[GameEngine] Commit all Kester's changes made to the gameengine to restore 2.25 like physics.

[SCons] Build with Solid as default when enabling the gameengine in the build process
[SCons] Build solid and qhull from the extern directory and link statically against them

That was about it.

There are a few things that needs double checking:

* Makefiles
* Projectfiles
* All the other systems than Linux and Windows on which the build (with scons) has been successfully tested.

4 files changed, 206 insertions, 39 deletions

diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Debug.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Debug.h
new file mode 100644
index 00000000000..48d5906e53d
--- /dev/null
+++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Debug.h
@@ -0,0 +1,26 @@
+
+
+#ifndef __SM_DEBUG_H__
+#define __SM_DEBUG_H__
+
+/* Comment this to disable all SUMO debugging printfs */
+
+#define SM_DEBUG
+
+#ifdef SM_DEBUG
+
+#include <stdio.h>
+
+/* Uncomment this to printf all ray casts */
+//#define SM_DEBUG_RAYCAST
+
+/* Uncomment this to printf collision callbacks */
+//#define SM_DEBUG_BOING
+
+/* Uncomment this to printf Xform matrix calculations */
+//#define SM_DEBUG_XFORM
+
+#endif /* SM_DEBUG */
+
+#endif /* __SM_DEBUG_H__ */
+
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_FhObject.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_FhObject.h
index 36ba075eeff..116eed12cea 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_FhObject.h
+++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_FhObject.h
@@ -1,3 +1,34 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ */
 #ifndef SM_FHOBJECT_H
 #define SM_FHOBJECT_H
 
@@ -5,19 +36,15 @@
 
 class SM_FhObject : public SM_Object {
 public:
-	SM_FhObject() {}
-	SM_FhObject(const MT_Vector3& ray, SM_Object *client_object) :
-		SM_Object(DT_Ray(ray[0], ray[1], ray[2]), 0, 0, 0),
-		m_ray(ray),
-		m_ray_direction(ray.normalized()),
-		m_client_object(client_object) {}
+	virtual ~SM_FhObject();
+	SM_FhObject(DT_ShapeHandle rayshape, MT_Vector3 ray, SM_Object *parent_object);
 
 	const MT_Vector3&  getRay()          const { return m_ray; }
 	MT_Point3          getSpot()         const { return m_pos + m_ray; }
 	const MT_Vector3&  getRayDirection() const { return m_ray_direction; }
-	SM_Object         *getClientObject() const { return m_client_object; }
+	SM_Object         *getParentObject() const { return m_parent_object; }
 
-	static void ray_hit(void *client_data,  
+	static DT_Bool ray_hit(void *client_data,  
 		void *object1,
 		void *object2,
 		const DT_CollData *coll_data);
@@ -25,7 +52,7 @@ public:
 private:
 	MT_Vector3      m_ray;
 	MT_Vector3      m_ray_direction;
-	SM_Object      *m_client_object;
+	SM_Object      *m_parent_object;
 };
 
 #endif
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h
index 5342ba5d3a5..c84a3c2ff56 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h
+++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h
@@ -1,9 +1,40 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ */
 #ifndef SM_OBJECT_H
 #define SM_OBJECT_H
 
 #include <vector>
 
-#include "solid.h"
+#include <SOLID/SOLID.h>
 
 #include "SM_Callback.h"
 #include "SM_MotionState.h"
@@ -15,6 +46,7 @@ class SM_FhObject;
 // Properties of dynamic objects
 struct SM_ShapeProps {
 	MT_Scalar  m_mass;                  // Total mass
+	MT_Scalar  m_radius;                // Bound sphere size
 	MT_Scalar  m_inertia;               // Inertia, should be a tensor some time 
 	MT_Scalar  m_lin_drag;              // Linear drag (air, water) 0 = concrete, 1 = vacuum 
 	MT_Scalar  m_ang_drag;              // Angular drag
@@ -36,6 +68,7 @@ struct SM_MaterialProps {
 };
 
 
+
 class SM_Object : public SM_MotionState {
 public:
     SM_Object() ;
@@ -45,7 +78,6 @@ public:
 		const SM_ShapeProps *shapeProps,
 		SM_Object *dynamicParent
 	);
-	
     virtual ~SM_Object();
 
 	bool isDynamic() const;  
@@ -89,7 +121,7 @@ public:
     void setMargin(MT_Scalar margin) ;
 
