1 files changed, 69 insertions, 9 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
index 27da8adefa5..d4b046d40c9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -16,20 +16,27 @@ subject to the following restrictions:
 #ifndef BT_CAPSULE_SHAPE_H
 #define BT_CAPSULE_SHAPE_H
 
-#include "btConvexShape.h"
-#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "btConvexInternalShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 
 
-///btCapsuleShape represents a capsule around the Y axis
-///A more general solution that can represent capsules is the btMultiSphereShape
-class btCapsuleShape : public btConvexShape
+///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
+///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
+///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
+class btCapsuleShape : public btConvexInternalShape
 {
+protected:
+	int	m_upAxis;
+
+protected:
+	///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
+	btCapsuleShape() {};
 
 public:
 	btCapsuleShape(btScalar radius,btScalar height);
 
 	///CollisionShape Interface
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia);
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 
 	/// btConvexShape Interface
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
@@ -38,21 +45,74 @@ public:
 	
 	virtual int	getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
 
-	virtual char*	getName()const 
+	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+			btVector3 halfExtents(getRadius(),getRadius(),getRadius());
+			halfExtents[m_upAxis] = getRadius() + getHalfHeight();
+			halfExtents += btVector3(getMargin(),getMargin(),getMargin());
+			btMatrix3x3 abs_b = t.getBasis().absolute();  
+			btPoint3 center = t.getOrigin();
+			btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  
+			
+			aabbMin = center - extent;
+			aabbMax = center + extent;
+	}
+
+	virtual const char*	getName()const 
 	{
 		return "CapsuleShape";
 	}
 
+	int	getUpAxis() const
+	{
+		return m_upAxis;
+	}
+
 	btScalar	getRadius() const
 	{
-		return m_implicitShapeDimensions.getX();
+		int radiusAxis = (m_upAxis+2)%3;
+		return m_implicitShapeDimensions[radiusAxis];
 	}
 
 	btScalar	getHalfHeight() const
 	{
-		return m_implicitShapeDimensions.getY();
+		return m_implicitShapeDimensions[m_upAxis];
+	}
+
+};
+
+///btCapsuleShapeX represents a capsule around the Z axis
+///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
+class btCapsuleShapeX : public btCapsuleShape
+{
+public:
+
+	btCapsuleShapeX(btScalar radius,btScalar height);
+		
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "CapsuleX";
 	}
 
+	
+
+};
+
+///btCapsuleShapeZ represents a capsule around the Z axis
+///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
+class btCapsuleShapeZ : public btCapsuleShape
+{
+public:
+	btCapsuleShapeZ(btScalar radius,btScalar height);
+
+		//debugging
+	virtual const char*	getName()const
+	{
+		return "CapsuleZ";
+	}
+
+	
 };