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Update readme.txt, it had outdated infromation.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, 25 insertions, 28 deletions

diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h
index 15cf5f868d9..ee79f6eaeee 100644
--- a/extern/bullet2/src/LinearMath/btQuaternion.h
+++ b/extern/bullet2/src/LinearMath/btQuaternion.h
@@ -14,8 +14,8 @@ subject to the following restrictions:
 
 
 
-#ifndef SIMD__QUATERNION_H_
-#define SIMD__QUATERNION_H_
+#ifndef BT_SIMD__QUATERNION_H_
+#define BT_SIMD__QUATERNION_H_
 
 
 #include "btVector3.h"
@@ -212,11 +212,12 @@ public:
 	/**@brief Return the axis of the rotation represented by this quaternion */
 	btVector3 getAxis() const
 	{
-		btScalar s_squared = btScalar(1.) - btPow(m_floats[3], btScalar(2.));
+		btScalar s_squared = 1.f-m_floats[3]*m_floats[3];
+		
 		if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero
 			return btVector3(1.0, 0.0, 0.0);  // Arbitrary
-		btScalar s = btSqrt(s_squared);
-		return btVector3(m_floats[0] / s, m_floats[1] / s, m_floats[2] / s);
+		btScalar s = 1.f/btSqrt(s_squared);
+		return btVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
 	}
 
 	/**@brief Return the inverse of this quaternion */
@@ -279,23 +280,25 @@ public:
    * Slerp interpolates assuming constant velocity.  */
 	btQuaternion slerp(const btQuaternion& q, const btScalar& t) const
 	{
-		btScalar theta = angle(q);
-		if (theta != btScalar(0.0))
+	  btScalar magnitude = btSqrt(length2() * q.length2()); 
+	  btAssert(magnitude > btScalar(0));
+
+    btScalar product = dot(q) / magnitude;
+    if (btFabs(product) != btScalar(1))
 		{
-			btScalar d = btScalar(1.0) / btSin(theta);
-			btScalar s0 = btSin((btScalar(1.0) - t) * theta);
-			btScalar s1 = btSin(t * theta);   
-                        if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
-                          return btQuaternion((m_floats[0] * s0 + -q.x() * s1) * d,
-                                              (m_floats[1] * s0 + -q.y() * s1) * d,
-                                              (m_floats[2] * s0 + -q.z() * s1) * d,
-                                              (m_floats[3] * s0 + -q.m_floats[3] * s1) * d);
-                        else
-                          return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
-                                              (m_floats[1] * s0 + q.y() * s1) * d,
-                                              (m_floats[2] * s0 + q.z() * s1) * d,
-                                              (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
-                        
+      // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
+      const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1);
+
+      const btScalar theta = btAcos(sign * product);
+      const btScalar s1 = btSin(sign * t * theta);   
+      const btScalar d = btScalar(1.0) / btSin(theta);
+      const btScalar s0 = btSin((btScalar(1.0) - t) * theta);
+
+      return btQuaternion(
+          (m_floats[0] * s0 + q.x() * s1) * d,
+          (m_floats[1] * s0 + q.y() * s1) * d,
+          (m_floats[2] * s0 + q.z() * s1) * d,
+          (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
 		}
 		else
 		{
@@ -315,12 +318,6 @@ public:
 };
 
 
-/**@brief Return the negative of a quaternion */
-SIMD_FORCE_INLINE btQuaternion
-operator-(const btQuaternion& q)
-{
-	return btQuaternion(-q.x(), -q.y(), -q.z(), -q.w());
-}
 
 
 
@@ -426,7 +423,7 @@ shortestArcQuatNormalize2(btVector3& v0,btVector3& v1)
 	return shortestArcQuat(v0,v1);
 }
 
-#endif
+#endif //BT_SIMD__QUATERNION_H_