Bullet physics engine implementation

This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features.
Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc..
It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.

1 files changed, 191 insertions, 0 deletions

diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
new file mode 100644
index 0000000000..7a37cca130
--- /dev/null
+++ b/modules/bullet/SCsub
@@ -0,0 +1,191 @@
+#!/usr/bin/env python
+
+Import('env')
+
+# build only version 2
+# Bullet 2.87
+bullet_src__2_x = [
+        # BulletCollision
+          "BulletCollision/BroadphaseCollision/btAxisSweep3.cpp"
+        , "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp"
+        , "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp"
+        , "BulletCollision/BroadphaseCollision/btDbvt.cpp"
+        , "BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp"
+        , "BulletCollision/BroadphaseCollision/btDispatcher.cpp"
+        , "BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp"
+        , "BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp"
+        , "BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp"
+        , "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp"
+        , "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp"
+        , "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp"
+        , "BulletCollision/CollisionDispatch/btCollisionObject.cpp"
+        , "BulletCollision/CollisionDispatch/btCollisionWorld.cpp"
+        , "BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp"
+        , "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp"
+        , "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btGhostObject.cpp"
+        , "BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp"
+        , "BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp"
+        , "BulletCollision/CollisionDispatch/btManifoldResult.cpp"
+        , "BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp"
+        , "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp"
+        , "BulletCollision/CollisionDispatch/btUnionFind.cpp"
+        , "BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp"
+        , "BulletCollision/CollisionShapes/btBoxShape.cpp"
+        , "BulletCollision/CollisionShapes/btBox2dShape.cpp"
+        , "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp"
+        , "BulletCollision/CollisionShapes/btCapsuleShape.cpp"
+        , "BulletCollision/CollisionShapes/btCollisionShape.cpp"
+        , "BulletCollision/CollisionShapes/btCompoundShape.cpp"
+        , "BulletCollision/CollisionShapes/btConcaveShape.cpp"
+        , "BulletCollision/CollisionShapes/btConeShape.cpp"
+        , "BulletCollision/CollisionShapes/btConvexHullShape.cpp"
+        , "BulletCollision/CollisionShapes/btConvexInternalShape.cpp"
+        , "BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp"
+        , "BulletCollision/CollisionShapes/btConvexPolyhedron.cpp"
+        , "BulletCollision/CollisionShapes/btConvexShape.cpp"
+        , "BulletCollision/CollisionShapes/btConvex2dShape.cpp"
+        , "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp"
+        , "BulletCollision/CollisionShapes/btCylinderShape.cpp"
+        , "BulletCollision/CollisionShapes/btEmptyShape.cpp"
+        , "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp"
+        , "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp"
+        , "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp"
+        , "BulletCollision/CollisionShapes/btMultiSphereShape.cpp"
+        , "BulletCollision/CollisionShapes/btOptimizedBvh.cpp"
+        , "BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp"
+        , "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp"
+        , "BulletCollision/CollisionShapes/btShapeHull.cpp"
+        , "BulletCollision/CollisionShapes/btSphereShape.cpp"
+        , "BulletCollision/CollisionShapes/btStaticPlaneShape.cpp"
+        , "BulletCollision/CollisionShapes/btStridingMeshInterface.cpp"
+        , "BulletCollision/CollisionShapes/btTetrahedronShape.cpp"
+        , "BulletCollision/CollisionShapes/btTriangleBuffer.cpp"
+        , "BulletCollision/CollisionShapes/btTriangleCallback.cpp"
+        , "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp"
+        , "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp"
+        , "BulletCollision/CollisionShapes/btTriangleMesh.cpp"
+        , "BulletCollision/CollisionShapes/btTriangleMeshShape.cpp"
+        , "BulletCollision/CollisionShapes/btUniformScalingShape.cpp"
+        , "BulletCollision/Gimpact/btContactProcessing.cpp"
+        , "BulletCollision/Gimpact/btGenericPoolAllocator.cpp"
+        , "BulletCollision/Gimpact/btGImpactBvh.cpp"
+        , "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp"
+        , "BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp"
+        , "BulletCollision/Gimpact/btGImpactShape.cpp"
+        , "BulletCollision/Gimpact/btTriangleShapeEx.cpp"
+        , "BulletCollision/Gimpact/gim_box_set.cpp"
+        , "BulletCollision/Gimpact/gim_contact.cpp"
+        , "BulletCollision/Gimpact/gim_memory.cpp"
+        , "BulletCollision/Gimpact/gim_tri_collision.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btConvexCast.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp"
+        , "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp"
+
+        # BulletDynamics
+        , "BulletDynamics/Character/btKinematicCharacterController.cpp"
+        , "BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btContactConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btFixedConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btGearConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btHingeConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp"
+        , "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp"
+        , "BulletDynamics/ConstraintSolver/btSliderConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btTypedConstraint.cpp"
+        , "BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp"
+        , "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp"
+        , "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp"
+        , "BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp"
+        , "BulletDynamics/Dynamics/btRigidBody.cpp"
+        , "BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp"
+        #, "BulletDynamics/Dynamics/Bullet-C-API.cpp"
+        , "BulletDynamics/Vehicle/btRaycastVehicle.cpp"
+        , "BulletDynamics/Vehicle/btWheelInfo.cpp"
+        , "BulletDynamics/Featherstone/btMultiBody.cpp"
+        , "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp"
+        , "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp"
+        , "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp"
+        , "BulletDynamics/Featherstone/btMultiBodyConstraint.cpp"
+        , "BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp"
+        , "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp"
+        , "BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp"
+        , "BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp"
+        , "BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp"
+        , "BulletDynamics/MLCPSolvers/btDantzigLCP.cpp"
+        , "BulletDynamics/MLCPSolvers/btMLCPSolver.cpp"
+        , "BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp"
+
+        # BulletInverseDynamics
+        , "BulletInverseDynamics/IDMath.cpp"
+        , "BulletInverseDynamics/MultiBodyTree.cpp"
+        , "BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp"
+        , "BulletInverseDynamics/details/MultiBodyTreeImpl.cpp"
+
+        # BulletSoftBody
+        , "BulletSoftBody/btSoftBody.cpp"
+        , "BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp"
+        , "BulletSoftBody/btSoftBodyHelpers.cpp"
+        , "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp"
+        , "BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp"
+        , "BulletSoftBody/btSoftRigidDynamicsWorld.cpp"
+        , "BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp"
+        , "BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp"
+        , "BulletSoftBody/btDefaultSoftBodySolver.cpp"
+
+        # clew
+        , "clew/clew.c"
+
+        # LinearMath
+        , "LinearMath/btAlignedAllocator.cpp"
+        , "LinearMath/btConvexHull.cpp"
+        , "LinearMath/btConvexHullComputer.cpp"
+        , "LinearMath/btGeometryUtil.cpp"
+        , "LinearMath/btPolarDecomposition.cpp"
+        , "LinearMath/btQuickprof.cpp"
+        , "LinearMath/btSerializer.cpp"
+        , "LinearMath/btSerializer64.cpp"
+        , "LinearMath/btThreads.cpp"
+        , "LinearMath/btVector3.cpp"
+    ]
+
+thirdparty_dir = "#thirdparty/bullet/"
+thirdparty_src = thirdparty_dir + "src/"
+
+bullet_sources = [thirdparty_src + file for file in bullet_src__2_x]
+
+# include headers
+env.Append(CPPPATH=[thirdparty_src])
+
+env.add_source_files(env.modules_sources, bullet_sources)
+
+# Godot source files
+env.add_source_files(env.modules_sources, "*.cpp")
+
+Export('env')