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, 42 insertions, 19 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index 7b45fad12df..69bc67cafab 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
 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.
@@ -12,14 +12,14 @@ subject to the following restrictions:
 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 "btConvexHullShape.h"
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
 
 #include "LinearMath/btQuaternion.h"
+#include "LinearMath/btSerializer.h"
 
-
-
-btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape ()
+btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
 {
 	m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
 	m_unscaledPoints.resize(numPoints);
@@ -52,22 +52,10 @@ void btConvexHullShape::addPoint(const btVector3& point)
 
 }
 
-btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
 {
 	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
-	btScalar newDot,maxDot = btScalar(-1e30);
-
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
-	{
-		vec.setValue(1,0,0);
-	} else
-	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-		vec *= rlen;
-	}
-
+	btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
 
 	for (int i=0;i<m_unscaledPoints.size();i++)
 	{
@@ -90,7 +78,7 @@ void	btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
 	{
 		for (int i=0;i<numVectors;i++)
 		{
-			supportVerticesOut[i][3] = btScalar(-1e30);
+			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
 		}
 	}
 	for (int i=0;i<m_unscaledPoints.size();i++)
@@ -186,3 +174,38 @@ bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
 	return false;
 }
 
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	//int szc = sizeof(btConvexHullShapeData);
+	btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer;
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
+
+	int numElem = m_unscaledPoints.size();
+	shapeData->m_numUnscaledPoints = numElem;
+#ifdef BT_USE_DOUBLE_PRECISION
+	shapeData->m_unscaledPointsFloatPtr = 0;
+	shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]):  0;
+#else
+	shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]):  0;
+	shapeData->m_unscaledPointsDoublePtr = 0;
+#endif
+	
+	if (numElem)
+	{
+		int sz = sizeof(btVector3Data);
+	//	int sz2 = sizeof(btVector3DoubleData);
+	//	int sz3 = sizeof(btVector3FloatData);
+		btChunk* chunk = serializer->allocate(sz,numElem);
+		btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
+		for (int i=0;i<numElem;i++,memPtr++)
+		{
+			m_unscaledPoints[i].serialize(*memPtr);
+		}
+		serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
+	}
+	
+	return "btConvexHullShapeData";
+}
+
+