1 files changed, 66 insertions, 19 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
index 391cf6c7bc4..a7b3b163d66 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@@ -4,8 +4,8 @@ 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, 
+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.
@@ -22,15 +22,17 @@ subject to the following restrictions:
 
 //#include <stdio.h>
 
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
 : btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf),
-m_isSwapped(isSwapped)
+m_isSwapped(isSwapped),
+m_numPerturbationIterations(numPerturbationIterations),
+m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
 	btCollisionObject* convexObj = m_isSwapped? col1 : col0;
 	btCollisionObject* planeObj = m_isSwapped? col0 : col1;
-	
+
 	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
 	{
 		m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
@@ -48,30 +50,28 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
 	}
 }
 
-
-
-void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-	(void)dispatchInfo;
-	(void)resultOut;
-	if (!m_manifoldPtr)
-		return;
-
-	btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
 	btCollisionObject* planeObj = m_isSwapped? body0: body1;
 
 	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
 	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
 
-	bool hasCollision = false;
+    bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
 	const btScalar& planeConstant = planeShape->getPlaneConstant();
-	btTransform planeInConvex;
-	planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
+	
+	btTransform convexWorldTransform = convexObj->getWorldTransform();
 	btTransform convexInPlaneTrans;
-	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
-
+	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
+	//now perturbe the convex-world transform
+	convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
+	btTransform planeInConvex;
+	planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
+	
 	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+
 	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
 	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
@@ -87,6 +87,53 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
 		btVector3 pOnB = vtxInPlaneWorld;
 		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 	}
+}
+
+
+void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	(void)dispatchInfo;
+	if (!m_manifoldPtr)
+		return;
+
+    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+	btCollisionObject* planeObj = m_isSwapped? body0: body1;
+
+	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
+	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
+
+    bool hasCollision = false;
+	const btVector3& planeNormal = planeShape->getPlaneNormal();
+	const btScalar& planeConstant = planeShape->getPlaneConstant();
+
+	//first perform a collision query with the non-perturbated collision objects
+	{
+		btQuaternion rotq(0,0,0,1);
+		collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
+	}
+
+	if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
+	{
+		btVector3 v0,v1;
+		btPlaneSpace1(planeNormal,v0,v1);
+		//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
+
+		const btScalar angleLimit = 0.125f * SIMD_PI;
+		btScalar perturbeAngle;
+		btScalar radius = convexShape->getAngularMotionDisc();
+		perturbeAngle = gContactBreakingThreshold / radius;
+		if ( perturbeAngle > angleLimit ) 
+				perturbeAngle = angleLimit;
+
+		btQuaternion perturbeRot(v0,perturbeAngle);
+		for (int i=0;i<m_numPerturbationIterations;i++)
+		{
+			btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
+			btQuaternion rotq(planeNormal,iterationAngle);
+			collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
+		}
+	}
+
 	if (m_ownManifold)
 	{
 		if (m_manifoldPtr->getNumContacts())