Update Bullet to version 2.80 (bullet svn revision 2537)

Remove Jamfiles and other unused files that stuck around during previous updates.

Add patches for local changes to the patches directory.

Update readme.txt, it had outdated infromation.

1 files changed, 71 insertions, 64 deletions

diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
index 9ee83e7d561..91fcea57a3c 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
@@ -22,20 +22,72 @@ subject to the following restrictions:
 
 #include "btGjkPairDetector.h"
 #include "btPointCollector.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
 
 
 
 btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape*	convexA,const btConvexShape*	convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
 :m_simplexSolver(simplexSolver),
 m_penetrationDepthSolver(penetrationDepthSolver),
-m_convexA(convexA),m_convexB(convexB)
+m_convexA(convexA),m_convexB1(convexB),m_planeShape(0)
 {
 }
 
+
+btContinuousConvexCollision::btContinuousConvexCollision( const btConvexShape*	convexA,const btStaticPlaneShape*	plane)
+:m_simplexSolver(0),
+m_penetrationDepthSolver(0),
+m_convexA(convexA),m_convexB1(0),m_planeShape(plane)
+{
+}
+
+
 /// This maximum should not be necessary. It allows for untested/degenerate cases in production code.
 /// You don't want your game ever to lock-up.
 #define MAX_ITERATIONS 64
 
+void btContinuousConvexCollision::computeClosestPoints( const btTransform& transA, const btTransform& transB,btPointCollector& pointCollector)
+{
+	if (m_convexB1)
+	{
+		m_simplexSolver->reset();
+		btGjkPairDetector gjk(m_convexA,m_convexB1,m_convexA->getShapeType(),m_convexB1->getShapeType(),m_convexA->getMargin(),m_convexB1->getMargin(),m_simplexSolver,m_penetrationDepthSolver);		
+		btGjkPairDetector::ClosestPointInput input;
+		input.m_transformA = transA;
+		input.m_transformB = transB;
+		gjk.getClosestPoints(input,pointCollector,0);
+	} else
+	{
+		//convex versus plane
+		const btConvexShape* convexShape = m_convexA;
+		const btStaticPlaneShape* planeShape = m_planeShape;
+		
+		bool hasCollision = false;
+		const btVector3& planeNormal = planeShape->getPlaneNormal();
+		const btScalar& planeConstant = planeShape->getPlaneConstant();
+		
+		btTransform convexWorldTransform = transA;
+		btTransform convexInPlaneTrans;
+		convexInPlaneTrans= transB.inverse() * convexWorldTransform;
+		btTransform planeInConvex;
+		planeInConvex= convexWorldTransform.inverse() * transB;
+		
+		btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+
+		btVector3 vtxInPlane = convexInPlaneTrans(vtx);
+		btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
+
+		btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+		btVector3 vtxInPlaneWorld = transB * vtxInPlaneProjected;
+		btVector3 normalOnSurfaceB = transB.getBasis() * planeNormal;
+
+		pointCollector.addContactPoint(
+			normalOnSurfaceB,
+			vtxInPlaneWorld,
+			distance);
+	}
+}
+
 bool	btContinuousConvexCollision::calcTimeOfImpact(
 				const btTransform& fromA,
 				const btTransform& toA,
@@ -44,7 +96,6 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 				CastResult& result)
 {
 
-	m_simplexSolver->reset();
 
 	/// compute linear and angular velocity for this interval, to interpolate
 	btVector3 linVelA,angVelA,linVelB,angVelB;
@@ -53,7 +104,7 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 
 
 	btScalar boundingRadiusA = m_convexA->getAngularMotionDisc();
-	btScalar boundingRadiusB = m_convexB->getAngularMotionDisc();
+	btScalar boundingRadiusB = m_convexB1?m_convexB1->getAngularMotionDisc():0.f;
 
 	btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
 	btVector3 relLinVel = (linVelB-linVelA);
@@ -64,7 +115,6 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 		return false;
 
 
-	btScalar radius = btScalar(0.001);
 
 	btScalar lambda = btScalar(0.);
 	btVector3 v(1,0,0);
@@ -83,28 +133,14 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 	//first solution, using GJK
 
