1 files changed, 31 insertions, 8 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
index a0030e6793d..62dd33eb98d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
@@ -16,30 +16,50 @@ subject to the following restrictions:
 #ifndef CONVEX_CONVEX_ALGORITHM_H
 #define CONVEX_CONVEX_ALGORITHM_H
 
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "btActivatingCollisionAlgorithm.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "btCollisionCreateFunc.h"
 #include "btCollisionDispatcher.h"
+#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
 
 class btConvexPenetrationDepthSolver;
 
-///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
-class btConvexConvexAlgorithm : public btCollisionAlgorithm
+///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise
+///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
+///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
+///for certain pairs that have a small size ratio
+///#define USE_SEPDISTANCE_UTIL2 1
+
+///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
+///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
+///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
+class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
 {
-	btGjkPairDetector m_gjkPairDetector;
-public:
+#ifdef USE_SEPDISTANCE_UTIL2
+	btConvexSeparatingDistanceUtil	m_sepDistance;
+#endif
+	btSimplexSolverInterface*		m_simplexSolver;
+	btConvexPenetrationDepthSolver* m_pdSolver;
 
+	
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
 	bool			m_lowLevelOfDetail;
 	
+	int m_numPerturbationIterations;
+	int m_minimumPointsPerturbationThreshold;
+
+
+	///cache separating vector to speedup collision detection
+	
 
 public:
 
-	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
+	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
+
 
 	virtual ~btConvexConvexAlgorithm();
 
@@ -65,9 +85,12 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
+
 		btConvexPenetrationDepthSolver*		m_pdSolver;
 		btSimplexSolverInterface*			m_simplexSolver;
-		
+		int m_numPerturbationIterations;
+		int m_minimumPointsPerturbationThreshold;
+
 		CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
 		
 		virtual ~CreateFunc();
@@ -75,7 +98,7 @@ public:
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
-			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
+			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 		}
 	};