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Update readme.txt, it had outdated infromation.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, 211 insertions, 81 deletions

diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
index 0d19fd193e7..9c06841801c 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
@@ -19,9 +19,10 @@ subject to the following restrictions:
 #include "btSoftBodyData.h"
 #include "LinearMath/btSerializer.h"
 
+
 //
 btSoftBody::btSoftBody(btSoftBodyWorldInfo*	worldInfo,int node_count,  const btVector3* x,  const btScalar* m)
-:m_worldInfo(worldInfo),m_softBodySolver(0)
+:m_softBodySolver(0),m_worldInfo(worldInfo)
 {	
 	/* Init		*/ 
 	initDefaults();
@@ -357,14 +358,14 @@ void			btSoftBody::appendTetra(int node0,
 
 //
 
-void			btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies)
+void			btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies,btScalar influence)
 {
 	btVector3 local = body->getWorldTransform().inverse()*m_nodes[node].m_x;
-	appendAnchor(node,body,local,disableCollisionBetweenLinkedBodies);
+	appendAnchor(node,body,local,disableCollisionBetweenLinkedBodies,influence);
 }
 
 //
-void			btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies)
+void			btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies,btScalar influence)
 {
 	if (disableCollisionBetweenLinkedBodies)
 	{
@@ -379,6 +380,7 @@ void			btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& loc
 	a.m_body			=	body;
 	a.m_local			=	localPivot;
 	a.m_node->m_battach	=	1;
+	a.m_influence = influence;
 	m_anchors.push_back(a);
 }
 
@@ -451,6 +453,167 @@ void			btSoftBody::addForce(const btVector3& force,int node)
 	}
 }
 
+void			btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeIndex)
+{
+	btAssert(nodeIndex >= 0 && nodeIndex < m_nodes.size());
+
+	const btScalar dt = m_sst.sdt;
+	const btScalar kLF = m_cfg.kLF;
+	const btScalar kDG = m_cfg.kDG;
+	const btScalar kPR = m_cfg.kPR;
+	const btScalar kVC = m_cfg.kVC;
+	const bool as_lift = kLF>0;
+	const bool as_drag = kDG>0;
+	const bool as_aero = as_lift || as_drag;
+	const bool as_vaero = as_aero && (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
+
+	Node& n = m_nodes[nodeIndex];
+
+	if( n.m_im>0 )
+	{
+		btSoftBody::sMedium	medium;
+
+		EvaluateMedium(m_worldInfo, n.m_x, medium);
+		medium.m_velocity = windVelocity;
+		medium.m_density = m_worldInfo->air_density;
+
+		/* Aerodynamics			*/ 
+		if(as_vaero)
+		{				
+			const btVector3	rel_v = n.m_v - medium.m_velocity;					
+			const btScalar rel_v_len = rel_v.length();
+			const btScalar	rel_v2 = rel_v.length2();
+
+			if(rel_v2>SIMD_EPSILON)
+			{
+				const btVector3 rel_v_nrm = rel_v.normalized();
+				btVector3	nrm = n.m_n;						
+
+				if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSidedLiftDrag)
+				{
+					nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+					btVector3 fDrag(0, 0, 0);
+					btVector3 fLift(0, 0, 0);
+
+					btScalar n_dot_v = nrm.dot(rel_v_nrm);
+					btScalar tri_area = 0.5f * n.m_area;
+							
+					fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
+							
+					// Check angle of attack
+					// cos(10º) = 0.98480
+					if ( 0 < n_dot_v && n_dot_v < 0.98480f)
+						fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
+
+					n.m_f += fDrag;
+					n.m_f += fLift;
+				}
+				else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
+				{
+					if (btSoftBody::eAeroModel::V_TwoSided)
+						nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+
+					const btScalar dvn = btDot(rel_v,nrm);
+					/* Compute forces	*/ 
+					if(dvn>0)
+					{
+						btVector3		force(0,0,0);
+						const btScalar	c0	=	n.m_area * dvn * rel_v2/2;
+						const btScalar	c1	=	c0 * medium.m_density;
+						force	+=	nrm*(-c1*kLF);
+						force	+=	rel_v.normalized() * (-c1 * kDG);
+						ApplyClampedForce(n, force, dt);
+					}
+				}	
+			}
+		}
+	}
+}
+
+void			btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceIndex)
+{
+	const btScalar dt = m_sst.sdt;
+	const btScalar kLF = m_cfg.kLF;
+	const btScalar kDG = m_cfg.kDG;
+	const btScalar kPR = m_cfg.kPR;
+	const btScalar kVC = m_cfg.kVC;
+	const bool as_lift = kLF>0;
+	const bool as_drag = kDG>0;
+	const bool as_aero = as_lift || as_drag;
+	const bool as_faero = as_aero && (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
+
+	if(as_faero)
+	{
+		btSoftBody::Face&	f=m_faces[faceIndex];
+
+		btSoftBody::sMedium	medium;
+		
+		const btVector3	v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3;
+		const btVector3	x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3;
+		EvaluateMedium(m_worldInfo,x,medium);
+		medium.m_velocity = windVelocity;
+		medium.m_density = m_worldInfo->air_density;
+		const btVector3	rel_v=v-medium.m_velocity;
+		const btScalar rel_v_len = rel_v.length();
+		const btScalar	rel_v2=rel_v.length2();
+
+		if(rel_v2>SIMD_EPSILON)
+		{
+			const btVector3 rel_v_nrm = rel_v.normalized();
+			btVector3	nrm = f.m_normal;
+
+			if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSidedLiftDrag)
+			{
+				nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+
+				btVector3 fDrag(0, 0, 0);
+				btVector3 fLift(0, 0, 0);
+
+				btScalar n_dot_v = nrm.dot(rel_v_nrm);
+				btScalar tri_area = 0.5f * f.m_ra;
+					
+				fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
+
+				// Check angle of attack
+				// cos(10º) = 0.98480
+				if ( 0 < n_dot_v && n_dot_v < 0.98480f)
+					fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
+
+				fDrag /= 3;
+				fLift /= 3;
+
+				for(int j=0;j<3;++j) 
+				{
+					if (f.m_n[j]->m_im>0)
+					{
+						f.m_n[j]->m_f += fDrag; 
+						f.m_n[j]->m_f += fLift;
+					}
+				}
+			}
+			else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
+			{
+				if (btSoftBody::eAeroModel::F_TwoSided)
+					nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+
+				const btScalar	dvn=btDot(rel_v,nrm);
+				/* Compute forces	*/ 
+				if(dvn>0)
+				{
+					btVector3		force(0,0,0);
+					const btScalar	c0	=	f.m_ra*dvn*rel_v2;
+					const btScalar	c1	=	c0*medium.m_density;
+					force	+=	nrm*(-c1*kLF);
+					force	+=	rel_v.normalized()*(-c1*kDG);
+					force	/=	3;
+					for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt);
+				}
+			}
+		}
+	}
+
+}
+
 //
 void			btSoftBody::addVelocity(const btVector3& velocity)
 {
@@ -1820,7 +1983,7 @@ btScalar			btSoftBody::RayFromToCaster::rayFromToTriangle(	const btVector3& rayF
 void				btSoftBody::pointersToIndices()
 {
 #define	PTR2IDX(_p_,_b_)	reinterpret_cast<btSoftBody::Node*>((_p_)-(_b_))
-	btSoftBody::Node*	base=&m_nodes[0];
+	btSoftBody::Node*	base=m_nodes.size() ? &m_nodes[0] : 0;
 	int i,ni;
 
