Changeset 8393 for code/trunk/src/external/bullet/BulletCollision/CollisionShapes

Timestamp:

May 3, 2011, 5:07:42 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

Location:

code/trunk/src/external/bullet/BulletCollision/CollisionShapes

Files:

• btBox2dShape.h (modified) (2 diffs)
• btBoxShape.h (modified) (3 diffs)
• btBvhTriangleMeshShape.cpp (modified) (2 diffs)
• btBvhTriangleMeshShape.h (modified) (3 diffs)
• btCollisionMargin.h (modified) (2 diffs)
• btCollisionShape.h (modified) (2 diffs)
• btCompoundShape.cpp (modified) (3 diffs)
• btCompoundShape.h (modified) (4 diffs)
• btConcaveShape.h (modified) (2 diffs)
• btConeShape.cpp (modified) (1 diff)
• btConeShape.h (modified) (3 diffs)
• btConvex2dShape.h (modified) (1 diff)
• btConvexHullShape.h (modified) (2 diffs)
• btConvexPolyhedron.cpp (added)
• btConvexPolyhedron.h (added)
• btConvexShape.h (modified) (2 diffs)
• btConvexTriangleMeshShape.h (modified) (2 diffs)
• btCylinderShape.cpp (modified) (2 diffs)
• btCylinderShape.h (modified) (2 diffs)
• btEmptyShape.h (modified) (2 diffs)
• btHeightfieldTerrainShape.h (modified) (2 diffs)
• btMaterial.h (modified) (2 diffs)
• btMinkowskiSumShape.h (modified) (2 diffs)
• btMultiSphereShape.h (modified) (2 diffs)
• btMultimaterialTriangleMeshShape.h (modified) (3 diffs)
• btOptimizedBvh.h (modified) (2 diffs)
• btPolyhedralConvexShape.cpp (modified) (2 diffs)
• btPolyhedralConvexShape.h (modified) (3 diffs)
• btScaledBvhTriangleMeshShape.cpp (modified) (1 diff)
• btScaledBvhTriangleMeshShape.h (modified) (2 diffs)
• btShapeHull.h (modified) (2 diffs)
• btSphereShape.h (modified) (2 diffs)
• btStaticPlaneShape.h (modified) (2 diffs)
• btStridingMeshInterface.cpp (modified) (3 diffs)
• btStridingMeshInterface.h (modified) (4 diffs)
• btTetrahedronShape.h (modified) (2 diffs)
• btTriangleCallback.h (modified) (2 diffs)
• btTriangleInfoMap.h (modified) (2 diffs)
• btTriangleMesh.h (modified) (2 diffs)
• btTriangleMeshShape.h (modified) (2 diffs)
• btTriangleShape.h (modified) (2 diffs)
• btUniformScalingShape.cpp (modified) (2 diffs)

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.h

@@ -14 +14 @@
 */
 
-#ifndef OBB_BOX_2D_SHAPE_H
-#define OBB_BOX_2D_SHAPE_H
+#ifndef BT_OBB_BOX_2D_SHAPE_H
+#define BT_OBB_BOX_2D_SHAPE_H
 
 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
@@ -359 +359 @@
 };
 
-#endif //OBB_BOX_2D_SHAPE_H
-
-
+#endif //BT_OBB_BOX_2D_SHAPE_H
+
+

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btBoxShape.h

@@ -14 +14 @@
 */
 
-#ifndef OBB_BOX_MINKOWSKI_H
-#define OBB_BOX_MINKOWSKI_H
+#ifndef BT_OBB_BOX_MINKOWSKI_H
+#define BT_OBB_BOX_MINKOWSKI_H
 
 #include "btPolyhedralConvexShape.h"
@@ -146 +146 @@
         virtual void getVertex(int i,btVector3& vtx) const
         {
-                btVector3 halfExtents = getHalfExtentsWithoutMargin();
+                btVector3 halfExtents = getHalfExtentsWithMargin();
 
                 vtx = btVector3(
@@ -314 +314 @@
 
 
-#endif //OBB_BOX_MINKOWSKI_H
-
-
+#endif //BT_OBB_BOX_MINKOWSKI_H
+
+

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp

@@ -278 +278 @@
 
                         unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
-                        btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+                        btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT||indicestype==PHY_UCHAR);
         
                         const btVector3& meshScaling = m_meshInterface->getScaling();
@@ -284 +284 @@
                         {
                                 
