added some new Bullet files, and upgraded to latest Bullet 2.x

Please make sure to have extern/bullet/src/LinearMath/btAlignedAllocator.cpp in your build, if you add the files by name, instead of wildcard *.cpp

12 files changed, 82 insertions, 26 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index 9df6d7186ec..fa1561973fb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -121,8 +121,10 @@ void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
 
 
 
-void	btCollisionWorld::performDiscreteCollisionDetection(btDispatcherInfo& dispatchInfo)
+void	btCollisionWorld::performDiscreteCollisionDetection()
 {
+	btDispatcherInfo& dispatchInfo = getDispatchInfo();
+
 	BEGIN_PROFILE("performDiscreteCollisionDetection");
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index 9c548784829..bd09d8c4d5d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -173,7 +173,7 @@ public:
 
 	struct	ClosestRayResultCallback : public RayResultCallback
 	{
-		ClosestRayResultCallback(btVector3	rayFromWorld,btVector3	rayToWorld)
+		ClosestRayResultCallback(const btVector3&	rayFromWorld,const btVector3&	rayToWorld)
 		:m_rayFromWorld(rayFromWorld),
 		m_rayToWorld(rayToWorld),
 		m_collisionObject(0)
@@ -237,7 +237,7 @@ public:
 
 	void	removeCollisionObject(btCollisionObject* collisionObject);
 
-	virtual void	performDiscreteCollisionDetection(	btDispatcherInfo&	dispatchInfo);
+	virtual void	performDiscreteCollisionDetection();
 
 	btDispatcherInfo& getDispatchInfo()
 	{
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 33287008004..3f51e9ec0a6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -268,17 +268,44 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 	int startManifoldIndex = 0;
 	int endManifoldIndex = 1;
 
-	for (startManifoldIndex=0;startManifoldIndex<numManifolds;startManifoldIndex = endManifoldIndex)
+	int islandId;
+
+
+		//update the sleeping state for bodies, if all are sleeping
+	for (int startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
 	{
-		int islandId = getIslandId(islandmanifold[startManifoldIndex]);
-		for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
+		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
+
+		for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
+		{
+		}
+
+		//find the accompanying contact manifold for this islandId
+		int numIslandManifolds = 0;
+		btPersistentManifold** startManifold = 0;
+
+		if (startManifoldIndex<numManifolds)
 		{
+			int curIslandId = getIslandId(islandmanifold[startManifoldIndex]);
+			if (curIslandId == islandId)
+			{
+				startManifold = &islandmanifold[startManifoldIndex];
+			
+				for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
+				{
+
+				}
+				/// Process the actual simulation, only if not sleeping/deactivated
+				numIslandManifolds = endManifoldIndex-startManifoldIndex;
+			}
+
 		}
-		/// Process the actual simulation, only if not sleeping/deactivated
-		int numIslandManifolds = endManifoldIndex-startManifoldIndex;
+
+		callback->ProcessIsland(startManifold,numIslandManifolds, islandId);
+
 		if (numIslandManifolds)
 		{
-			callback->ProcessIsland(&islandmanifold[startManifoldIndex],numIslandManifolds);
+			startManifoldIndex = endManifoldIndex;
 		}
 	}
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
index 36c51000a6b..68d9b8038d6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
@@ -49,7 +49,7 @@ public:
 	{
 		virtual ~IslandCallback() {};
 
-		virtual	void	ProcessIsland(class btPersistentManifold**	manifolds,int numManifolds) = 0;
+		virtual	void	ProcessIsland(class btPersistentManifold**	manifolds,int numManifolds, int islandId) = 0;
 	};
 
 	void	buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h
index c810a654834..84188bc8b76 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h
@@ -23,6 +23,7 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 #include <vector>
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+#include "LinearMath/btAlignedObjectArray.h"
 
 class btOptimizedBvh;
 
@@ -30,8 +31,8 @@ class btOptimizedBvh;
 /// This allows for concave collision objects. This is more general then the Static Concave btTriangleMeshShape.
 class btCompoundShape	: public btCollisionShape
 {
-	std::vector<btTransform>		m_childTransforms;
-	std::vector<btCollisionShape*>	m_childShapes;
+	btAlignedObjectArray<btTransform>		m_childTransforms;
+	btAlignedObjectArray<btCollisionShape*>	m_childShapes;
 	btVector3						m_localAabbMin;
 	btVector3						m_localAabbMax;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index 7a4c7ebf5c0..5af6e5f03d9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -22,6 +22,7 @@ subject to the following restrictions:
 btConvexHullShape ::btConvexHullShape (const float* points,int numPoints,int stride)
 {
 	m_points.resize(numPoints);
+
 	unsigned char* pointsBaseAddress = (unsigned char*)points;
 
 	for (int i=0;i<numPoints;i++)
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
index afe7dd8f7a9..beea0e63201 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
@@ -19,7 +19,8 @@ subject to the following restrictions:
 #include "btPolyhedralConvexShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 
-#include <vector>
+
+#include "LinearMath/btAlignedObjectArray.h"
 