 
-	btTransform identityTrans;
-	identityTrans.setIdentity();
-
-	btSphereShape	raySphere(btScalar(0.0));
-	raySphere.setMargin(btScalar(0.));
-
-
+	btScalar radius = 0.001f;
 //	result.drawCoordSystem(sphereTr);
 
 	btPointCollector	pointCollector1;
 
 	{
-		
-		btGjkPairDetector gjk(m_convexA,m_convexB,m_convexA->getShapeType(),m_convexB->getShapeType(),m_convexA->getMargin(),m_convexB->getMargin(),m_simplexSolver,m_penetrationDepthSolver);		
-		btGjkPairDetector::ClosestPointInput input;
 	
-		//we don't use margins during CCD
-	//	gjk.setIgnoreMargin(true);
-
-		input.m_transformA = fromA;
-		input.m_transformB = fromB;
-		gjk.getClosestPoints(input,pointCollector1,0);
+		computeClosestPoints(fromA,fromB,pointCollector1);
 
 		hasResult = pointCollector1.m_hasResult;
 		c = pointCollector1.m_pointInWorld;
@@ -113,11 +149,12 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 	if (hasResult)
 	{
 		btScalar dist;
-		dist = pointCollector1.m_distance;
+		dist = pointCollector1.m_distance + result.m_allowedPenetration;
 		n = pointCollector1.m_normalOnBInWorld;
-
 		btScalar projectedLinearVelocity = relLinVel.dot(n);
-		
+		if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
+			return false;
+
 		//not close enough
 		while (dist > radius)
 		{
@@ -125,19 +162,10 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 			{
 				result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1));
 			}
-			numIter++;
-			if (numIter > maxIter)
-			{
-				return false; //todo: report a failure
-			}
 			btScalar dLambda = btScalar(0.);
 
 			projectedLinearVelocity = relLinVel.dot(n);
 
-			//calculate safe moving fraction from distance / (linear+rotational velocity)
-			
-			//btScalar clippedDist  = GEN_min(angularConservativeRadius,dist);
-			//btScalar clippedDist  = dist;
 			
 			//don't report time of impact for motion away from the contact normal (or causes minor penetration)
 			if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
@@ -182,37 +210,27 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 			result.DebugDraw( lambda );
 
 			btPointCollector	pointCollector;
-			btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
-			btGjkPairDetector::ClosestPointInput input;
-			input.m_transformA = interpolatedTransA;
-			input.m_transformB = interpolatedTransB;
-			gjk.getClosestPoints(input,pointCollector,0);
+			computeClosestPoints(interpolatedTransA,interpolatedTransB,pointCollector);
+
 			if (pointCollector.m_hasResult)
 			{
-				if (pointCollector.m_distance < btScalar(0.))
-				{
-					//degenerate ?!
-					result.m_fraction = lastLambda;
-					n = pointCollector.m_normalOnBInWorld;
-					result.m_normal=n;//.setValue(1,1,1);// = n;
-					result.m_hitPoint = pointCollector.m_pointInWorld;
-					return true;
-				}
+				dist = pointCollector.m_distance+result.m_allowedPenetration;
 				c = pointCollector.m_pointInWorld;		
 				n = pointCollector.m_normalOnBInWorld;
-				dist = pointCollector.m_distance;
 			} else
 			{
-				//??
+				result.reportFailure(-1, numIter);
 				return false;
 			}
-			
 
+			numIter++;
+			if (numIter > maxIter)
+			{
+				result.reportFailure(-2, numIter);
+				return false;
+			}
 		}
 	
-		if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON)
-			return false;
-			
 		result.m_fraction = lambda;
 		result.m_normal = n;
 		result.m_hitPoint = c;
@@ -221,16 +239,5 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 
 	return false;
 
-/*
-//todo:
-	//if movement away from normal, discard result
-	btVector3 move = transBLocalTo.getOrigin() - transBLocalFrom.getOrigin();
-	if (result.m_fraction < btScalar(1.))
-	{
-		if (move.dot(result.m_normal) <= btScalar(0.))
-		{
-		}
-	}
-*/
-
 }
+