Merge pull request #15664 from akien-mga/thirdparty

Bugfix updates to various thirdparty libraries

1 files changed, 170 insertions, 0 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
new file mode 100644
index 0000000000..3beaf86580
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
@@ -0,0 +1,170 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 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.
+*/
+
+//btShapeHull was implemented by John McCutchan.
+
+
+#include "btShapeHull.h"
+#include "LinearMath/btConvexHull.h"
+
+#define NUM_UNITSPHERE_POINTS 42
+
+btShapeHull::btShapeHull (const btConvexShape* shape)
+{
+	m_shape = shape;
+	m_vertices.clear ();
+	m_indices.clear();
+	m_numIndices = 0;
+}
+
+btShapeHull::~btShapeHull ()
+{
+	m_indices.clear();	
+	m_vertices.clear ();
+}
+
+bool
+btShapeHull::buildHull (btScalar /*margin*/)
+{
+	int numSampleDirections = NUM_UNITSPHERE_POINTS;
+	{
+		int numPDA = m_shape->getNumPreferredPenetrationDirections();
+		if (numPDA)
+		{
+			for (int i=0;i<numPDA;i++)
+			{
+				btVector3 norm;
+				m_shape->getPreferredPenetrationDirection(i,norm);
+				getUnitSpherePoints()[numSampleDirections] = norm;
+				numSampleDirections++;
+			}
+		}
+	}
+
+	btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+	int i;
+	for (i = 0; i < numSampleDirections; i++)
+	{
+		supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
+	}
+
+	HullDesc hd;
+	hd.mFlags = QF_TRIANGLES;
+	hd.mVcount = static_cast<unsigned int>(numSampleDirections);
+
+#ifdef BT_USE_DOUBLE_PRECISION
+	hd.mVertices = &supportPoints[0];
+	hd.mVertexStride = sizeof(btVector3);
+#else
+	hd.mVertices = &supportPoints[0];
+	hd.mVertexStride = sizeof (btVector3);
+#endif
+
+	HullLibrary hl;
+	HullResult hr;
+	if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
+	{
+		return false;
+	}
+
+	m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
+
+
+	for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
+	{
+		m_vertices[i] = hr.m_OutputVertices[i];
+	}
+	m_numIndices = hr.mNumIndices;
+	m_indices.resize(static_cast<int>(m_numIndices));
+	for (i = 0; i < static_cast<int>(m_numIndices); i++)
+	{
+		m_indices[i] = hr.m_Indices[i];
+	}
+
+	// free temporary hull result that we just copied
+	hl.ReleaseResult (hr);
+
+	return true;
+}
+
+int
+btShapeHull::numTriangles () const
+{
+	return static_cast<int>(m_numIndices / 3);
+}
+
+int
+btShapeHull::numVertices () const
+{
+	return m_vertices.size ();
+}
+
+int
+btShapeHull::numIndices () const
+{
+	return static_cast<int>(m_numIndices);
+}
+
+
+btVector3* btShapeHull::getUnitSpherePoints()
+{
+	static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
+	{
+		btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
+		btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
+		btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
+		btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
+		btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
+		btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
+		btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
+		btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
+		btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
+		btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
+		btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
+		btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
+		btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
+		btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
+		btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
+		btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
+		btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
+		btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
+		btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
+		btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
+		btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
+		btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
+		btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
+		btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
+		btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+		btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
+		btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+		btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
+		btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
+		btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+		btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
+		btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+		btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
+		btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
+		btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
+		btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
+		btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
+		btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
+		btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
+		btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
+		btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
+		btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
+	};
+	return sUnitSpherePoints;
+}
+