The extern/bullet from HEAD is needed to compile the gameengine in

orange

diff --git a/extern/bullet/Bullet/BLI_Bullet.dsp b/extern/bullet/Bullet/BLI_Bullet.dsp
index 48b6e8bb3354c13854fc2c79b7bb7e1ebc150aea..dad314f72baac8d278286b7a16a5f67661515bb6 100644 (file)
--- a/extern/bullet/Bullet/BLI_Bullet.dsp
+++ b/extern/bullet/Bullet/BLI_Bullet.dsp
@@ -159,10 +159,6 @@ SOURCE=.\NarrowPhaseCollision\BU_VertexPoly.h
 # End Source File
 # Begin Source File
 
-SOURCE=.\NarrowPhaseCollision\CollisionMargin.h
-# End Source File
-# Begin Source File
-
 SOURCE=.\NarrowPhaseCollision\ContinuousConvexCollision.cpp
 # End Source File
 # Begin Source File
@@ -203,6 +199,14 @@ SOURCE=.\NarrowPhaseCollision\GjkPairDetector.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\NarrowPhaseCollision\ManifoldContactAddResult.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\ManifoldContactAddResult.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\NarrowPhaseCollision\ManifoldPoint.h
 # End Source File
 # Begin Source File
@@ -307,6 +311,18 @@ SOURCE=.\CollisionShapes\BoxShape.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\BvhTriangleMeshShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\BvhTriangleMeshShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\CollisionMargin.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\CollisionShape.cpp
 # End Source File
 # Begin Source File
@@ -339,6 +355,14 @@ SOURCE=.\CollisionShapes\ConvexShape.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\ConvexTriangleCallback.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\ConvexTriangleCallback.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\CylinderShape.cpp
 # End Source File
 # Begin Source File
@@ -347,6 +371,14 @@ SOURCE=.\CollisionShapes\CylinderShape.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\EmptyShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\EmptyShape.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\MinkowskiSumShape.cpp
 # End Source File
 # Begin Source File
@@ -363,6 +395,14 @@ SOURCE=.\CollisionShapes\MultiSphereShape.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\OptimizedBvh.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\OptimizedBvh.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\PolyhedralConvexShape.cpp
 # End Source File
 # Begin Source File
@@ -395,10 +435,22 @@ SOURCE=.\CollisionShapes\StridingMeshInterface.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\TriangleCallback.cpp
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\TriangleCallback.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\TriangleIndexVertexArray.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\TriangleIndexVertexArray.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\TriangleMesh.cpp
 # End Source File
 # Begin Source File

diff --git a/extern/bullet/Bullet/Bullet3_vc8.vcproj b/extern/bullet/Bullet/Bullet3_vc8.vcproj
index b9046f451e5f2eafdbb35563cc30b87c606ca8db..4c8bc67557bf175bfa5e82fb3c97d83076a3da86 100644 (file)
--- a/extern/bullet/Bullet/Bullet3_vc8.vcproj
+++ b/extern/bullet/Bullet/Bullet3_vc8.vcproj
@@ -42,6 +42,7 @@
                                Optimization="0"
                                AdditionalIncludeDirectories=".;..\LinearMath"
                                PreprocessorDefinitions="_DEBUG;_LIB;WIN32;BUM_INLINED;USE_ALGEBRAIC"
+                               ExceptionHandling="0"
                                BasicRuntimeChecks="3"
                                RuntimeLibrary="1"
                                UsePrecompiledHeader="0"
@@ -272,6 +273,14 @@
                                RelativePath=".\NarrowPhaseCollision\GjkPairDetector.h"
                                >
                        </File>
+                       <File
+                               RelativePath=".\NarrowPhaseCollision\ManifoldContactAddResult.cpp"
+                               >
+                       </File>
+                       <File
+                               RelativePath=".\NarrowPhaseCollision\ManifoldContactAddResult.h"
+                               >
+                       </File>
                        <File
                                RelativePath=".\NarrowPhaseCollision\ManifoldPoint.h"
                                >
@@ -368,6 +377,14 @@
                                RelativePath=".\CollisionShapes\ConvexShape.h"
                                >
                        </File>
+                       <File
+                               RelativePath=".\CollisionShapes\ConvexTriangleCallback.cpp"
+                               >
+                       </File>
+                       <File
+                               RelativePath=".\CollisionShapes\ConvexTriangleCallback.h"
+                               >
+                       </File>
                        <File
                                RelativePath=".\CollisionShapes\CylinderShape.cpp"
                                >
@@ -376,6 +393,14 @@
                                RelativePath=".\CollisionShapes\CylinderShape.h"
                                >
                        </File>
+                       <File
+                               RelativePath=".\CollisionShapes\EmptyShape.cpp"
+                               >
+                       </File>
+                       <File
+                               RelativePath=".\CollisionShapes\EmptyShape.h"
+                               >
+                       </File>
                        <File
                                RelativePath=".\CollisionShapes\MinkowskiSumShape.cpp"
                                >
@@ -424,6 +449,10 @@
                                RelativePath=".\CollisionShapes\StridingMeshInterface.h"
                                >
                        </File>
+                       <File
+                               RelativePath=".\CollisionShapes\TriangleCallback.cpp"
+                               >
+                       </File>
                        <File
                                RelativePath=".\CollisionShapes\TriangleCallback.h"
                                >
@@ -549,6 +578,30 @@
                                >
                        </File>
                </Filter>
+               <File
+                       RelativePath=".\CollisionShapes\BvhTriangleMeshShape.cpp"
+                       >
+               </File>
+               <File
+                       RelativePath=".\CollisionShapes\BvhTriangleMeshShape.h"
+                       >
+               </File>
+               <File
+                       RelativePath=".\CollisionShapes\OptimizedBvh.cpp"
+                       >
+               </File>
+               <File
+                       RelativePath=".\CollisionShapes\OptimizedBvh.h"
+                       >
+               </File>
+               <File
+                       RelativePath=".\CollisionShapes\TriangleIndexVertexArray.cpp"
+                       >
+               </File>
+               <File
+                       RelativePath=".\CollisionShapes\TriangleIndexVertexArray.h"
+                       >
+               </File>
        </Files>
        <Globals>
        </Globals>