     MT_Scalar getMargin() const ;
-
+    
     const SM_MaterialProps *getMaterialProps() const ;
 
 	const SM_ShapeProps *getShapeProps() const ;
@@ -164,7 +196,8 @@ public:
     void applyAngularImpulse(const MT_Vector3& impulse);
 
     MT_Point3 getWorldCoord(const MT_Point3& local) const;
-
+    MT_Point3 getLocalCoord(const MT_Point3& world) const;
+    
 	MT_Vector3 getVelocity(const MT_Point3& local) const;
 
 
@@ -180,9 +213,6 @@ public:
 	DT_ObjectHandle getObjectHandle() const ;
 	DT_ShapeHandle getShapeHandle() const ;
 
-	void  setClientObject(void *clientobj) ;
-	void *getClientObject()	;
-
 	SM_Object *getDynamicParent() ;
 
 	void integrateForces(MT_Scalar timeStep);
@@ -192,10 +222,9 @@ public:
 
 	bool isRigidBody() const ;
 
-
 	// This is the callback for handling collisions of dynamic objects
 	static 
-		void 
+		DT_Bool 
 	boing(
 		void *client_data,  
 		void *object1,
@@ -203,6 +232,26 @@ public:
 		const DT_CollData *coll_data
 	);
 
+	static 
+		DT_Bool 
+	fix(
+		void *client_data,  
+		void *object1,
+		void *object2,
+		const DT_CollData *coll_data
+	);
+	
+	
+	void *getClientObject() { return m_client_object; }
+	void setClientObject(void *client_object) { m_client_object = client_object; }
+	
+	void relax();
+	
+	void backup() {
+		m_pos = m_prev_state.getPosition();
+		m_orn = m_prev_state.getOrientation();
+		m_xform = m_prev_xform;
+	}
 private:
 
 	// return the actual linear_velocity of this object this 
@@ -217,11 +266,20 @@ private:
 		MT_Vector3
 	actualAngVelocity(
 	) const ;
+	
+	void dynamicCollision(MT_Point3 local2, 
+		MT_Vector3 normal, 
+		MT_Scalar dist, 
+		MT_Vector3 rel_vel,
+		MT_Scalar restitution,
+		MT_Scalar friction_factor,
+		MT_Scalar invMass
+	);
 
 	typedef std::vector<SM_Callback *> T_CallbackList;
 
 
-    T_CallbackList          m_callbackList;    // Each object can have multiple callbacks from the client (=game engine)
+	T_CallbackList          m_callbackList;    // Each object can have multiple callbacks from the client (=game engine)
 	SM_Object              *m_dynamicParent;   // Collisions between parent and children are ignored
 
     // as the collision callback now has only information
@@ -229,7 +287,7 @@ private:
 	// can identify it's clientdata after a collision
 	void                   *m_client_object;
 
-    DT_ShapeHandle          m_shape;                 // Shape for collision detection
+	DT_ShapeHandle          m_shape;                 // Shape for collision detection
 
 	// Material and shape properties are not owned by this class.
 
@@ -237,7 +295,7 @@ private:
 	const SM_MaterialProps *m_materialPropsBackup;   // Backup in case the object temporarily becomes a ghost.
 	const SM_ShapeProps    *m_shapeProps;           
 	const SM_ShapeProps    *m_shapePropsBackup;      // Backup in case the object's dynamics is temporarily suspended
-    DT_ObjectHandle         m_object;                // A handle to the corresponding object in SOLID.
+	DT_ObjectHandle         m_object;                // A handle to the corresponding object in SOLID.
 	MT_Scalar               m_margin;                // Offset for the object's shape (also for collision detection)
 	MT_Vector3              m_scaling;               // Non-uniform scaling of the object's shape
 
@@ -258,6 +316,8 @@ private:
 	MT_Vector3              m_ang_mom;               // Angular momentum (angualr velocity times inertia)
 	MT_Vector3              m_force;                 // Force on center of mass (afffects linear momentum)
 	MT_Vector3              m_torque;                // Torque around center of mass (affects angualr momentum)
+	
+	MT_Vector3              m_error;                 // Error in position:- amount object must be moved to prevent intersection with scene
 