-                                int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+                                int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:indicestype==PHY_INTEGER?gfxbase[j]:((unsigned char*)gfxbase)[j];
 
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h

@@ -14 +14 @@
 */
 
-#ifndef BVH_TRIANGLE_MESH_SHAPE_H
-#define BVH_TRIANGLE_MESH_SHAPE_H
+#ifndef BT_BVH_TRIANGLE_MESH_SHAPE_H
+#define BT_BVH_TRIANGLE_MESH_SHAPE_H
 
 #include "btTriangleMeshShape.h"
@@ -40 +40 @@
         BT_DECLARE_ALIGNED_ALLOCATOR();
 
-        btBvhTriangleMeshShape() : btTriangleMeshShape(0),m_bvh(0),m_triangleInfoMap(0),m_ownsBvh(false) {m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;};
+        
         btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
 
@@ -137 +137 @@
 
 
-#endif //BVH_TRIANGLE_MESH_SHAPE_H
+#endif //BT_BVH_TRIANGLE_MESH_SHAPE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h

@@ -14 +14 @@
 */
 
-#ifndef COLLISION_MARGIN_H
-#define COLLISION_MARGIN_H
+#ifndef BT_COLLISION_MARGIN_H
+#define BT_COLLISION_MARGIN_H
 
 //used by Gjk and some other algorithms
@@ -23 +23 @@
 
 
-#endif //COLLISION_MARGIN_H
+#endif //BT_COLLISION_MARGIN_H
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -14 +14 @@
 */
 
-#ifndef COLLISION_SHAPE_H
-#define COLLISION_SHAPE_H
+#ifndef BT_COLLISION_SHAPE_H
+#define BT_COLLISION_SHAPE_H
 
 #include "LinearMath/btTransform.h"
@@ -147 +147 @@
 
 
-#endif //COLLISION_SHAPE_H
+#endif //BT_COLLISION_SHAPE_H
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -86 +86 @@
 }
 
-void    btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform)
+void    btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform,bool shouldRecalculateLocalAabb)
 {
         m_children[childIndex].m_transform = newChildTransform;
@@ -100 +100 @@
         }
 
-        recalculateLocalAabb();
+        if (shouldRecalculateLocalAabb)
+        {
+                recalculateLocalAabb();
+        }
 }
 
@@ -284 +287 @@
                 m_children[i].m_childShape->setLocalScaling(childScale);
                 childTrans.setOrigin((childTrans.getOrigin())*scaling);
-                updateChildTransform(i, childTrans);
-                recalculateLocalAabb();
-        }
+                updateChildTransform(i, childTrans,false);
+        }
+        
         m_localScaling = scaling;
+        recalculateLocalAabb();
+
 }
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.h

@@ -14 +14 @@
 */
 
-#ifndef COMPOUND_SHAPE_H
-#define COMPOUND_SHAPE_H
+#ifndef BT_COMPOUND_SHAPE_H
+#define BT_COMPOUND_SHAPE_H
 
 #include "btCollisionShape.h"
@@ -107 +107 @@
 
         ///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
-        void    updateChildTransform(int childIndex, const btTransform& newChildTransform);
+        void    updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true);
 
 
@@ -144 +144 @@
         }
 
-
-        btDbvt*                                                 getDynamicAabbTree()
+        const btDbvt*   getDynamicAabbTree() const
+        {
+                return m_dynamicAabbTree;
+        }
+        
+        btDbvt* getDynamicAabbTree()
         {
                 return m_dynamicAabbTree;
@@ -206 +210 @@
 
 
-#endif //COMPOUND_SHAPE_H
+#endif //BT_COMPOUND_SHAPE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btConcaveShape.h

@@ -14 +14 @@
 */
 
-#ifndef CONCAVE_SHAPE_H
-#define CONCAVE_SHAPE_H
+#ifndef BT_CONCAVE_SHAPE_H
+#define BT_CONCAVE_SHAPE_H
 
 #include "btCollisionShape.h"
@@ -58 +58 @@
 };
 
-#endif //CONCAVE_SHAPE_H
+#endif //BT_CONCAVE_SHAPE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btConeShape.cpp

@@ -132 +132 @@
 
 
+void    btConeShape::setLocalScaling(const btVector3& scaling)
+{
+        int axis = m_coneIndices[1];
+        int r1 = m_coneIndices[0];
+        int r2 = m_coneIndices[2];
+        m_height *= scaling[axis] / m_localScaling[axis];
+        m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
+        m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
+        btConvexInternalShape::setLocalScaling(scaling);
+}

