added some get methods and stuff

8 files changed, 26 insertions, 3 deletions

diff --git a/extern/bullet/Bullet/CollisionShapes/CollisionShape.h b/extern/bullet/Bullet/CollisionShapes/CollisionShape.h
index 2a2d0543bb2..c43ce933a2f 100644
--- a/extern/bullet/Bullet/CollisionShapes/CollisionShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/CollisionShape.h
@@ -59,6 +59,7 @@ public:
 
 
 	virtual void	setLocalScaling(const SimdVector3& scaling) =0;
+	virtual const SimdVector3& getLocalScaling() const =0;
 
 	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia) = 0;
 
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexShape.h b/extern/bullet/Bullet/CollisionShapes/ConvexShape.h
index 345358e47fc..1ec962c591c 100644
--- a/extern/bullet/Bullet/CollisionShapes/ConvexShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/ConvexShape.h
@@ -51,6 +51,10 @@ public:
 
 
 	virtual void	setLocalScaling(const SimdVector3& scaling);
+	virtual const SimdVector3& getLocalScaling() const 
+	{
+		return m_localScaling;
+	}
 
 
 	virtual void	SetMargin(float margin)
diff --git a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
index 11f184db761..4fa40e92f1e 100644
--- a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
@@ -24,6 +24,11 @@ class CylinderShape : public BoxShape
 public:
 	CylinderShape (const SimdVector3& halfExtents);
 	
+	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+	void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
+	{
+		GetAabbSlow(t,aabbMin,aabbMax);
+	}
 
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
 
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
index c09599f39b1..259e673759a 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
@@ -100,6 +100,13 @@ void TriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
 	m_meshInterface->setScaling(scaling);
 }
 
+const SimdVector3& TriangleMeshShape::getLocalScaling() const
+{
+	return m_meshInterface->getScaling();
+}
+
+
+
 void	TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
 {
 
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
index 2083985e6cc..6ca8fef8ef0 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
@@ -53,6 +53,7 @@ public:
 	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
 
 	virtual void	setLocalScaling(const SimdVector3& scaling);
+	virtual const SimdVector3& getLocalScaling() const;
 	
 
 	//debugging
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
index 2d4e7f01420..d923d6f51f1 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
@@ -103,8 +103,13 @@ void PersistentManifold::AddManifoldPoint(const ManifoldPoint& newPoint)
 	int insertIndex = GetNumContacts();
 	if (insertIndex == MANIFOLD_CACHE_SIZE)
 	{
-		//sort cache so best points come first
+#if MANIFOLD_CACHE_SIZE >= 4
+		//sort cache so best points come first, based on area
 		insertIndex = SortCachedPoints(newPoint);
+#else
+		insertIndex = 0;
+#endif
+
 	} else
 	{
 		m_cachedPoints++;
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp
index 98eb1067063..62ca91f768c 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp
@@ -26,6 +26,8 @@ RaycastCallback::RaycastCallback(const SimdVector3& from,const SimdVector3& to)
 
 void RaycastCallback::ProcessTriangle(SimdVector3* triangle)
 {
+	
+
 	const SimdVector3 &vert0=triangle[0];
 	const SimdVector3 &vert1=triangle[1];
 	const SimdVector3 &vert2=triangle[2];
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp
index a280c031a27..80fea519887 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp
@@ -114,8 +114,6 @@ bool	SubsimplexConvexCast::calcTimeOfImpact(
 
 	int numiter = MAX_ITERATIONS - maxIter;
 //	printf("number of iterations: %d", numiter);
-
-	//printf("lambd%f",lambda);
 	result.m_fraction = lambda;
 	result.m_normal = n;