 *= btScalar(1.)/fSep;
-		}
-
-		return fSep;
+		distance = normal.length();
+		normal /= distance;
 	}
 
-	//////////////////////////////////////////////////
-	// Deep penetration case
-
-	fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
+	pointOnBox = closestPoint + normal * boxMargin;
+//	v3PointOnSphere = sphereRelPos - (normal * fRadius);	
+	penetrationDepth = distance - intersectionDist;
 
-	bounds[0] = boundsVec[0];
-	bounds[1] = boundsVec[1];
-
-	if ( fPenetration <= btScalar(0.0) )
-		return (fPenetration-margins);
-	else
-		return btScalar(1.0);
+	// transform back in world space
+	btVector3 tmp = m44T(pointOnBox);
+	pointOnBox = tmp;
+//	tmp = m44T(v3PointOnSphere);
+//	v3PointOnSphere = tmp;
+	tmp = m44T.getBasis() * normal;
+	normal = tmp;
+
+	return true;
 }
 
-btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax) 
+btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal ) 
 {
+	//project the center of the sphere on the closest face of the box
+	btScalar faceDist = boxHalfExtent.getX() - sphereRelPos.getX();
+	btScalar minDist = faceDist;
+	closestPoint.setX( boxHalfExtent.getX() );
+	normal.setValue(btScalar(1.0f),  btScalar(0.0f),  btScalar(0.0f));
+
+	faceDist = boxHalfExtent.getX() + sphereRelPos.getX();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setX( -boxHalfExtent.getX() );
+		normal.setValue(btScalar(-1.0f),  btScalar(0.0f),  btScalar(0.0f));
+	}
 
-	btVector3 bounds[2];
-
-	bounds[0] = aabbMin;
-	bounds[1] = aabbMax;
-
-	btVector3	p0, tmp, prel, n[6], normal;
-	btScalar   fSep = btScalar(-10000000.0), fSepThis;
-
-	// set p0 and normal to a default value to shup up GCC
-	p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-
-	n[0].setValue( btScalar(-1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[1].setValue(  btScalar(0.0), btScalar(-1.0),  btScalar(0.0) );
-	n[2].setValue(  btScalar(0.0),  btScalar(0.0), btScalar(-1.0) );
-	n[3].setValue(  btScalar(1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[4].setValue(  btScalar(0.0),  btScalar(1.0),  btScalar(0.0) );
-	n[5].setValue(  btScalar(0.0),  btScalar(0.0),  btScalar(1.0) );
-
-	const btTransform&	m44T = boxObj->getWorldTransform();
-
-	// convert  point in local space
-	prel = m44T.invXform( sphereCenter);
-
-	///////////
-
-	for (int i=0;i<6;i++)
+	faceDist = boxHalfExtent.getY() - sphereRelPos.getY();
+	if (faceDist < minDist)
 	{
-		int j = i<3 ? 0:1;
-		if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) )	return btScalar(1.0);
-		if ( fSepThis > fSep )
-		{
-			p0 = bounds[j];	normal = (btVector3&)n[i];
-			fSep = fSepThis;
-		}
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setY( boxHalfExtent.getY() );
+		normal.setValue(btScalar(0.0f),  btScalar(1.0f),  btScalar(0.0f));
 	}
 
-	pointOnBox = prel - normal*(normal.dot((prel-p0)));
-	v3PointOnSphere = pointOnBox + normal*fSep;
+	faceDist = boxHalfExtent.getY() + sphereRelPos.getY();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setY( -boxHalfExtent.getY() );
+		normal.setValue(btScalar(0.0f),  btScalar(-1.0f),  btScalar(0.0f));
+	}
 
-	// transform back in world space
-	tmp  = m44T( pointOnBox);		
-	pointOnBox    = tmp;
-	tmp  = m44T( v3PointOnSphere);		v3PointOnSphere = tmp;
-	normal = (pointOnBox-v3PointOnSphere).normalize();
+	faceDist = boxHalfExtent.getZ() - sphereRelPos.getZ();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setZ( boxHalfExtent.getZ() );
+		normal.setValue(btScalar(0.0f),  btScalar(0.0f),  btScalar(1.0f));
+	}
 
-	return fSep;
+	faceDist = boxHalfExtent.getZ() + sphereRelPos.getZ();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setZ( -boxHalfExtent.getZ() );
+		normal.setValue(btScalar(0.0f),  btScalar(0.0f),  btScalar(-1.0f));
+	}
 
+	return minDist;
 }
-