bullet: Streamline bundling, remove extraneous src/ folder

Document version and how to extract sources in thirdparty/README.md.
Drop unnecessary CMake and Premake files.
Simplify SCsub, drop unused one.

1 files changed, 177 insertions, 0 deletions

diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h
new file mode 100644
index 0000000000..a6e27667d8
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h
@@ -0,0 +1,177 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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_VORONOI_SIMPLEX_SOLVER_H
+#define B3_VORONOI_SIMPLEX_SOLVER_H
+
+#include "Bullet3Common/b3Vector3.h"
+
+
+#define VORONOI_SIMPLEX_MAX_VERTS 5
+
+///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
+//#define BT_USE_EQUAL_VERTEX_THRESHOLD
+#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
+
+
+struct b3UsageBitfield{
+	b3UsageBitfield()
+	{
+		reset();
+	}
+
+	void reset()
+	{
+		usedVertexA = false;
+		usedVertexB = false;
+		usedVertexC = false;
+		usedVertexD = false;
+	}
+	unsigned short usedVertexA	: 1;
+	unsigned short usedVertexB	: 1;
+	unsigned short usedVertexC	: 1;
+	unsigned short usedVertexD	: 1;
+	unsigned short unused1		: 1;
+	unsigned short unused2		: 1;
+	unsigned short unused3		: 1;
+	unsigned short unused4		: 1;
+};
+
+
+struct	b3SubSimplexClosestResult
+{
+	b3Vector3	m_closestPointOnSimplex;
+	//MASK for m_usedVertices
+	//stores the simplex vertex-usage, using the MASK, 
+	// if m_usedVertices & MASK then the related vertex is used
+	b3UsageBitfield	m_usedVertices;
+	b3Scalar	m_barycentricCoords[4];
+	bool m_degenerate;
+
+	void	reset()
+	{
+		m_degenerate = false;
+		setBarycentricCoordinates();
+		m_usedVertices.reset();
+	}
+	bool	isValid()
+	{
+		bool valid = (m_barycentricCoords[0] >= b3Scalar(0.)) &&
+			(m_barycentricCoords[1] >= b3Scalar(0.)) &&
+			(m_barycentricCoords[2] >= b3Scalar(0.)) &&
+			(m_barycentricCoords[3] >= b3Scalar(0.));
+
+
+		return valid;
+	}
+	void	setBarycentricCoordinates(b3Scalar a=b3Scalar(0.),b3Scalar b=b3Scalar(0.),b3Scalar c=b3Scalar(0.),b3Scalar d=b3Scalar(0.))
+	{
+		m_barycentricCoords[0] = a;
+		m_barycentricCoords[1] = b;
+		m_barycentricCoords[2] = c;
+		m_barycentricCoords[3] = d;
+	}
+
+};
+
+/// b3VoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
+/// Can be used with GJK, as an alternative to Johnson distance algorithm.
+
+B3_ATTRIBUTE_ALIGNED16(class) b3VoronoiSimplexSolver 
+{
+public:
+
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	int	m_numVertices;
+
+	b3Vector3	m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
+	b3Vector3	m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
+	b3Vector3	m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
+
+	
+
+	b3Vector3	m_cachedP1;
+	b3Vector3	m_cachedP2;
+	b3Vector3	m_cachedV;
+	b3Vector3	m_lastW;
+	
+	b3Scalar	m_equalVertexThreshold;
+	bool		m_cachedValidClosest;
+
+
+	b3SubSimplexClosestResult m_cachedBC;
+
+	bool	m_needsUpdate;
+	
+	void	removeVertex(int index);
+	void	reduceVertices (const b3UsageBitfield& usedVerts);
+	bool	updateClosestVectorAndPoints();
+
+	bool	closestPtPointTetrahedron(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d, b3SubSimplexClosestResult& finalResult);
+	int		pointOutsideOfPlane(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c, const b3Vector3& d);
+	bool	closestPtPointTriangle(const b3Vector3& p, const b3Vector3& a, const b3Vector3& b, const b3Vector3& c,b3SubSimplexClosestResult& result);
+
+public:
+
+	b3VoronoiSimplexSolver()
+		:  m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
+	{
+	}
+	 void reset();
+
+	 void addVertex(const b3Vector3& w, const b3Vector3& p, const b3Vector3& q);
+
+	 void	setEqualVertexThreshold(b3Scalar threshold)
+	 {
+		 m_equalVertexThreshold = threshold;
+	 }
+
+	 b3Scalar	getEqualVertexThreshold() const
+	 {
+		 return m_equalVertexThreshold;
+	 }
+
+	 bool closest(b3Vector3& v);
+
+	 b3Scalar maxVertex();
+
+	 bool fullSimplex() const
+	 {
+		 return (m_numVertices == 4);
+	 }
+
+	 int getSimplex(b3Vector3 *pBuf, b3Vector3 *qBuf, b3Vector3 *yBuf) const;
+
+	 bool inSimplex(const b3Vector3& w);
+	
+	 void backup_closest(b3Vector3& v) ;
+
+	 bool emptySimplex() const ;
+
+	 void compute_points(b3Vector3& p1, b3Vector3& p2) ;
+
+	 int numVertices() const 
+	 {
+		 return m_numVertices;
+	 }
+
+
+};
+
+#endif //B3_VORONOI_SIMPLEX_SOLVER_H
+