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btConeShape.h

@@ -14 +14 @@
 */
 
-#ifndef CONE_MINKOWSKI_H
-#define CONE_MINKOWSKI_H
+#ifndef BT_CONE_MINKOWSKI_H
+#define BT_CONE_MINKOWSKI_H
 
 #include "btConvexInternalShape.h"
@@ -82 +82 @@
                         return m_coneIndices[1];
                 }
+
+        virtual void    setLocalScaling(const btVector3& scaling);
+
 };
 
@@ -97 +100 @@
                 btConeShapeZ(btScalar radius,btScalar height);
 };
-#endif //CONE_MINKOWSKI_H
+#endif //BT_CONE_MINKOWSKI_H
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h

@@ -20 +20 @@
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 
-///The btConvex2dShape allows to use arbitrary convex shapes are 2d convex shapes, with the Z component assumed to be 0.
+///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0.
 ///For 2d boxes, the btBox2dShape is recommended.
 class btConvex2dShape : public btConvexShape

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -14 +14 @@
 */
 
-#ifndef CONVEX_HULL_SHAPE_H
-#define CONVEX_HULL_SHAPE_H
+#ifndef BT_CONVEX_HULL_SHAPE_H
+#define BT_CONVEX_HULL_SHAPE_H
 
 #include "btPolyhedralConvexShape.h"
@@ -117 +117 @@
 
 
-#endif //CONVEX_HULL_SHAPE_H
+#endif //BT_CONVEX_HULL_SHAPE_H
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.h

@@ -14 +14 @@
 */
 
-#ifndef CONVEX_SHAPE_INTERFACE1
-#define CONVEX_SHAPE_INTERFACE1
+#ifndef BT_CONVEX_SHAPE_INTERFACE1
+#define BT_CONVEX_SHAPE_INTERFACE1
 
 #include "btCollisionShape.h"
@@ -80 +80 @@
 
 
-#endif //CONVEX_SHAPE_INTERFACE1
+#endif //BT_CONVEX_SHAPE_INTERFACE1

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h

@@ -13 +13 @@
 3. This notice may not be removed or altered from any source distribution.
 */
-#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
-#define CONVEX_TRIANGLEMESH_SHAPE_H
+#ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
+#define BT_CONVEX_TRIANGLEMESH_SHAPE_H
 
 
@@ -70 +70 @@
 
 
-#endif //CONVEX_TRIANGLEMESH_SHAPE_H
+#endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H
 
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp

@@ -48 +48 @@
 void    btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
 {
-        //approximation of box shape, todo: implement cylinder shape inertia before people notice ;-)
+
+//Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility
+//#define USE_BOX_INERTIA_APPROXIMATION 1
+#ifndef USE_BOX_INERTIA_APPROXIMATION
+
+        /*
+        cylinder is defined as following:
+        *
+        * - principle axis aligned along y by default, radius in x, z-value not used
+        * - for btCylinderShapeX: principle axis aligned along x, radius in y direction, z-value not used
+        * - for btCylinderShapeZ: principle axis aligned along z, radius in x direction, y-value not used
+        *
+        */
+
+        btScalar radius2;       // square of cylinder radius
+        btScalar height2;       // square of cylinder height
+        btVector3 halfExtents = getHalfExtentsWithMargin();     // get cylinder dimension
+        btScalar div12 = mass / 12.f;
+        btScalar div4 = mass / 4.f;
+        btScalar div2 = mass / 2.f;
+        int idxRadius, idxHeight;
+
+        switch (m_upAxis)       // get indices of radius and height of cylinder
+        {
+                case 0:         // cylinder is aligned along x
+                        idxRadius = 1;
+                        idxHeight = 0;
+                        break;
+                case 2:         // cylinder is aligned along z
+                        idxRadius = 0;
+                        idxHeight = 2;
+                        break;
+                default:        // cylinder is aligned along y
+                        idxRadius = 0;
+                        idxHeight = 1;
+        }
+
+        // calculate squares
+        radius2 = halfExtents[idxRadius] * halfExtents[idxRadius];
+        height2 = btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight];
+
+        // calculate tensor terms
+        btScalar t1 = div12 * height2 + div4 * radius2;
+        btScalar t2 = div2 * radius2;
+
+        switch (m_upAxis)       // set diagonal elements of inertia tensor
+        {
+                case 0:         // cylinder is aligned along x
+                        inertia.setValue(t2,t1,t1);
+                        break;
+                case 2:         // cylinder is aligned along z
+                        inertia.setValue(t1,t1,t2);
+                        break;
+                default:        // cylinder is aligned along y
+                        inertia.setValue(t1,t2,t1);
+        }
+#else //USE_BOX_INERTIA_APPROXIMATION
+        //approximation of box shape
         btVector3 halfExtents = getHalfExtentsWithMargin();
 
