Merge pull request #15664 from akien-mga/thirdparty

Bugfix updates to various thirdparty libraries

1 files changed, 80 insertions, 0 deletions

diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h
new file mode 100644
index 0000000000..d6c9b0a07e
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.h
@@ -0,0 +1,80 @@
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_CONTACT_CACHE_H
+#define B3_CONTACT_CACHE_H
+
+
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3Transform.h"
+#include "Bullet3Common/b3AlignedAllocator.h"
+
+
+///maximum contact breaking and merging threshold
+extern b3Scalar gContactBreakingThreshold;
+
+
+
+#define MANIFOLD_CACHE_SIZE 4
+
+///b3ContactCache is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
+///Those contact points are created by the collision narrow phase.
+///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time.
+///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
+///reduces the cache to 4 points, when more then 4 points are added, using following rules:
+///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
+///note that some pairs of objects might have more then one contact manifold.
+B3_ATTRIBUTE_ALIGNED16( class) b3ContactCache
+{
+
+	
+
+	
+	/// sort cached points so most isolated points come first
+	int	sortCachedPoints(const b3Vector3& pt);
+
+	
+
+public:
+
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	
+	
+	int addManifoldPoint( const b3Vector3& newPoint);
+
+	/*void replaceContactPoint(const b3Vector3& newPoint,int insertIndex)
+	{
+		b3Assert(validContactDistance(newPoint));
+		m_pointCache[insertIndex] = newPoint;
+	}
+	*/
+
+
+	
+	static bool validContactDistance(const b3Vector3& pt);
+	
+	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
+	static void	refreshContactPoints(  const b3Transform& trA,const b3Transform& trB, struct b3Contact4Data& newContactCache);
+
+	static void removeContactPoint(struct b3Contact4Data& newContactCache,int i);
+	
+
+};
+
+
+
+#endif //B3_CONTACT_CACHE_H