 ///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
 ///No connectivity is needed. localGetSupportingVertex iterates linearly though all vertices.
@@ -27,7 +28,7 @@ subject to the following restrictions:
 ///(memory is much slower then the cpu)
 class btConvexHullShape : public btPolyhedralConvexShape
 {
-	std::vector<btPoint3>	m_points;
+	btAlignedObjectArray<btPoint3>	m_points;
 
 public:
 	///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive float (x,y,z), the striding defines the number of bytes between each point, in memory.
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
index 18b796b39b5..37f15e1dcc4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
@@ -18,6 +18,11 @@ subject to the following restrictions:
 #include "LinearMath/btAabbUtil2.h"
 
 
+btOptimizedBvh::btOptimizedBvh() :m_rootNode1(0), m_numNodes(0) 
+{ 
+
+}
+
 
 void btOptimizedBvh::build(btStridingMeshInterface* triangles)
 {
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h
index 96172c4e298..cb76cb23340 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h
@@ -15,9 +15,17 @@ subject to the following restrictions:
 
 #ifndef OPTIMIZED_BVH_H
 #define OPTIMIZED_BVH_H
+
+
 #include "LinearMath/btVector3.h"
+
+
+//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
+
+
 #include <vector>
 
+
 class btStridingMeshInterface;
 
 /// btOptimizedBvhNode contains both internal and leaf node information.
@@ -26,7 +34,7 @@ class btStridingMeshInterface;
 /// and storing aabbmin/max as quantized integers.
 /// 'subpart' doesn't need an integer either. It allows to re-use graphics triangle
 /// meshes stored in a non-uniform way (like batches/subparts of triangle-fans
-struct btOptimizedBvhNode
+ATTRIBUTE_ALIGNED16 (struct btOptimizedBvhNode)
 {
 
 	btVector3	m_aabbMin;
@@ -52,12 +60,23 @@ public:
 	virtual void processNode(const btOptimizedBvhNode* node) = 0;
 };
 
-typedef std::vector<btOptimizedBvhNode>	NodeArray;
+#include "LinearMath/btAlignedAllocator.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+//typedef std::vector< unsigned , allocator_type >     container_type;
+const unsigned size = (1 << 20);
+typedef btAlignedAllocator< btOptimizedBvhNode , size >  allocator_type;
+
+//typedef btAlignedObjectArray<btOptimizedBvhNode, allocator_type>	NodeArray;
+
+typedef btAlignedObjectArray<btOptimizedBvhNode>	NodeArray;
 
 
 ///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
 class btOptimizedBvh
 {
+	NodeArray			m_leafNodes;
+
 	btOptimizedBvhNode*	m_rootNode1;
 	
 	btOptimizedBvhNode*	m_contiguousNodes;
@@ -65,10 +84,11 @@ class btOptimizedBvh
 
 	int					m_numNodes;
 
-	NodeArray			m_leafNodes;
+
 
 public:
-	btOptimizedBvh() :m_rootNode1(0), m_numNodes(0) { }
+	btOptimizedBvh();
+
 	virtual ~btOptimizedBvh();
 	
 	void	build(btStridingMeshInterface* triangles);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h
index d04341aa809..9a623403846 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h
@@ -17,7 +17,8 @@ subject to the following restrictions:
 #define BT_TRIANGLE_BUFFER_H
 
 #include "btTriangleCallback.h"
-#include <vector>
+//#include <vector>
+#include "LinearMath/btAlignedObjectArray.h"
 
 struct	btTriangle
 {
@@ -32,7 +33,7 @@ struct	btTriangle
 class btTriangleBuffer : public btTriangleCallback
 {
 
-	std::vector<btTriangle>	m_triangleBuffer;
+	btAlignedObjectArray<btTriangle>	m_triangleBuffer;
 	
 public:
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
index 638c8b87fb1..3ec827c03d9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
@@ -17,7 +17,7 @@ subject to the following restrictions:
 #define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
 
 #include "btStridingMeshInterface.h"
-#include <vector>
+#include <LinearMath/btAlignedObjectArray.h>
 
 ///IndexedMesh indexes into existing vertex and index arrays, in a similar way OpenGL glDrawElements
 ///instead of the number of indices, we pass the number of triangles
@@ -38,7 +38,7 @@ struct	btIndexedMesh
 ///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
 class btTriangleIndexVertexArray : public btStridingMeshInterface
 {
-	std::vector<btIndexedMesh>	m_indexedMeshes;
+	btAlignedObjectArray<btIndexedMesh>	m_indexedMeshes;
 
 		
 public:
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
index 171dcf33b15..1be03d70436 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
@@ -18,9 +18,8 @@ subject to the following restrictions:
 #define TRIANGLE_MESH_H
 
 #include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
-#include <vector>
 #include <LinearMath/btVector3.h>
-
+#include "LinearMath/btAlignedObjectArray.h"
 struct btMyTriangle
 {
 	btVector3	m_vert0;
@@ -31,8 +30,7 @@ struct btMyTriangle
 ///TriangleMesh provides storage for a concave triangle mesh. It can be used as data for the btTriangleMeshShape.
 class btTriangleMesh : public btStridingMeshInterface
 {
-	std::vector<btMyTriangle>	m_triangles;
-	
+	btAlignedObjectArray<btMyTriangle>	m_triangles;
 
 	public:
 		btTriangleMesh ();