@@ -58 +115 @@
                                         mass/(btScalar(12.0)) * (lx*lx + lz*lz),
                                         mass/(btScalar(12.0)) * (lx*lx + ly*ly));
-
+#endif //USE_BOX_INERTIA_APPROXIMATION
 }
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.h

@@ -14 +14 @@
 */
 
-#ifndef CYLINDER_MINKOWSKI_H
-#define CYLINDER_MINKOWSKI_H
+#ifndef BT_CYLINDER_MINKOWSKI_H
+#define BT_CYLINDER_MINKOWSKI_H
 
 #include "btBoxShape.h"
@@ -197 +197 @@
 
 
-#endif //CYLINDER_MINKOWSKI_H
-
+#endif //BT_CYLINDER_MINKOWSKI_H
+

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btEmptyShape.h

@@ -14 +14 @@
 */
 
-#ifndef EMPTY_SHAPE_H
-#define EMPTY_SHAPE_H
+#ifndef BT_EMPTY_SHAPE_H
+#define BT_EMPTY_SHAPE_H
 
 #include "btConcaveShape.h"
@@ -68 +68 @@
 
 
-#endif //EMPTY_SHAPE_H
+#endif //BT_EMPTY_SHAPE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h

@@ -14 +14 @@
 */
 
-#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
-#define HEIGHTFIELD_TERRAIN_SHAPE_H
+#ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H
+#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H
 
 #include "btConcaveShape.h"
@@ -159 +159 @@
 };
 
-#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
+#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btMaterial.h

@@ -16 +16 @@
 /// This file was created by Alex Silverman
 
-#ifndef MATERIAL_H
-#define MATERIAL_H
+#ifndef BT_MATERIAL_H
+#define BT_MATERIAL_H
 
 // Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
@@ -32 +32 @@
 };
 
-#endif // MATERIAL_H
+#endif // BT_MATERIAL_H
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h

@@ -14 +14 @@
 */
 
-#ifndef MINKOWSKI_SUM_SHAPE_H
-#define MINKOWSKI_SUM_SHAPE_H
+#ifndef BT_MINKOWSKI_SUM_SHAPE_H
+#define BT_MINKOWSKI_SUM_SHAPE_H
 
 #include "btConvexInternalShape.h"
@@ -58 +58 @@
 };
 
-#endif //MINKOWSKI_SUM_SHAPE_H
+#endif //BT_MINKOWSKI_SUM_SHAPE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h

@@ -14 +14 @@
 */
 
-#ifndef MULTI_SPHERE_MINKOWSKI_H
-#define MULTI_SPHERE_MINKOWSKI_H
+#ifndef BT_MULTI_SPHERE_MINKOWSKI_H
+#define BT_MULTI_SPHERE_MINKOWSKI_H
 
 #include "btConvexInternalShape.h"
@@ -97 +97 @@
 
 
-#endif //MULTI_SPHERE_MINKOWSKI_H
+#endif //BT_MULTI_SPHERE_MINKOWSKI_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h

@@ -16 +16 @@
 /// This file was created by Alex Silverman
 
-#ifndef BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
-#define BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#ifndef BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#define BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
 
 #include "btBvhTriangleMeshShape.h"
@@ -32 +32 @@
         BT_DECLARE_ALIGNED_ALLOCATOR();
 
-    btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;}
     btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true):
         btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
@@ -119 +118 @@
 ;
 
-#endif //BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#endif //BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h

@@ -16 +16 @@
 ///Contains contributions from Disney Studio's
 
-#ifndef OPTIMIZED_BVH_H
-#define OPTIMIZED_BVH_H
+#ifndef BT_OPTIMIZED_BVH_H
+#define BT_OPTIMIZED_BVH_H
 
