update Bullet 2.x with latest changes, notice that the integration is not finished yet, and GameBlender is still using extern/bullet.

4 files changed, 31 insertions, 22 deletions

diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index f6fdd6435cf..4b38ced7f12 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -36,11 +36,7 @@ m_penetrationDepthSolver(penetrationDepthSolver),
 m_simplexSolver(simplexSolver),
 m_minkowskiA(objectA),
 m_minkowskiB(objectB),
-m_ignoreMargin(false),
-m_partId0(-1),
-m_index0(-1),
-m_partId1(-1),
-m_index1(-1)
+m_ignoreMargin(false)
 {
 }
 
@@ -60,7 +56,8 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 		marginB = 0.f;
 	}
 
-int curIter = 0;
+	int curIter = 0;
+	int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN?
 
 	bool isValid = false;
 	bool checkSimplex = false;
@@ -131,6 +128,25 @@ int curIter = 0;
 				checkSimplex = true;
 				break;
 			}
+
+			  //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject   
+              if (curIter++ > gGjkMaxIter)   
+              {   
+                      #if defined(DEBUG) || defined (_DEBUG)   
+                              printf("btGjkPairDetector maxIter exceeded:%i\n",curIter);   
+                              printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",   
+                              m_cachedSeparatingAxis.getX(),   
+                              m_cachedSeparatingAxis.getY(),   
+                              m_cachedSeparatingAxis.getZ(),   
+                              squaredDistance,   
+                              m_minkowskiA->getShapeType(),   
+                              m_minkowskiB->getShapeType());   
+                      #endif   
+                      break;   
+
+              } 
+
+
 			bool check = (!m_simplexSolver->fullSimplex());
 			//bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
 
@@ -200,7 +216,6 @@ int curIter = 0;
 		//spu_printf("distance\n");
 #endif //__CELLOS_LV2__
 
-		output.setShapeIdentifiers(m_partId0,m_index0,m_partId1,m_index1);
 
 		output.addContactPoint(
 			normalInB,
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
index bccb0542370..c4842cd3023 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
@@ -43,12 +43,6 @@ class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
 
 public:
 
-	//experimental feature information, per triangle, per convex etc.
-	//'material combiner' / contact added callback
-	int	m_partId0;
-	int	m_index0;
-	int	m_partId1;
-	int	m_index1;
 
 	btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver);
 	virtual ~btGjkPairDetector() {};
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
index fafceafa5ed..ee2be163063 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
@@ -18,7 +18,7 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 #include <assert.h>
 
-float						gContactBreakingTreshold = 0.02f;
+float						gContactBreakingThreshold = 0.02f;
 ContactDestroyedCallback	gContactDestroyedCallback = 0;
 
 
@@ -151,7 +151,7 @@ int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt)
 
 int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
 {
-	btScalar shortestDist =  getContactBreakingTreshold() * getContactBreakingTreshold();
+	btScalar shortestDist =  getContactBreakingThreshold() * getContactBreakingThreshold();
 	int size = getNumContacts();
 	int nearestPoint = -1;
 	for( int i = 0; i < size; i++ )
@@ -193,9 +193,9 @@ void btPersistentManifold::AddManifoldPoint(const btManifoldPoint& newPoint)
 	replaceContactPoint(newPoint,insertIndex);
 }
 
-float	btPersistentManifold::getContactBreakingTreshold() const
+float	btPersistentManifold::getContactBreakingThreshold() const
 {
-	return gContactBreakingTreshold;
+	return gContactBreakingThreshold;
 }
 
 void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btTransform& trB)
@@ -229,7 +229,7 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT
 			projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
 			projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
 			distance2d = projectedDifference.dot(projectedDifference);
-			if (distance2d  > getContactBreakingTreshold()*getContactBreakingTreshold() )
+			if (distance2d  > getContactBreakingThreshold()*getContactBreakingThreshold() )
 			{
 				removeContactPoint(i);
 			}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index d0cc2577fb0..ab0e8767e5d 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -23,8 +23,8 @@ subject to the following restrictions:
 
 struct btCollisionResult;
 
-///contact breaking and merging treshold
-extern float gContactBreakingTreshold;
+///contact breaking and merging threshold
+extern float gContactBreakingThreshold;
 
 typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
 extern ContactDestroyedCallback	gContactDestroyedCallback;
@@ -97,7 +97,7 @@ public:
 	}
 
 	/// todo: get this margin from the current physics / collision environment
-	float	getContactBreakingTreshold() const;
+	float	getContactBreakingThreshold() const;
 	
 	int getCacheEntry(const btManifoldPoint& newPoint) const;
 
@@ -124,7 +124,7 @@ public:
 
 	bool validContactDistance(const btManifoldPoint& pt) const
 	{
-		return pt.m_distance1 <= getContactBreakingTreshold();
+		return pt.m_distance1 <= getContactBreakingThreshold();
 	}
 	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
 	void	refreshContactPoints(  const btTransform& trA,const btTransform& trB);