diff --git a/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp b/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp
index fe3a51883ec378f3c537ea0717faaf389a5dac6c..a07e2919bd66815cae8155ce93c6e8a505bb1160 100644 (file)
--- a/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp
@@ -84,28 +84,30 @@ void OptimizedBvh::Build(StridingMeshInterface* triangles)
 
 OptimizedBvhNode*      OptimizedBvh::BuildTree (NodeArray&     leafNodes,int startIndex,int endIndex)
 {
+       OptimizedBvhNode* internalNode;
 
+       int splitAxis, splitIndex, i;
        int numIndices =endIndex-startIndex;
-       assert(numIndices>0);
-
        int curIndex = m_curNodeIndex;
 
+       assert(numIndices>0);
+
        if (numIndices==1)
        {
                return new (&m_contiguousNodes[m_curNodeIndex++]) OptimizedBvhNode(leafNodes[startIndex]);
        }
        //calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
        
-       int splitAxis = CalcSplittingAxis(leafNodes,startIndex,endIndex);
+       splitAxis = CalcSplittingAxis(leafNodes,startIndex,endIndex);
 
-       int splitIndex = SortAndCalcSplittingIndex(leafNodes,startIndex,endIndex,splitAxis);
+       splitIndex = SortAndCalcSplittingIndex(leafNodes,startIndex,endIndex,splitAxis);
 
-       OptimizedBvhNode* internalNode = &m_contiguousNodes[m_curNodeIndex++];
+       internalNode = &m_contiguousNodes[m_curNodeIndex++];
        
        internalNode->m_aabbMax.setValue(-1e30f,-1e30f,-1e30f);
        internalNode->m_aabbMin.setValue(1e30f,1e30f,1e30f);
        
-       for (int i=startIndex;i<endIndex;i++)
+       for (i=startIndex;i<endIndex;i++)
        {
                internalNode->m_aabbMax.setMax(leafNodes[i].m_aabbMax);
                internalNode->m_aabbMin.setMin(leafNodes[i].m_aabbMin);
@@ -123,21 +125,23 @@ OptimizedBvhNode* OptimizedBvh::BuildTree (NodeArray&     leafNodes,int startIndex,i
 
 int    OptimizedBvh::SortAndCalcSplittingIndex(NodeArray&      leafNodes,int startIndex,int endIndex,int splitAxis)
 {
+       int i;
        int splitIndex =startIndex;
        int numIndices = endIndex - startIndex;
+       float splitValue;
 
        SimdVector3 means(0.f,0.f,0.f);
-       for (int i=startIndex;i<endIndex;i++)
+       for (i=startIndex;i<endIndex;i++)
        {
                SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
                means+=center;
        }
        means *= (1.f/(float)numIndices);
        
-       float splitValue = means[splitAxis];
+       splitValue = means[splitAxis];
        