 #include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
@@ -61 +61 @@
 
 
-#endif //OPTIMIZED_BVH_H
+#endif //BT_OPTIMIZED_BVH_H
 
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

@@ -15 +15 @@
 
 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
-
-btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape()
-{
-
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btConvexHullComputer.h"
+#include <new>
+
+btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
+m_polyhedron(0)
+{
+
+}
+
+btPolyhedralConvexShape::~btPolyhedralConvexShape()
+{
+        if (m_polyhedron)
+        {
+                btAlignedFree(m_polyhedron);
+        }
+}
+
+bool    btPolyhedralConvexShape::initializePolyhedralFeatures()
+{
+        if (m_polyhedron)
+                btAlignedFree(m_polyhedron);
+        
+        void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
+        m_polyhedron = new (mem) btConvexPolyhedron;
+
+        btAlignedObjectArray<btVector3> tmpVertices;
+        for (int i=0;i<getNumVertices();i++)
+        {
+                btVector3& newVertex = tmpVertices.expand();
+                getVertex(i,newVertex);
+        }
+
+        btConvexHullComputer conv;
+        conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
+
+        
+
+        btAlignedObjectArray<btVector3> faceNormals;
+        int numFaces = conv.faces.size();
+        faceNormals.resize(numFaces);
+        btConvexHullComputer* convexUtil = &conv;
+
+        
+        
+        m_polyhedron->m_faces.resize(numFaces);
+        int numVertices = convexUtil->vertices.size();
+        m_polyhedron->m_vertices.resize(numVertices);
+        for (int p=0;p<numVertices;p++)
+        {
+                m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
+        }
+
+        for (int i=0;i<numFaces;i++)
+        {
+                int face = convexUtil->faces[i];
+                //printf("face=%d\n",face);
+                const btConvexHullComputer::Edge*  firstEdge = &convexUtil->edges[face];
+                const btConvexHullComputer::Edge*  edge = firstEdge;
+
+                btVector3 edges[3];
+                int numEdges = 0;
+                //compute face normals
+
+                btScalar maxCross2 = 0.f;
+                int chosenEdge = -1;
+
+                do
+                {
+                        
+                        int src = edge->getSourceVertex();
+                        m_polyhedron->m_faces[i].m_indices.push_back(src);
+                        int targ = edge->getTargetVertex();
+                        btVector3 wa = convexUtil->vertices[src];
+
+                        btVector3 wb = convexUtil->vertices[targ];
+                        btVector3 newEdge = wb-wa;
+                        newEdge.normalize();
+                        if (numEdges<2)
+                                edges[numEdges++] = newEdge;
+
+                        edge = edge->getNextEdgeOfFace();
+                } while (edge!=firstEdge);
+
+                btScalar planeEq = 1e30f;
+
+                
+                if (numEdges==2)
+                {
+                        faceNormals[i] = edges[0].cross(edges[1]);
+                        faceNormals[i].normalize();
+                        m_polyhedron->m_faces[i].m_plane[0] = -faceNormals[i].getX();
+                        m_polyhedron->m_faces[i].m_plane[1] = -faceNormals[i].getY();
+                        m_polyhedron->m_faces[i].m_plane[2] = -faceNormals[i].getZ();
+                        m_polyhedron->m_faces[i].m_plane[3] = planeEq;
+
+                }
+                else
+                {
+                        btAssert(0);//degenerate?
+                        faceNormals[i].setZero();
+                }
+
+                for (int v=0;v<m_polyhedron->m_faces[i].m_indices.size();v++)
+                {
+                        btScalar eq = m_polyhedron->m_vertices[m_polyhedron->m_faces[i].m_indices[v]].dot(faceNormals[i]);
+                        if (planeEq>eq)
+                        {
+                                planeEq=eq;
+                        }
+                }
+                m_polyhedron->m_faces[i].m_plane[3] = planeEq;
+        }
+
+
+        if (m_polyhedron->m_faces.size() && conv.vertices.size())
+        {
+
+                for (int f=0;f<m_polyhedron->m_faces.size();f++)
+                {
+                        
+                        btVector3 planeNormal(m_polyhedron->m_faces[f].m_plane[0],m_polyhedron->m_faces[f].m_plane[1],m_polyhedron->m_faces[f].m_plane[2]);
+                        btScalar planeEq = m_polyhedron->m_faces[f].m_plane[3];
+
+                        btVector3 supVec = localGetSupportingVertex(-planeNormal);
+
+                        if (supVec.dot(planeNormal)<planeEq)
+                        {
+                                m_polyhedron->m_faces[f].m_plane[0] *= -1;
+                                m_polyhedron->m_faces[f].m_plane[1] *= -1;
+                                m_polyhedron->m_faces[f].m_plane[2] *= -1;
+                                m_polyhedron->m_faces[f].m_plane[3] *= -1;
+                                int numVerts = m_polyhedron->m_faces[f].m_indices.size();
+                                for (int v=0;v<numVerts/2;v++)
+                                {
+                                        btSwap(m_polyhedron->m_faces[f].m_indices[v],m_polyhedron->m_faces[f].m_indices[numVerts-1-v]);
+                                }
+                        }
+                }
+        }
+
+        
+
+        m_polyhedron->initialize();
+
+        return true;
 }
 