 	// Here are the values of externally set linear and angular
 	// velocity. These are updated from the outside
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h
index 1d4a4afc721..7afa2a59084 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h
+++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h
@@ -2,38 +2,70 @@
  * $Id$
  * Copyright (C) 2001 NaN Technologies B.V.
  * The physics scene.
+ *
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
  */
-
 #ifndef SM_SCENE_H
 #define SM_SCENE_H
 
+#ifdef WIN32
 #pragma warning (disable : 4786)
+#endif
 
 #include <vector>
 #include <set>
 #include <utility> //needed for pair
 
-#include "solid.h"
+#include <SOLID/SOLID.h>
 
 #include "MT_Vector3.h"
 #include "MT_Point3.h"
 
-class SM_Object;
+#include "SM_Object.h"
+
+typedef enum
+{
+	FH_RESPONSE,
+	SENSOR_RESPONSE,		/* Touch Sensors */
+	CAMERA_RESPONSE,	/* Visibility Culling */
+	OBJECT_RESPONSE,	/* Object Dynamic Geometry Response */
+	STATIC_RESPONSE,	/* Static Geometry Response */
+	
+	NUM_RESPONSE
+};
 
 class SM_Scene {
 public:
-    SM_Scene() : 
-		m_scene(DT_CreateScene()),
-		m_respTable(DT_CreateRespTable()),
-		m_secondaryRespTable(0),
-		m_forceField(0.0, 0.0, 0.0)
-		{}
+    SM_Scene();
 	
-    ~SM_Scene() { 
-		DT_DeleteRespTable(m_respTable);
-		DT_DeleteScene(m_scene);
-	}
-
+    ~SM_Scene();
+    
 	DT_RespTableHandle getRespTableHandle() const {
 		return m_respTable;
 	}
@@ -50,6 +82,9 @@ public:
 		m_forceField = forceField;
 	}
 
+	void addTouchCallback(int response_class, DT_ResponseCallback callback, void *user);
+
+    void addSensor(SM_Object& object);
     void add(SM_Object& object);
     void remove(SM_Object& object);
 
@@ -61,9 +96,10 @@ public:
 		m_pairList.clear();
 	}
 
-	void setSecondaryRespTable(DT_RespTableHandle secondaryRespTable) {
-		m_secondaryRespTable = secondaryRespTable;
-	}
+	void setSecondaryRespTable(DT_RespTableHandle secondaryRespTable); 
+	DT_RespTableHandle getSecondaryRespTable() { return m_secondaryRespTable; }
+	
+	void requestCollisionCallback(SM_Object &object);
 
 
 	// Perform an integration step of duration 'timeStep'.
@@ -96,7 +132,16 @@ private:
 
 	// Clear the user set velocities.
 	void clearObjectCombinedVelocities();
-
+	// This is the callback for handling collisions of dynamic objects
+	static 
+		DT_Bool 
+	boing(
+		void *client_data,  
+		void *object1,
+		void *object2,
+		const DT_CollData *coll_data
+	);
+	
 	/** internal type */
 	typedef std::vector<SM_Object *> T_ObjectList;
 	/** internal type */
@@ -106,10 +151,19 @@ private:
 	DT_SceneHandle      m_scene;
 	/** Following response table contains the callbacks for the dynmics */
 	DT_RespTableHandle  m_respTable;
+	DT_ResponseClass    m_ResponseClass[NUM_RESPONSE];
 	/**
 	 * Following response table contains callbacks for the client (=
 	 * game engine) */
 	DT_RespTableHandle  m_secondaryRespTable;  // Handle 
+	DT_ResponseClass    m_secondaryResponseClass[NUM_RESPONSE];
+	
+	/**
+	 * Following resposne table contains callbacks for fixing the simulation
+	 * ie making sure colliding objects do not intersect.
+	 */
+	DT_RespTableHandle  m_fixRespTable;
+	DT_ResponseClass    m_fixResponseClass[NUM_RESPONSE];
 
 	/** The acceleration from the force field */
 	MT_Vector3          m_forceField;