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Update readme.txt, it had outdated infromation.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, 64 insertions, 22 deletions

diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
index f74261d4b21..3268f06c2f9 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
@@ -511,7 +511,6 @@ namespace gjkepa2_impl
 		{
 			btVector3	n;
 			btScalar	d;
-			btScalar	p;
 			sSV*		c[3];
 			sFace*		f[3];
 			sFace*		l[2];
@@ -657,7 +656,7 @@ namespace gjkepa2_impl
 										remove(m_hull,best);
 										append(m_stock,best);
 										best=findbest();
-										if(best->p>=outer.p) outer=*best;
+										outer=*best;
 									} else { m_status=eStatus::InvalidHull;break; }
 								} else { m_status=eStatus::AccuraryReached;break; }
 							} else { m_status=eStatus::OutOfVertices;break; }
@@ -696,6 +695,42 @@ namespace gjkepa2_impl
 				m_result.p[0]=1;	
 				return(m_status);
 			}
+			bool getedgedist(sFace* face, sSV* a, sSV* b, btScalar& dist)
+			{
+				const btVector3 ba = b->w - a->w;
+				const btVector3 n_ab = btCross(ba, face->n); // Outward facing edge normal direction, on triangle plane
+				const btScalar a_dot_nab = btDot(a->w, n_ab); // Only care about the sign to determine inside/outside, so not normalization required
+
+				if(a_dot_nab < 0)
+				{
+					// Outside of edge a->b
+
+					const btScalar ba_l2 = ba.length2();
+					const btScalar a_dot_ba = btDot(a->w, ba);
+					const btScalar b_dot_ba = btDot(b->w, ba);
+
+					if(a_dot_ba > 0)
+					{
+						// Pick distance vertex a
+						dist = a->w.length();
+					}
+					else if(b_dot_ba < 0)
+					{
+						// Pick distance vertex b
+						dist = b->w.length();
+					}
+					else
+					{
+						// Pick distance to edge a->b
+						const btScalar a_dot_b = btDot(a->w, b->w);
+						dist = btSqrt(btMax((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (btScalar)0));
+					}
+
+					return true;
+				}
+
+				return false;
+			}
 			sFace*				newface(sSV* a,sSV* b,sSV* c,bool forced)
 			{
 				if(m_stock.root)
@@ -710,41 +745,48 @@ namespace gjkepa2_impl
 					face->n		=	btCross(b->w-a->w,c->w-a->w);
 					const btScalar	l=face->n.length();
 					const bool		v=l>EPA_ACCURACY;
-					face->p		=	btMin(btMin(
-						btDot(a->w,btCross(face->n,a->w-b->w)),
-						btDot(b->w,btCross(face->n,b->w-c->w))),
-						btDot(c->w,btCross(face->n,c->w-a->w)))	/
-						(v?l:1);
-					face->p		=	face->p>=-EPA_INSIDE_EPS?0:face->p;
+
 					if(v)
 					{
-						face->d		=	btDot(a->w,face->n)/l;
-						face->n		/=	l;
-						if(forced||(face->d>=-EPA_PLANE_EPS))
+						if(!(getedgedist(face, a, b, face->d) ||
+							 getedgedist(face, b, c, face->d) ||
+							 getedgedist(face, c, a, face->d)))
+						{
+							// Origin projects to the interior of the triangle
+							// Use distance to triangle plane
+							face->d = btDot(a->w, face->n) / l;
+						}
+
+						face->n /= l;
+						if(forced || (face->d >= -EPA_PLANE_EPS))
 						{
-							return(face);
-						} else m_status=eStatus::NonConvex;
-					} else m_status=eStatus::Degenerated;
-					remove(m_hull,face);
-					append(m_stock,face);
-					return(0);
+							return face;
+						}
+						else
+							m_status=eStatus::NonConvex;
+					}
+					else
+						m_status=eStatus::Degenerated;
+
+					remove(m_hull, face);
+					append(m_stock, face);
+					return 0;
+
 				}
-				m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces;
-				return(0);
+				m_status = m_stock.root ? eStatus::OutOfVertices : eStatus::OutOfFaces;
+				return 0;
 			}
 			sFace*				findbest()
 			{
 				sFace*		minf=m_hull.root;
 				btScalar	mind=minf->d*minf->d;
-				btScalar	maxp=minf->p;
 				for(sFace* f=minf->l[1];f;f=f->l[1])
 				{
 					const btScalar	sqd=f->d*f->d;
-					if((f->p>=maxp)&&(sqd<mind))
+					if(sqd<mind)
 					{
 						minf=f;
 						mind=sqd;
-						maxp=f->p;
 					}
 				}
 				return(minf);