@@ -192 +334 @@
 }
 
+
+
+

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

@@ -14 +14 @@
 */
 
-#ifndef BU_SHAPE
-#define BU_SHAPE
+#ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
+#define BT_POLYHEDRAL_CONVEX_SHAPE_H
 
 #include "LinearMath/btMatrix3x3.h"
 #include "btConvexInternalShape.h"
+class btConvexPolyhedron;
 
 
@@ -24 +25 @@
 class btPolyhedralConvexShape : public btConvexInternalShape
 {
+        
 
 protected:
         
+        btConvexPolyhedron* m_polyhedron;
+
 public:
 
         btPolyhedralConvexShape();
+
+        virtual ~btPolyhedralConvexShape();
+
+        ///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
+        virtual bool    initializePolyhedralFeatures();
+
+        const btConvexPolyhedron*       getConvexPolyhedron() const
+        {
+                return m_polyhedron;
+        }
 
         //brute force implementations
@@ -96 +110 @@
 };
 
-#endif //BU_SHAPE
+#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp

@@ -63 +63 @@
         scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
         scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
+        scaledAabbMin[3] = 0.f;
         
         scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
         scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
         scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
+        scaledAabbMax[3] = 0.f;
         
         

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h

@@ -14 +14 @@
 */
 
-#ifndef SCALED_BVH_TRIANGLE_MESH_SHAPE_H
-#define SCALED_BVH_TRIANGLE_MESH_SHAPE_H
+#ifndef BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
+#define BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
 
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
@@ -58 +58 @@
         virtual const char*     getName()const {return "SCALEDBVHTRIANGLEMESH";}
 
+        virtual int     calculateSerializeBufferSize() const;
+
+        ///fills the dataBuffer and returns the struct name (and 0 on failure)
+        virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;
+
 };
 
-#endif //BVH_TRIANGLE_MESH_SHAPE_H
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct  btScaledTriangleMeshShapeData
+{
+        btTriangleMeshShapeData m_trimeshShapeData;
+
+        btVector3FloatData      m_localScaling;
+};
+
+
+SIMD_FORCE_INLINE       int     btScaledBvhTriangleMeshShape::calculateSerializeBufferSize() const
+{
+        return sizeof(btScaledTriangleMeshShapeData);
+}
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE       const char*     btScaledBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+        btScaledTriangleMeshShapeData* scaledMeshData = (btScaledTriangleMeshShapeData*) dataBuffer;
+        m_bvhTriMeshShape->serialize(&scaledMeshData->m_trimeshShapeData,serializer);
+        scaledMeshData->m_trimeshShapeData.m_collisionShapeData.m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
+        m_localScaling.serializeFloat(scaledMeshData->m_localScaling);
+        return "btScaledTriangleMeshShapeData";
+}
+
+
+#endif //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.h

@@ -16 +16 @@
 ///btShapeHull implemented by John McCutchan.
 