        //sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-       for (int i=startIndex;i<endIndex;i++)
+       for (i=startIndex;i<endIndex;i++)
        {
                SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
                if (center[splitAxis] > splitValue)
@@ -159,19 +163,20 @@ int       OptimizedBvh::SortAndCalcSplittingIndex(NodeArray&      leafNodes,int startIndex,
 
 int    OptimizedBvh::CalcSplittingAxis(NodeArray&      leafNodes,int startIndex,int endIndex)
 {
+       int i;
+
        SimdVector3 means(0.f,0.f,0.f);
+       SimdVector3 variance(0.f,0.f,0.f);
        int numIndices = endIndex-startIndex;
 
-       for (int i=startIndex;i<endIndex;i++)
+       for (i=startIndex;i<endIndex;i++)
        {
                SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
                means+=center;
        }
        means *= (1.f/(float)numIndices);
                
-       SimdVector3 variance(0.f,0.f,0.f);
-
-       for (int i=startIndex;i<endIndex;i++)
+       for (i=startIndex;i<endIndex;i++)
        {
                SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
                SimdVector3 diff2 = center-means;
@@ -180,18 +185,18 @@ int       OptimizedBvh::CalcSplittingAxis(NodeArray&      leafNodes,int startIndex,int endI
        }
        variance *= (1.f/       ((float)numIndices-1)   );
        
-       int biggestAxis = variance.maxAxis();
-       return biggestAxis;
-
+       return variance.maxAxis();
 }
 
 
        
 void   OptimizedBvh::ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
 {
+       int i;
+
        if (aabbMin.length() > 1000.f)
        {
-               for (int i=0;i<m_leafNodes.size();i++)
+               for (i=0;i<m_leafNodes.size();i++)
                {
                        const OptimizedBvhNode& node = m_leafNodes[i];
                        nodeCallback->ProcessNode(&node);
@@ -205,10 +210,10 @@ void      OptimizedBvh::ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,
 
 void   OptimizedBvh::WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
 {
-       bool aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
+       bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
        if (aabbOverlap)
        {
-               bool isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
+               isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
                if (isLeafNode)
                {
                        nodeCallback->ProcessNode(rootNode);
@@ -225,8 +230,9 @@ int maxIterations = 0;
 
 void   OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
 {
-       int curIndex = 0;
+       int escapeIndex, curIndex = 0;
        int walkIterations = 0;
+       bool aabbOverlap, isLeafNode;
 
        while (curIndex < m_curNodeIndex)
        {
@@ -234,8 +240,8 @@ void        OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallb
                assert (walkIterations < m_curNodeIndex);
 
                walkIterations++;
-               bool aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
-               bool isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
+               aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
+               isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
                
                if (isLeafNode && aabbOverlap)
                {
@@ -248,7 +254,7 @@ void        OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallb
                        curIndex++;
                } else
                {
-                       int escapeIndex = rootNode->m_escapeIndex;
+                       escapeIndex = rootNode->m_escapeIndex;
                        rootNode += escapeIndex;
                        curIndex += escapeIndex;
                }

diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
index bbffb8137dec201ab99f5989e609acce1e6a2cf8..37d34a659482b269059b5fcc8ed5dd2a020a8ec0 100644 (file)
--- a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
@@ -22,14 +22,7 @@ SphereShape ::SphereShape (SimdScalar radius)
 
 SimdVector3    SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
 {
-       float radius = m_radius - GetMargin();
-
-       SimdScalar len = vec.length2();
-       if (SimdFabs(len) < 0.0001f)
-       {
-               return SimdVector3(m_localScaling[0] * radius,m_localScaling[1]*radius,m_localScaling[2]*radius);
-       } 
-       return vec *  (m_localScaling*(radius / SimdSqrt(len)));
+       return SimdVector3(0.f,0.f,0.f);
 }
 
 SimdVector3    SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
@@ -37,38 +30,31 @@ SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
        SimdVector3 supVertex;
        supVertex = LocalGetSupportingVertexWithoutMargin(vec);
 
-       if ( GetMargin()!=0.f )
+       SimdVector3 vecnorm = vec;
+       if (SimdFuzzyZero(vecnorm .length2()))
        {
-               SimdVector3 vecnorm = vec;
-               if (vecnorm .length2() == 0.f)
-               {
-                       vecnorm.setValue(-1.f,-1.f,-1.f);
-               } 
-               vecnorm.normalize();
-               supVertex+= GetMargin() * vecnorm;
-       }
+               vecnorm.setValue(-1.f,-1.f,-1.f);
+       } 
+       vecnorm.normalize();
+       supVertex+= GetMargin() * vecnorm;
        return supVertex;
 }
 
