1 files changed, 45 insertions, 4 deletions

diff --git a/extern/bullet2/src/LinearMath/btAabbUtil2.h b/extern/bullet2/src/LinearMath/btAabbUtil2.h
index 429163c8138..8bb6b3af7c3 100644
--- a/extern/bullet2/src/LinearMath/btAabbUtil2.h
+++ b/extern/bullet2/src/LinearMath/btAabbUtil2.h
@@ -18,11 +18,16 @@ subject to the following restrictions:
 #define AABB_UTIL2
 
 #include "btVector3.h"
-#include "btSimdMinMax.h"
+#include "btMinMax.h"
 
-
-#define btMin(a,b) ((a < b ? a : b))
-#define btMax(a,b) ((a > b ? a : b))
+SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
+								   btVector3& aabbMax,
+								   const btVector3& expansionMin,
+								   const btVector3& expansionMax)
+{
+	aabbMin = aabbMin + expansionMin;
+	aabbMax = aabbMax + expansionMax;
+}
 
 
 /// conservative test for overlap between two aabbs
@@ -67,6 +72,41 @@ SIMD_FORCE_INLINE int	btOutcode(const btVector3& p,const btVector3& halfExtent)
 }
 
 
+SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
+								  const btVector3& rayInvDirection,
+								  const unsigned int raySign[3],
+								  const btVector3 bounds[2],
+								  btScalar& tmin,
+								  btScalar lambda_min,
+								  btScalar lambda_max)
+{
+	btScalar tmax, tymin, tymax, tzmin, tzmax;
+	tmin = (bounds[raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
+	tmax = (bounds[1-raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
+	tymin = (bounds[raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
+	tymax = (bounds[1-raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
+
+	if ( (tmin > tymax) || (tymin > tmax) )
+		return false;
+
+	if (tymin > tmin)
+		tmin = tymin;
+
+	if (tymax < tmax)
+		tmax = tymax;
+
+	tzmin = (bounds[raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
+	tzmax = (bounds[1-raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
+
+	if ( (tmin > tzmax) || (tzmin > tmax) )
+		return false;
+	if (tzmin > tmin)
+		tmin = tzmin;
+	if (tzmax < tmax)
+		tmax = tzmax;
+	return ( (tmin < lambda_max) && (tmax > lambda_min) );
+}
+
 SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, 
 								 const btVector3& rayTo, 
 								 const btVector3& aabbMin, 
@@ -125,3 +165,4 @@ SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
 
 #endif
 
+