-#ifndef _SHAPE_HULL_H
-#define _SHAPE_HULL_H
+#ifndef BT_SHAPE_HULL_H
+#define BT_SHAPE_HULL_H
 
 #include "LinearMath/btAlignedObjectArray.h"
@@ -57 +57 @@
 };
 
-#endif //_SHAPE_HULL_H
+#endif //BT_SHAPE_HULL_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btSphereShape.h

@@ -13 +13 @@
 3. This notice may not be removed or altered from any source distribution.
 */
-#ifndef SPHERE_MINKOWSKI_H
-#define SPHERE_MINKOWSKI_H
+#ifndef BT_SPHERE_MINKOWSKI_H
+#define BT_SPHERE_MINKOWSKI_H
 
 #include "btConvexInternalShape.h"
@@ -71 +71 @@
 
 
-#endif //SPHERE_MINKOWSKI_H
+#endif //BT_SPHERE_MINKOWSKI_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h

@@ -14 +14 @@
 */
 
-#ifndef STATIC_PLANE_SHAPE_H
-#define STATIC_PLANE_SHAPE_H
+#ifndef BT_STATIC_PLANE_SHAPE_H
+#define BT_STATIC_PLANE_SHAPE_H
 
 #include "btConcaveShape.h"
@@ -98 +98 @@
 
 
-#endif //STATIC_PLANE_SHAPE_H
+#endif //BT_STATIC_PLANE_SHAPE_H
 
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp

@@ -89 +89 @@
                                          break;
                                  }
+                        case PHY_UCHAR:
+                                 {
+                                         for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+                                         {
+                                                 unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
+                                                 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
+                                                 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
+                                                 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
+                                                 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),    graphicsbase[2]*meshScaling.getZ());
+                                                 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
+                                                 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),    graphicsbase[2]*meshScaling.getZ());
+                                                 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+                                         }
+                                         break;
+                                 }
                          default:
                                  btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
@@ -121 +136 @@
                                                 {
                                                         unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
+                                                        graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
+                                                        triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
+                                                        graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
+                                                        triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
+                                                        graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
+                                                        triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
+                                                        callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+                                                }
+                                                break;
+                                        }
+                                case PHY_UCHAR:
+                                        {
+                                                for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+                                                {
+                                                        unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
                                                         graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
                                                         triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
@@ -267 +297 @@
                                         break;
                                 }
+                                case PHY_UCHAR:
+                                {
+                                        if (numtriangles)
+                                        {
+                                                btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData),numtriangles);
+                                                btCharIndexTripletData* tmpIndices = (btCharIndexTripletData*)chunk->m_oldPtr;
+                                                memPtr->m_3indices8 = (btCharIndexTripletData*) serializer->getUniquePointer(tmpIndices);
+                                                for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+                                                {
+                                                        unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
+                                                        tmpIndices[gfxindex].m_values[0] = tri_indices[0];
+                                                        tmpIndices[gfxindex].m_values[1] = tri_indices[1];
+                                                        tmpIndices[gfxindex].m_values[2] = tri_indices[2];
+                                                }
+                                                serializer->finalizeChunk(chunk,"btCharIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+                                        }
+                                        break;
+                                }
                         default:
                                 {

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h

@@ -14 +14 @@
 */
 
-#ifndef STRIDING_MESHINTERFACE_H
-#define STRIDING_MESHINTERFACE_H
+#ifndef BT_STRIDING_MESHINTERFACE_H
+#define BT_STRIDING_MESHINTERFACE_H
 
 #include "LinearMath/btVector3.h"
@@ -117 +117 @@
 };
 
+struct  btCharIndexTripletData
+{
+        unsigned char m_values[3];
+        char    m_pad;
+};
+
+
 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 struct  btMeshPartData
@@ -125 +132 @@
         btIntIndexData                          *m_indices32;
         btShortIntIndexTripletData      *m_3indices16;
+        btCharIndexTripletData          *m_3indices8;
 
         btShortIntIndexData                     *m_indices16;//backwards compatibility
@@ -152 +160 @@
 
 
-#endif //STRIDING_MESHINTERFACE_H
+#endif //BT_STRIDING_MESHINTERFACE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h

@@ -14 +14 @@
 */
 
-#ifndef BU_SIMPLEX_1TO4_SHAPE
-#define BU_SIMPLEX_1TO4_SHAPE
+#ifndef BT_SIMPLEX_1TO4_SHAPE
+#define BT_SIMPLEX_1TO4_SHAPE
 
 
@@ -72 +72 @@
 };
 
-#endif //BU_SIMPLEX_1TO4_SHAPE
+#endif //BT_SIMPLEX_1TO4_SHAPE

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h

@@ -14 +14 @@
 */
 
-#ifndef TRIANGLE_CALLBACK_H
-#define TRIANGLE_CALLBACK_H
+#ifndef BT_TRIANGLE_CALLBACK_H
+#define BT_TRIANGLE_CALLBACK_H
 