-/*
+
 //broken due to scaling
 void SphereShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
 {
        const SimdVector3& center = t.getOrigin();
-       SimdScalar radius = m_radius;
-       
-       SimdVector3 extent = m_localScaling*radius;
-       extent+= SimdVector3(GetMargin(),GetMargin(),GetMargin());
-
+       SimdVector3 extent(GetMargin(),GetMargin(),GetMargin());
        aabbMin = center - extent;
        aabbMax = center + extent;
 }
-*/
+
 
 
 void   SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
 {
-       SimdScalar elem = 0.4f * mass * m_radius*m_radius;
+       SimdScalar elem = 0.4f * mass * GetMargin()*GetMargin();
        inertia[0] = inertia[1] = inertia[2] = elem;
 
 }
\ No newline at end of file

diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.h b/extern/bullet/Bullet/CollisionShapes/SphereShape.h
index 82c00ea43ebbcce0bc913c28e6007ad9f12eb934..235af6c4db2ae665eba9d3e1acf80c27831eca2b 100644 (file)
--- a/extern/bullet/Bullet/CollisionShapes/SphereShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/SphereShape.h
@@ -20,7 +20,7 @@ class SphereShape : public ConvexShape
 
 {
        SimdScalar m_radius;
-
+       
 public:
        SphereShape (SimdScalar radius);
        
@@ -31,7 +31,7 @@ public:
 
        virtual void    CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
 
-       //virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+       virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
 
        virtual int     GetShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
 
@@ -40,6 +40,18 @@ public:
        //debugging
        virtual char*   GetName()const {return "SPHERE";}
 
+       virtual void    SetMargin(float margin)
+       {
+               ConvexShape::SetMargin(margin);
+       }
+       virtual float   GetMargin() const
+       {
+               //to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
+               //this means, non-uniform scaling is not supported anymore
+               return m_localScaling[0] * m_radius + ConvexShape::GetMargin();
+       }
+
+
 };
 
 

diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
index f7e41e61824fcb9f1ca21158d5bfa51fbd21618c..a7375e78d384274be9f489f93d3a85cfcdf67bf8 100644 (file)
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
@@ -153,7 +153,7 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
                
                if (m_convex.IsConvexShape())
                {
-                       float collisionMarginTriangle = 0.02f;//triangleMesh->GetMargin();
+                       float collisionMarginTriangle = triangleMesh->GetMargin();
                                        
                        m_boxTriangleCallback.SetTimeStepAndCounters(timeStep,stepCount, collisionMarginTriangle,useContinuous);
 #ifdef USE_BOX_TRIANGLE

diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
index 9471c1faf7c35473d412267586ff56477cd29cb3..81b75e6e1b8f28c9d408fe25270a611088639083 100644 (file)
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
@@ -14,17 +14,20 @@
 
 
 static RigidBody s_fixed(MassProps(0,SimdVector3(0.f,0.f,0.f)),0.f,0.f,1.f,1.f);
+static int gConstraintId = 1;
 
 Point2PointConstraint::Point2PointConstraint():
 m_rbA(s_fixed),m_rbB(s_fixed)
 {
+       m_constraintId = gConstraintId++;//just create some unique ID for now
+
        s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
 }
 
 Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB)
 :m_rbA(rbA),m_rbB(rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
 {
-
+       m_constraintId = gConstraintId++;//just create some unique ID for now
 }
 
 
@@ -32,6 +35,7 @@ Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,const SimdVector3& p
 :m_rbA(rbA),m_rbB(s_fixed),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
 {
        s_fixed.setMassProps(0.f,SimdVector3(1e10f,1e10f,1e10f));
+       m_constraintId = gConstraintId++;//just create some unique ID for now
 }
 
 void   Point2PointConstraint::BuildJacobian()

diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
index 82b4dcc83dbc5074b5b5868879f2f81764ebb04e..59b7a5576c46963f1e3d0af0095e5cbfc0b3368d 100644 (file)
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
@@ -27,6 +27,7 @@ class Point2PointConstraint
        SimdVector3     m_pivotInA;
        SimdVector3     m_pivotInB;
        
+       int     m_constraintId;
 public:
 
        Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);
@@ -50,6 +51,11 @@ public:
                return m_rbB;
        }
 
+       int GetConstraintId()
+       {
+               return m_constraintId;
+       }
+
 
