updated to latest Bullet 2.x

12 files changed, 163 insertions, 14 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
index e85a36c0b73..ee451a9b6c0 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
@@ -220,7 +220,7 @@ public:
 			edgeVert1 = 7;
 			break;
 		default:
-			ASSERT(0);
+			btAssert(0);
 
 		}
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
index 338527d58a4..3bd0a317545 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
@@ -15,7 +15,6 @@ subject to the following restrictions:
 
 //#define DISABLE_BVH
 
-
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.cpp
index 29f62828d04..7cd35a91860 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.cpp
@@ -17,12 +17,12 @@ subject to the following restrictions:
 
 #include "btConcaveShape.h"
 
-ConcaveShape::ConcaveShape() : m_collisionMargin(0.f)
+btConcaveShape::btConcaveShape() : m_collisionMargin(0.f)
 {
 
 }
 
-ConcaveShape::~ConcaveShape()
+btConcaveShape::~btConcaveShape()
 {
 
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
index 304654531ed..2bbba88bc44 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
@@ -24,15 +24,15 @@ subject to the following restrictions:
 
 ///Concave shape proves an interface concave shapes that can produce triangles that overlapping a given AABB.
 ///Static triangle mesh, infinite plane, height field/landscapes are example that implement this interface.
-class ConcaveShape : public btCollisionShape
+class btConcaveShape : public btCollisionShape
 {
 protected:
 	float m_collisionMargin;
 
 public:
-	ConcaveShape();
+	btConcaveShape();
 
-	virtual ~ConcaveShape();
+	virtual ~btConcaveShape();
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
index c92f42cdee8..c16149e55fb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
@@ -29,7 +29,7 @@ subject to the following restrictions:
 
 /// btEmptyShape is a collision shape without actual collision detection. 
 ///It can be replaced by another shape during runtime
-class btEmptyShape	: public ConcaveShape
+class btEmptyShape	: public btConcaveShape
 {
 public:
 	btEmptyShape();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
new file mode 100644
index 00000000000..57132ee9512
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -0,0 +1,92 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+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 "btHeightfieldTerrainShape.h"
+
+#include "LinearMath/btTransformUtil.h"
+
+
+btHeightfieldTerrainShape::btHeightfieldTerrainShape()
+:m_localScaling(0.f,0.f,0.f)
+{
+}
+
+
+btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
+{
+}
+
+
+
+void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	aabbMin.setValue(-1e30f,-1e30f,-1e30f);
+	aabbMax.setValue(1e30f,1e30f,1e30f);
+
+}
+
+
+
+
+void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+
+	btVector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
+	btScalar radius = halfExtents.length();
+	btVector3 center = (aabbMax + aabbMin) * 0.5f;
+	
+	//TODO
+	//this is where the triangles are generated, given AABB and plane equation (normal/constant)
+/*
+	btVector3 tangentDir0,tangentDir1;
+
+	//tangentDir0/tangentDir1 can be precalculated
+	btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
+
+	btVector3 supVertex0,supVertex1;
+
+	btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
+	
+	btVector3 triangle[3];
+	triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
+	triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius;
+	triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
+
+	callback->processTriangle(triangle,0,0);
+
+	triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
+	triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius;
+	triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
+
+	callback->processTriangle(triangle,0,1);
+*/
+
+}
+
+void	btHeightfieldTerrainShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
+{
+	//moving concave objects not supported
+	
+	inertia.setValue(0.f,0.f,0.f);
+}
+
+void	btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling;
+}
+const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
+{
+	return m_localScaling;
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
new file mode 100644
index 00000000000..e4cc9d42d59
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -0,0 +1,58 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+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.
+*/
+
+#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
+#define HEIGHTFIELD_TERRAIN_SHAPE_H
+
+#include "BulletCollision/CollisionShapes/btConcaveShape.h"
+
+///btHeightfieldTerrainShape simulates a 2D heightfield terrain 
+class btHeightfieldTerrainShape : public btConcaveShape
+{
+protected:
+	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMax;
+	
+	//todo: terrain data
+
+	btVector3	m_localScaling;
+
+public:
+	btHeightfieldTerrainShape();
+
+	virtual ~btHeightfieldTerrainShape();
+
+
+	virtual int	getShapeType() const
+	{
+		return TERRAIN_SHAPE_PROXYTYPE;
+	}
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia);
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+	
+	virtual const btVector3& getLocalScaling() const;
+	
+	//debugging
+	virtual char*	getName()const {return "HEIGHTFIELD";}
+
+};
+
+#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
index 7414d470d7d..65b30e1ff06 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 ///StaticPlaneShape simulates an 'infinite' plane by dynamically reporting triangles approximated by intersection of the plane with the AABB.
 ///Assumed is that the other objects is not also infinite, so a reasonable sized AABB.
-class btStaticPlaneShape : public ConcaveShape
+class btStaticPlaneShape : public btConcaveShape
 {
 protected:
 	btVector3	m_localAabbMin;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
index f7507b29394..76b5859be7e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
@@ -76,7 +76,7 @@ void	btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
 				break;
 			}
 		default:
-			ASSERT((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+			btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
 		}
 
 		unLockReadOnlyVertexBase(part);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
index 154b7145e68..7400d372bee 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
@@ -32,7 +32,7 @@ btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* tri
 
 void	btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
 {
-	ASSERT(subpart< getNumSubParts() );
+	btAssert(subpart< getNumSubParts() );
 	
 	btIndexedMesh& mesh = m_indexedMeshes[subpart];
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
index 81cb1412db9..4bf000f0c8d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 
 ///Concave triangle mesh. Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-class btTriangleMeshShape : public ConcaveShape
+class btTriangleMeshShape : public btConcaveShape
 {
 protected:
 	btStridingMeshInterface* m_meshInterface;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
index 8e6e2daa4fb..3284a599ea7 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
@@ -59,7 +59,7 @@ public:
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const 
 	{
-//		ASSERT(0);
+//		btAssert(0);
 		getAabbSlow(t,aabbMin,aabbMax);
 	}
 
@@ -116,7 +116,7 @@ public:
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia)
 	{
-		ASSERT(0);
+		btAssert(0);
 		inertia.setValue(0.f,0.f,0.f);
 	}