 	for(i=0,ni=m_nodes.size();i<ni;++i)
@@ -1864,7 +2027,7 @@ void				btSoftBody::indicesToPointers(const int* map)
 {
 #define	IDX2PTR(_p_,_b_)	map?(&(_b_)[map[(((char*)_p_)-(char*)0)]]):	\
 	(&(_b_)[(((char*)_p_)-(char*)0)])
-	btSoftBody::Node*	base=&m_nodes[0];
+	btSoftBody::Node*	base=m_nodes.size() ? &m_nodes[0]:0;
 	int i,ni;
 
 	for(i=0,ni=m_nodes.size();i<ni;++i)
@@ -1908,11 +2071,12 @@ int					btSoftBody::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
 										btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const
 {
 	int	cnt=0;
+	btVector3 dir = rayTo-rayFrom;
+	
+
 	if(bcountonly||m_fdbvt.empty())
 	{/* Full search	*/ 
-		btVector3 dir = rayTo-rayFrom;
-		dir.normalize();
-
+		
 		for(int i=0,ni=m_faces.size();i<ni;++i)
 		{
 			const btSoftBody::Face&	f=m_faces[i];
@@ -1947,6 +2111,37 @@ int					btSoftBody::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
 			cnt=1;
 		}
 	}
+
+	for (int i=0;i<m_tetras.size();i++)
+	{
+		const btSoftBody::Tetra& tet = m_tetras[i];
+		int tetfaces[4][3] = {{0,1,2},{0,1,3},{1,2,3},{0,2,3}};
+		for (int f=0;f<4;f++)
+		{
+
+			int index0=tetfaces[f][0];
+			int index1=tetfaces[f][1];
+			int index2=tetfaces[f][2];
+			btVector3 v0=tet.m_n[index0]->m_x;
+			btVector3 v1=tet.m_n[index1]->m_x;
+			btVector3 v2=tet.m_n[index2]->m_x;
+
+
+		const btScalar			t=RayFromToCaster::rayFromToTriangle(	rayFrom,rayTo,dir,
+			v0,v1,v2,
+				mint);
+		if(t>0)
+			{
+				++cnt;
+				if(!bcountonly)
+				{
+					feature=btSoftBody::eFeature::Tetra;
+					index=i;
+					mint=t;
+				}
+			}
+		}
+	}
 	return(cnt);
 }
 
