fixed the mouse-over sensor,

added raycast support for bullet (no triangle-mesh support, soon)
added python methods for 'getHitObject', getRayDirection, getHitPosition and getHitNormal for mouse over sensor,
which makes it easy for a shootout.blend demo :)

6 files changed, 95 insertions, 8 deletions

diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
index 1cc62263603..98f2a3d5444 100644
--- a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
@@ -31,7 +31,7 @@ void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3&
 
 
 	//todo: this is a quick fix, we need to enlarge the aabb dependent on several criteria
-	//extent += SimdVector3(.2f,.2f,.2f);
+	extent += SimdVector3(.2f,.2f,.2f);
 
 	aabbMin = center - extent;
 	aabbMax = center + extent;
diff --git a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
index d60bacff962..11f184db761 100644
--- a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
@@ -27,7 +27,24 @@ public:
 
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
 
+	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec) const
+	{
 
+		SimdVector3 supVertex;
+		supVertex = LocalGetSupportingVertexWithoutMargin(vec);
+		
+		if ( GetMargin()!=0.f )
+		{
+			SimdVector3 vecnorm = vec;
+			if (vecnorm .length2() == 0.f)
+			{
+				vecnorm.setValue(-1.f,-1.f,-1.f);
+			} 
+			vecnorm.normalize();
+			supVertex+= GetMargin() * vecnorm;
+		}
+		return supVertex;
+	}
 
 
 	//use box inertia
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
index 7be5ff4d145..9450eb2e845 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
@@ -34,6 +34,11 @@
 
 #include "NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h"
 
+///Solid3EpaPenetrationDepth is not shipped by default, the license doesn't allow commercial, closed source. contact if you want the file
+///It improves the penetration depth handling dramatically
+#ifdef USE_EPA
+#include "NarrowPhaseCollision/Solid3EpaPenetrationDepth.h"
+#endif// USE_EPA
 
 #ifdef WIN32
 void DrawRasterizerLine(const float* from,const float* to,int color);
@@ -136,8 +141,10 @@ void	ConvexConvexAlgorithm::CheckPenetrationDepthSolver()
 		m_useEpa  = gUseEpa;
 		if (m_useEpa)
 		{
-			//not distributed
-			//m_gjkPairDetector.SetPenetrationDepthSolver(new Solid3EpaPenetrationDepth);
+			//not distributed, see top of this file
+			#ifdef USE_EPA
+			m_gjkPairDetector.SetPenetrationDepthSolver(new Solid3EpaPenetrationDepth);
+			#endif
 		} else
 		{
 			m_gjkPairDetector.SetPenetrationDepthSolver(new MinkowskiPenetrationDepthSolver);
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
index f4634668296..f1f7ba2c1d2 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
@@ -18,7 +18,7 @@ SimdVector3 startVel(0,0,0);//-10000);
 CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 {
 	m_collisionDelay = 0;
-
+	m_newClientInfo = 0;
 	
 	m_MotionState = ci.m_MotionState;
 
@@ -163,6 +163,17 @@ void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa
 }
 void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
 {
+	printf("CcdPhysicsController::applyImpulse\n");
+
+	SimdVector3 impulse(impulseX,impulseY,impulseZ);
+	SimdVector3 pos(attachX,attachY,attachZ);
+
+	//it might be sleeping... wake up !
+	m_body->SetActivationState(1);
+	m_body->m_deactivationTime = 0.f;
+
+	m_body->applyImpulse(impulse,pos);
+
 }
 void		CcdPhysicsController::SetActive(bool active)
 {
@@ -186,11 +197,11 @@ void		CcdPhysicsController::setRigidBody(bool rigid)
 		// clientinfo for raycasts for example
 void*		CcdPhysicsController::getNewClientInfo()
 {
-	return 0;
+	return m_newClientInfo;
 }
 void		CcdPhysicsController::setNewClientInfo(void* clientinfo)
 {
-
+	m_newClientInfo = clientinfo;
 }
 
 
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
index e0cba58cb53..8c87940721a 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
@@ -51,6 +51,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 	RigidBody* m_body;
 	class	PHY_IMotionState*			m_MotionState;
 	CollisionShape*			m_collisionShape;
+	void*		m_newClientInfo;
 
 	public:
 	
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index aac699468d0..fa3253003fc 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -16,6 +16,8 @@
 
 #include "IDebugDraw.h"
 
+#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
+#include "NarrowPhaseCollision/SubsimplexConvexCast.h"
 
 #include "CollisionDispatch/ToiContactDispatcher.h"
 
@@ -24,6 +26,7 @@
 #include "CollisionDispatch/UnionFind.h"
 
 #include "NarrowPhaseCollision/RaycastCallback.h"
+#include "CollisionShapes/SphereShape.h"
 
 bool useIslands = true;
 
@@ -678,6 +681,7 @@ void	CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
 	//
 	// synchronize the physics and graphics transformations
 	//
+
 	for (i=m_controllers.begin();
 	!(i==m_controllers.end()); i++)
 	{
@@ -856,9 +860,56 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i
 								float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
 {
 
+	int minFraction = 1.f;
 
-//	m_broadphase->cast(
-	return 0;
+	SimdTransform	rayFromTrans,rayToTrans;
+	rayFromTrans.setIdentity();
+	rayFromTrans.setOrigin(SimdVector3(fromX,fromY,fromZ));
+	rayToTrans.setIdentity();
+	rayToTrans.setOrigin(SimdVector3(toX,toY,toZ));
+
+
+	CcdPhysicsController* nearestHit = 0;
+	
+	std::vector<CcdPhysicsController*>::iterator i;
+	SphereShape pointShape(0.0f);
+
+	/// brute force go over all objects. Once there is a broadphase, use that, or
+	/// add a raycast against aabb first.
+	for (i=m_controllers.begin();
+	!(i==m_controllers.end()); i++)
+	{
+		CcdPhysicsController* ctrl = (*i);
+		RigidBody* body = ctrl->GetRigidBody();
+
+		if (body->GetCollisionShape()->IsConvex())
+		{
+			ConvexCast::CastResult rayResult;
+			rayResult.m_fraction = 1.f;
+
+			ConvexShape* convexShape = (ConvexShape*) body->GetCollisionShape();
+			VoronoiSimplexSolver	simplexSolver;
+			SubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
+			if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,body->getCenterOfMassTransform(),body->getCenterOfMassTransform(),rayResult))
+			{
+				//add hit
+				rayResult.m_normal.normalize();
+				if (rayResult.m_fraction < minFraction)
+				{
+					minFraction = rayResult.m_fraction;
+					nearestHit = ctrl;
+					normalX = rayResult.m_normal.getX();
+					normalY = rayResult.m_normal.getY();
+					normalZ = rayResult.m_normal.getZ();
+					hitX = rayResult.m_hitTransformA.getOrigin().getX();
+					hitY = rayResult.m_hitTransformA.getOrigin().getY();
+					hitZ = rayResult.m_hitTransformA.getOrigin().getZ();
+				}
+			}
+		}
+	}
+
+	return nearestHit;
 }