 #include "LinearMath/btVector3.h"
@@ -40 +40 @@
 
 
-#endif //TRIANGLE_CALLBACK_H
+#endif //BT_TRIANGLE_CALLBACK_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h

@@ -62 +62 @@
         btScalar        m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
         btScalar        m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
+        btScalar        m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
         btScalar        m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
         
@@ -72 +73 @@
                 m_edgeDistanceThreshold = btScalar(0.1);
                 m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
+                m_maxEdgeAngleThreshold = SIMD_2_PI;
         }
         virtual ~btTriangleInfoMap() {}

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h

@@ -14 +14 @@
 */
 
-#ifndef TRIANGLE_MESH_H
-#define TRIANGLE_MESH_H
+#ifndef BT_TRIANGLE_MESH_H
+#define BT_TRIANGLE_MESH_H
 
 #include "btTriangleIndexVertexArray.h"
@@ -66 +66 @@
 };
 
-#endif //TRIANGLE_MESH_H
+#endif //BT_TRIANGLE_MESH_H
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h

@@ -14 +14 @@
 */
 
-#ifndef TRIANGLE_MESH_SHAPE_H
-#define TRIANGLE_MESH_SHAPE_H
+#ifndef BT_TRIANGLE_MESH_SHAPE_H
+#define BT_TRIANGLE_MESH_SHAPE_H
 
 #include "btConcaveShape.h"
@@ -87 +87 @@
 
 
-#endif //TRIANGLE_MESH_SHAPE_H
+#endif //BT_TRIANGLE_MESH_SHAPE_H

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btTriangleShape.h

@@ -14 +14 @@
 */
 
-#ifndef OBB_TRIANGLE_MINKOWSKI_H
-#define OBB_TRIANGLE_MINKOWSKI_H
+#ifndef BT_OBB_TRIANGLE_MINKOWSKI_H
+#define BT_OBB_TRIANGLE_MINKOWSKI_H
 
 #include "btConvexShape.h"
@@ -179 +179 @@
 };
 
-#endif //OBB_TRIANGLE_MINKOWSKI_H
+#endif //BT_OBB_TRIANGLE_MINKOWSKI_H
 

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp

@@ -65 +65 @@
 
         ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btUniformScalingShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
 {
-        m_childConvexShape->getAabb(t,aabbMin,aabbMax);
-        btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
-        btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
-
-        aabbMin = aabbCenter - scaledAabbHalfExtends;
-        aabbMax = aabbCenter + scaledAabbHalfExtends;
+        getAabbSlow(trans,aabbMin,aabbMax);
 
 }
@@ -78 +73 @@
 void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
 {
-        m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
-        btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
-        btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
+#if 1
+        btVector3 _directions[] =
+        {
+                btVector3( 1.,  0.,  0.),
+                btVector3( 0.,  1.,  0.),
+                btVector3( 0.,  0.,  1.),
+                btVector3( -1., 0.,  0.),
+                btVector3( 0., -1.,  0.),
+                btVector3( 0.,  0., -1.)
+        };
+        
+        btVector3 _supporting[] =
+        {
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.)
+        };
 
-        aabbMin = aabbCenter - scaledAabbHalfExtends;
-        aabbMax = aabbCenter + scaledAabbHalfExtends;
+        for (int i=0;i<6;i++)
+        {
+                _directions[i] = _directions[i]*t.getBasis();
+        }
+        
+        batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
+        
+        btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);
+
+        for ( int i = 0; i < 3; ++i )
+        {
+                aabbMax1[i] = t(_supporting[i])[i];
+                aabbMin1[i] = t(_supporting[i + 3])[i];
+        }
+        btVector3 marginVec(getMargin(),getMargin(),getMargin());
+        aabbMin = aabbMin1-marginVec;
+        aabbMax = aabbMax1+marginVec;
+        
+#else
+
+        btScalar margin = getMargin();
+        for (int i=0;i<3;i++)
+        {
+                btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+                vec[i] = btScalar(1.);
+                btVector3 sv = localGetSupportingVertex(vec*t.getBasis());
+                btVector3 tmp = t(sv);
+                aabbMax[i] = tmp[i]+margin;
+                vec[i] = btScalar(-1.);
+                sv = localGetSupportingVertex(vec*t.getBasis());
+                tmp = t(sv);
+                aabbMin[i] = tmp[i]-margin;
+        }
+
+#endif
 }