@@ -2660,44 +2855,8 @@ void				btSoftBody::applyForces()
 		{
 			if(use_medium)
 			{
-				EvaluateMedium(m_worldInfo, n.m_x, medium);
-				medium.m_velocity = m_windVelocity;
-				medium.m_density = m_worldInfo->air_density;
-
 				/* Aerodynamics			*/ 
-				if(as_vaero)
-				{				
-					const btVector3	rel_v = n.m_v - medium.m_velocity;
-					const btScalar	rel_v2 = rel_v.length2();
-					if(rel_v2>SIMD_EPSILON)
-					{
-						btVector3	nrm = n.m_n;
-						/* Setup normal		*/ 
-						switch(m_cfg.aeromodel)
-						{
-						case	btSoftBody::eAeroModel::V_Point:
-							nrm = NormalizeAny(rel_v);
-							break;
-						case	btSoftBody::eAeroModel::V_TwoSided:
-							nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
-							break;							
-						default:
-							{
-							}
-						}
-						const btScalar dvn = btDot(rel_v,nrm);
-						/* Compute forces	*/ 
-						if(dvn>0)
-						{
-							btVector3		force(0,0,0);
-							const btScalar	c0	=	n.m_area * dvn * rel_v2/2;
-							const btScalar	c1	=	c0 * medium.m_density;
-							force	+=	nrm*(-c1*kLF);
-							force	+=	rel_v.normalized() * (-c1 * kDG);
-							ApplyClampedForce(n, force, dt);
-						}
-					}
-				}
+				addAeroForceToNode(m_windVelocity, i);
 			}
 			/* Pressure				*/ 
 			if(as_pressure)
@@ -2711,43 +2870,14 @@ void				btSoftBody::applyForces()
 			}
 		}
 	}
+
 	/* Per face forces				*/ 
 	for(i=0,ni=m_faces.size();i<ni;++i)
 	{
 		btSoftBody::Face&	f=m_faces[i];
-		if(as_faero)
-		{
-			const btVector3	v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3;
-			const btVector3	x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3;
-			EvaluateMedium(m_worldInfo,x,medium);
-			const btVector3	rel_v=v-medium.m_velocity;
-			const btScalar	rel_v2=rel_v.length2();
-			if(rel_v2>SIMD_EPSILON)
-			{
-				btVector3	nrm=f.m_normal;
-				/* Setup normal		*/ 
-				switch(m_cfg.aeromodel)
-				{
-				case	btSoftBody::eAeroModel::F_TwoSided:
-					nrm*=(btScalar)(btDot(nrm,rel_v)<0?-1:+1);break;
-					default:
-					{
-					}
-				}
-				const btScalar	dvn=btDot(rel_v,nrm);
-				/* Compute forces	*/ 
-				if(dvn>0)
-				{
-					btVector3		force(0,0,0);
-					const btScalar	c0	=	f.m_ra*dvn*rel_v2;
-					const btScalar	c1	=	c0*medium.m_density;
-					force	+=	nrm*(-c1*kLF);
-					force	+=	rel_v.normalized()*(-c1*kDG);
-					force	/=	3;
-					for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt);
-				}
-			}
-		}
+
+		/* Aerodynamics			*/ 
+		addAeroForceToFace(m_windVelocity, i);	
 	}
 }
 
@@ -2765,7 +2895,7 @@ void				btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti)
 		const btVector3		va=a.m_body->getVelocityInLocalPoint(a.m_c1)*dt;
 		const btVector3		vb=n.m_x-n.m_q;
 		const btVector3		vr=(va-vb)+(wa-n.m_x)*kAHR;
-		const btVector3		impulse=a.m_c0*vr;
+		const btVector3		impulse=a.m_c0*vr*a.m_influence;
 		n.m_x+=impulse*a.m_c2;
 		a.m_body->applyImpulse(-impulse,a.m_c1);
 	}
@@ -3196,7 +3326,7 @@ const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 	sbd->m_config.m_softRigidClusterImpulseSplit = m_cfg.kSR_SPLT_CL;
 	sbd->m_config.m_softKineticClusterImpulseSplit = m_cfg.kSK_SPLT_CL;
 	sbd->m_config.m_softSoftClusterImpulseSplit = m_cfg.kSS_SPLT_CL;
-		
+
 	//pose for shape matching
 	{
 		sbd->m_pose = (SoftBodyPoseData*)serializer->getUniquePointer((void*)&m_pose);