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, 87 insertions, 0 deletions

diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h
new file mode 100644
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+/*************************************************************************/
+/*  btRayShape.h                                                        */
+/*  Author: AndreaCatania                                                */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                    http://www.godotengine.org                         */
+/*************************************************************************/
+/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md)    */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+/// IMPORTANT The class name and filename was created by following Bullet writing rules for an easy (eventually ) porting to bullet
+/// This shape is a custom shape that is not present to Bullet physics engine
+#ifndef BTRAYSHAPE_H
+#define BTRAYSHAPE_H
+
+#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
+
+/// Ray shape around z axis
+ATTRIBUTE_ALIGNED16(class)
+btRayShape : public btConvexInternalShape {
+
+	btScalar m_length;
+	/// The default axis is the z
+	btVector3 m_shapeAxis;
+
+	btTransform m_cacheSupportPoint;
+	btScalar m_cacheScaledLength;
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btRayShape(btScalar length);
+	virtual ~btRayShape();
+
+	void setLength(btScalar p_length);
+	btScalar getLength() const { return m_length; }
+
+	const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
+	const btScalar &getScaledLength() const { return m_cacheScaledLength; }
+
+	virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const;
+#ifndef __SPU__
+	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const;
+#endif //#ifndef __SPU__
+
+	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const;
+
+	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
+	virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const;
+
+#ifndef __SPU__
+	virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
+
+	virtual const char *getName() const {
+		return "RayZ";
+	}
+#endif //__SPU__
+
+	virtual int getNumPreferredPenetrationDirections() const;
+	virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const;
+
+private:
+	void reload_cache();
+};
+
+#endif // BTRAYSHAPE_H