upgrade to latest Bullet 2.53. cross the fingers it doesn't break one of the exotic or less exotic platforms

1 files changed, 41 insertions, 3 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
index a404504ba86..c35f7512663 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
@@ -16,15 +16,20 @@ subject to the following restrictions:
 #ifndef BU_SHAPE
 #define BU_SHAPE
 
-#include <LinearMath/btPoint3.h>
-#include <LinearMath/btMatrix3x3.h>
-#include <BulletCollision/CollisionShapes/btConvexShape.h>
+#include "../../LinearMath/btPoint3.h"
+#include "../../LinearMath/btMatrix3x3.h"
+#include "btConvexShape.h"
 
 
 ///PolyhedralConvexShape is an interface class for feature based (vertex/edge/face) convex shapes.
 class btPolyhedralConvexShape : public btConvexShape
 {
 
+protected:
+	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMax;
+	bool		m_isLocalAabbValid;
+
 public:
 
 	btPolyhedralConvexShape();
@@ -36,6 +41,39 @@ public:
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia);
 
 
+	inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
+	{
+
+		//lazy evaluation of local aabb
+		btAssert(m_isLocalAabbValid);
+
+		btAssert(m_localAabbMin.getX() <= m_localAabbMax.getX());
+		btAssert(m_localAabbMin.getY() <= m_localAabbMax.getY());
+		btAssert(m_localAabbMin.getZ() <= m_localAabbMax.getZ());
+
+
+		btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
+		btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
+		
+		btMatrix3x3 abs_b = trans.getBasis().absolute();  
+
+		btPoint3 center = trans(localCenter);
+
+		btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
+			   abs_b[1].dot(localHalfExtents),
+			  abs_b[2].dot(localHalfExtents));
+		extent += btVector3(margin,margin,margin);
+
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+
+		
+	}
+
+	
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	void	recalcLocalAabb();
 
 	virtual int	getNumVertices() const = 0 ;
 	virtual int getNumEdges() const = 0;