Initial commit of cloth modifier from branch rev 13453

5 files changed, 157 insertions, 2 deletions

diff --git a/extern/SConscript b/extern/SConscript
index eefd1bbb635..bcf67055788 100644
--- a/extern/SConscript
+++ b/extern/SConscript
@@ -5,8 +5,9 @@ Import('env')
 if env['WITH_BF_GAMEENGINE']:
     SConscript(['qhull/SConscript',
             'solid/SConscript'])
-    if env['WITH_BF_BULLET']:
-        SConscript(['bullet2/src/SConscript'])
+
+if env['WITH_BF_BULLET']:
+    SConscript(['bullet2/src/SConscript'])
 
 if env['WITH_BF_INTERNATIONAL']:
     SConscript(['bFTGL/SConscript'])
diff --git a/extern/bullet2/src/Bullet-C-Api.h b/extern/bullet2/src/Bullet-C-Api.h
new file mode 100644
index 00000000000..078dcae63bb
--- /dev/null
+++ b/extern/bullet2/src/Bullet-C-Api.h
@@ -0,0 +1,37 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/*
+	Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
+	Work in progress, functionality will be added on demand.
+
+	If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
+*/
+
+#ifndef BULLET_C_API_H
+#define BULLET_C_API_H
+
+#ifdef __cplusplus
+extern "C" { 
+#endif
+
+double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //BULLET_C_API_H
+
diff --git a/extern/bullet2/src/BulletDynamics/CMakeLists.txt b/extern/bullet2/src/BulletDynamics/CMakeLists.txt
index 79e07b7f77b..8598575799a 100644
--- a/extern/bullet2/src/BulletDynamics/CMakeLists.txt
+++ b/extern/bullet2/src/BulletDynamics/CMakeLists.txt
@@ -13,6 +13,7 @@ ADD_LIBRARY(LibBulletDynamics
 	ConstraintSolver/btTypedConstraint.cpp
 	Dynamics/btDiscreteDynamicsWorld.cpp
 	Dynamics/btSimpleDynamicsWorld.cpp
+	Dynamics/Bullet-C-API.cpp
 	Dynamics/btRigidBody.cpp
 	Vehicle/btRaycastVehicle.cpp
 	Vehicle/btWheelInfo.cpp
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
new file mode 100644
index 00000000000..d4f376128fc
--- /dev/null
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
@@ -0,0 +1,115 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/*
+	Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
+	Work in progress, functionality will be added on demand.
+
+	If possible, use the richer Bullet C++ API, by including <src/btBulletDynamicsCommon.h>
+*/
+
+#include "Bullet-C-Api.h"
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btAlignedAllocator.h"
+
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btScalar.h"	
+#include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btTransform.h"
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
+#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
+#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
+#include "LinearMath/btStackAlloc.h"
+
+extern "C"
+double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3])
+{
+	btTriangleShape trishapeA(btVector3(p1[0], p1[1], p1[2]), btVector3(p2[0], p2[1], p2[2]), btVector3(p3[0], p3[1], p3[2]));
+	trishapeA.setMargin(0.000001f);
+	
+	btTriangleShape trishapeB(btVector3(q1[0], q1[1], q1[2]), btVector3(q2[0], q2[1], q2[2]), btVector3(q3[0], q3[1], q3[2]));
+	trishapeB.setMargin(0.000001f);
+	
+	// btVoronoiSimplexSolver sGjkSimplexSolver;
+	// btGjkEpaPenetrationDepthSolver penSolverPtr;	
+	
+	static btSimplexSolverInterface sGjkSimplexSolver;
+	sGjkSimplexSolver.reset();
+	
+	static btGjkEpaPenetrationDepthSolver Solver0;
+	static btMinkowskiPenetrationDepthSolver Solver1;
+		
+	btConvexPenetrationDepthSolver* Solver = NULL;
+	
+	Solver = &Solver1;	
+		
+	btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,Solver);
+	
+	convexConvex.m_catchDegeneracies = 1;
+	
+	// btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,0);
+	
+	btPointCollector gjkOutput;
+	btGjkPairDetector::ClosestPointInput input;
+	
+	btStackAlloc gStackAlloc(1024*1024*2);
+ 
+	input.m_stackAlloc = &gStackAlloc;
+	
+	btTransform tr;
+	tr.setIdentity();
+	
+	input.m_transformA = tr;
+	input.m_transformB = tr;
+	
+	convexConvex.getClosestPoints(input, gjkOutput, 0);
+	
+	
+	if (gjkOutput.m_hasResult)
+	{
+		
+		pb[0] = pa[0] = gjkOutput.m_pointInWorld[0];
+		pb[1] = pa[1] = gjkOutput.m_pointInWorld[1];
+		pb[2] = pa[2] = gjkOutput.m_pointInWorld[2];
+
+		pb[0]+= gjkOutput.m_normalOnBInWorld[0] * gjkOutput.m_distance;
+		pb[1]+= gjkOutput.m_normalOnBInWorld[1] * gjkOutput.m_distance;
+		pb[2]+= gjkOutput.m_normalOnBInWorld[2] * gjkOutput.m_distance;
+		
+		normal[0] = gjkOutput.m_normalOnBInWorld[0];
+		normal[1] = gjkOutput.m_normalOnBInWorld[1];
+		normal[2] = gjkOutput.m_normalOnBInWorld[2];
+
+		return gjkOutput.m_distance;
+	}
+	return -1.0f;	
+}
diff --git a/extern/bullet2/src/SConscript b/extern/bullet2/src/SConscript
index 6280c49066d..19702782b0d 100644
--- a/extern/bullet2/src/SConscript
+++ b/extern/bullet2/src/SConscript
@@ -34,6 +34,7 @@ bulletdyn_src = ["BulletDynamics/ConstraintSolver/btContactConstraint.cpp",
                  "BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp",
                  "BulletDynamics/Dynamics/btRigidBody.cpp",
                  "BulletDynamics/Vehicle/btRaycastVehicle.cpp",
+		 "BulletDynamics/Dynamics/Bullet-C-API.cpp",
                  "BulletDynamics/Vehicle/btWheelInfo.cpp"]
 collision_src = ["BulletCollision/BroadphaseCollision/btAxisSweep3.cpp",
                  "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp",