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, 26 insertions, 8 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
index 7fd8fb4691b..52f346bf726 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
@@ -1,7 +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.
@@ -13,23 +12,24 @@ 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 "btTetrahedronShape.h"
 #include "LinearMath/btMatrix3x3.h"
 
-btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (),
 m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (),
 m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (),
 m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -37,7 +37,7 @@ m_numVertices(0)
 	addVertex(pt1);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (),
 m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -46,7 +46,7 @@ m_numVertices(0)
 	addVertex(pt2);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (),
 m_numVertices(0)
 {
 	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -57,13 +57,31 @@ m_numVertices(0)
 }
 
 
+void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+#if 1
+	btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax);
+#else
+	aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+	aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+
+	//just transform the vertices in worldspace, and take their AABB
+	for (int i=0;i<m_numVertices;i++)
+	{
+		btVector3 worldVertex = t(m_vertices[i]);
+		aabbMin.setMin(worldVertex);
+		aabbMax.setMax(worldVertex);
+	}
+#endif
+}
+
+
 
 
 
 void btBU_Simplex1to4::addVertex(const btVector3& pt)
 {
 	m_vertices[m_numVertices++] = pt;
-
 	recalcLocalAabb();
 }