 };
 

diff --git a/extern/bullet/SConscript b/extern/bullet/SConscript
index ae3763d6e45690385315c58484d0d86855d72290..453d18aff6d1e10b73b8505e2a1779142b2dda0a 100644 (file)
--- a/extern/bullet/SConscript
+++ b/extern/bullet/SConscript
@@ -57,7 +57,13 @@ bullet_sources = ['Bullet/BroadphaseCollision/BroadphaseProxy.cpp',
                                'Bullet/CollisionShapes/StridingMeshInterface.cpp',
                                'Bullet/CollisionShapes/TriangleMesh.cpp',
                                'Bullet/CollisionShapes/TriangleMeshShape.cpp',
-                               
+                               'Bullet/CollisionShapes/BvhTriangleMeshShape.cpp',
+                               'Bullet/CollisionShapes/ConvexTriangleCallback.cpp',
+                               'Bullet/CollisionShapes/EmptyShape.cpp',
+                               'Bullet/CollisionShapes/OptimizedBvh.cpp',
+                               'Bullet/CollisionShapes/TriangleCallback.cpp',
+                               'Bullet/CollisionShapes/TriangleIndexVertexArray.cpp',
+                                                                                       
                                'Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.cpp',
                                'Bullet/NarrowPhaseCollision/BU_Collidable.cpp',
                                'Bullet/NarrowPhaseCollision/BU_CollisionPair.cpp',
@@ -73,7 +79,8 @@ bullet_sources = ['Bullet/BroadphaseCollision/BroadphaseProxy.cpp',
                                'Bullet/NarrowPhaseCollision/RaycastCallback.cpp',
                                'Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp',
                                'Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.cpp',
-                               
+                               'Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp',
+                                                               
                                'BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp',
                                'BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp',
                                'BulletDynamics/CollisionDispatch/EmptyCollisionAlgorithm.cpp',

diff --git a/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj b/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj
index f0cd96247d288254db2176e1b1d12334a86bd9d8..60c6b02a92418df00991d8a1d0dafc12646fc164 100644 (file)
--- a/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj
+++ b/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj
@@ -716,9 +716,6 @@ ECHO Done
                                <File
                                        RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_VertexPoly.h">
                                </File>
-                               <File
-                                       RelativePath="..\..\Bullet\NarrowPhaseCollision\CollisionMargin.h">
-                               </File>
                                <File
                                        RelativePath="..\..\Bullet\NarrowPhaseCollision\ContinuousConvexCollision.h">
                                </File>
@@ -796,6 +793,9 @@ ECHO Done
                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
                                        </FileConfiguration>
                                </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\BvhTriangleMeshShape.cpp">
+                               </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\CollisionShape.cpp">
                                        <FileConfiguration
@@ -904,6 +904,9 @@ ECHO Done
                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
                                        </FileConfiguration>
                                </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\ConvexTriangleCallback.cpp">
+                               </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\CylinderShape.cpp">
                                        <FileConfiguration
@@ -931,6 +934,9 @@ ECHO Done
                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
                                        </FileConfiguration>
                                </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\EmptyShape.cpp">
+                               </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\MinkowskiSumShape.cpp">
                                        <FileConfiguration
@@ -985,6 +991,9 @@ ECHO Done
                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
                                        </FileConfiguration>
                                </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\OptimizedBvh.cpp">
+                               </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\PolyhedralConvexShape.cpp">
                                        <FileConfiguration
@@ -1093,6 +1102,12 @@ ECHO Done
                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
                                        </FileConfiguration>
                                </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\TriangleCallback.cpp">
+                               </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\TriangleIndexVertexArray.cpp">
+                               </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\TriangleMesh.cpp">
                                        <FileConfiguration
@@ -1154,6 +1169,12 @@ ECHO Done
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\BoxShape.h">
                                </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\BvhTriangleMeshShape.h">
+                               </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\CollisionMargin.h">
+                               </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\CollisionShape.h">
                                </File>
@@ -1166,15 +1187,24 @@ ECHO Done
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\ConvexShape.h">
                                </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\ConvexTriangleCallback.h">
+                               </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\CylinderShape.h">
                                </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\EmptyShape.h">
+                               </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\MinkowskiSumShape.h">
                                </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\MultiSphereShape.h">
                                </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\OptimizedBvh.h">
+                               </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\PolyhedralConvexShape.h">
                                </File>
@@ -1190,6 +1220,9 @@ ECHO Done
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\TriangleCallback.h">
                                </File>
+                               <File
+                                       RelativePath="..\..\Bullet\CollisionShapes\TriangleIndexVertexArray.h">
+                               </File>
                                <File
                                        RelativePath="..\..\Bullet\CollisionShapes\TriangleMesh.h">
                                </File>