Finally upgraded to latest Bullet subversion, about to release 2.71. Some recent changes in extern/bullet2 need to be re-applied, will check with Benoit. Ray tests in 0_FPS_Template.blend is broken, didn't figure out why yet.

HELP BUILD SYSTEM MAINTAINERS: Please help with updating all build systems: the newly added files need to be added. Note that the src/SoftBody has been added for future extension of real-time soft bodies.

1 files changed, 22 insertions, 4 deletions

diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
index f6a893151da..e75fc1bee96 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
@@ -16,8 +16,8 @@ subject to the following restrictions:
 #ifndef MANIFOLD_CONTACT_POINT_H
 #define MANIFOLD_CONTACT_POINT_H
 
-#include "../../LinearMath/btVector3.h"
-#include "../../LinearMath/btTransformUtil.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btTransformUtil.h"
 
 
 
@@ -30,6 +30,8 @@ class btManifoldPoint
 		public:
 			btManifoldPoint()
 				:m_userPersistentData(0),
+				m_appliedImpulse(0.f),
+				m_lateralFrictionInitialized(false),
 				m_lifeTime(0)
 			{
 			}
@@ -43,7 +45,11 @@ class btManifoldPoint
 					m_distance1( distance ),
 					m_combinedFriction(btScalar(0.)),
 					m_combinedRestitution(btScalar(0.)),
-					m_userPersistentData(0),					
+					m_userPersistentData(0),
+					m_appliedImpulse(0.f),
+					m_lateralFrictionInitialized(false),
+					m_appliedImpulseLateral1(0.f),
+					m_appliedImpulseLateral2(0.f),
 					m_lifeTime(0)
 			{
 				
@@ -63,11 +69,23 @@ class btManifoldPoint
 			btScalar	m_combinedFriction;
 			btScalar	m_combinedRestitution;
 
+         //BP mod, store contact triangles.
+         int	   m_partId0;
+         int      m_partId1;
+         int      m_index0;
+         int      m_index1;
 				
 			mutable void*	m_userPersistentData;
+			btScalar		m_appliedImpulse;
 
-			int		m_lifeTime;//lifetime of the contactpoint in frames
+			bool			m_lateralFrictionInitialized;
+			btScalar		m_appliedImpulseLateral1;
+			btScalar		m_appliedImpulseLateral2;
+			int				m_lifeTime;//lifetime of the contactpoint in frames
 			
+			btVector3		m_lateralFrictionDir1;
+			btVector3		m_lateralFrictionDir2;
+
 			btScalar getDistance() const
 			{
 				return m_distance1;