added some new Bullet files, and upgraded to latest Bullet 2.x

Please make sure to have extern/bullet/src/LinearMath/btAlignedAllocator.cpp in your build, if you add the files by name, instead of wildcard *.cpp

4 files changed, 39 insertions, 10 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index 9df6d7186ec..fa1561973fb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -121,8 +121,10 @@ void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
 
 
 
-void	btCollisionWorld::performDiscreteCollisionDetection(btDispatcherInfo& dispatchInfo)
+void	btCollisionWorld::performDiscreteCollisionDetection()
 {
+	btDispatcherInfo& dispatchInfo = getDispatchInfo();
+
 	BEGIN_PROFILE("performDiscreteCollisionDetection");
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index 9c548784829..bd09d8c4d5d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -173,7 +173,7 @@ public:
 
 	struct	ClosestRayResultCallback : public RayResultCallback
 	{
-		ClosestRayResultCallback(btVector3	rayFromWorld,btVector3	rayToWorld)
+		ClosestRayResultCallback(const btVector3&	rayFromWorld,const btVector3&	rayToWorld)
 		:m_rayFromWorld(rayFromWorld),
 		m_rayToWorld(rayToWorld),
 		m_collisionObject(0)
@@ -237,7 +237,7 @@ public:
 
 	void	removeCollisionObject(btCollisionObject* collisionObject);
 
-	virtual void	performDiscreteCollisionDetection(	btDispatcherInfo&	dispatchInfo);
+	virtual void	performDiscreteCollisionDetection();
 
 	btDispatcherInfo& getDispatchInfo()
 	{
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 33287008004..3f51e9ec0a6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -268,17 +268,44 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 	int startManifoldIndex = 0;
 	int endManifoldIndex = 1;
 
-	for (startManifoldIndex=0;startManifoldIndex<numManifolds;startManifoldIndex = endManifoldIndex)
+	int islandId;
+
+
+		//update the sleeping state for bodies, if all are sleeping
+	for (int startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
 	{
-		int islandId = getIslandId(islandmanifold[startManifoldIndex]);
-		for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
+		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
+
+		for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
+		{
+		}
+
+		//find the accompanying contact manifold for this islandId
+		int numIslandManifolds = 0;
+		btPersistentManifold** startManifold = 0;
+
+		if (startManifoldIndex<numManifolds)
 		{
+			int curIslandId = getIslandId(islandmanifold[startManifoldIndex]);
+			if (curIslandId == islandId)
+			{
+				startManifold = &islandmanifold[startManifoldIndex];
+			
+				for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
+				{
+
+				}
+				/// Process the actual simulation, only if not sleeping/deactivated
+				numIslandManifolds = endManifoldIndex-startManifoldIndex;
+			}
+
 		}
-		/// Process the actual simulation, only if not sleeping/deactivated
-		int numIslandManifolds = endManifoldIndex-startManifoldIndex;
+
+		callback->ProcessIsland(startManifold,numIslandManifolds, islandId);
+
 		if (numIslandManifolds)
 		{
-			callback->ProcessIsland(&islandmanifold[startManifoldIndex],numIslandManifolds);
+			startManifoldIndex = endManifoldIndex;
 		}
 	}
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
index 36c51000a6b..68d9b8038d6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
@@ -49,7 +49,7 @@ public:
 	{
 		virtual ~IslandCallback() {};
 
-		virtual	void	ProcessIsland(class btPersistentManifold**	manifolds,int numManifolds) = 0;
+		virtual	void	ProcessIsland(class btPersistentManifold**	manifolds,int numManifolds, int islandId) = 0;
 	};
 
 	void	buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);