Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 147 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp
new file mode 100644
index 0000000000..2d83c8bfba
--- /dev/null
+++ b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp
@@ -0,0 +1,147 @@
+/*
+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.
+*/
+
+#include "btConeShape.h"
+
+
+
+btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (),
+m_radius (radius),
+m_height(height)
+{
+	m_shapeType = CONE_SHAPE_PROXYTYPE;
+	setConeUpIndex(1);
+	btVector3 halfExtents;
+	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
+}
+
+btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
+btConeShape(radius,height)
+{
+	setConeUpIndex(2);
+}
+
+btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
+btConeShape(radius,height)
+{
+	setConeUpIndex(0);
+}
+
+///choose upAxis index
+void	btConeShape::setConeUpIndex(int upIndex)
+{
+	switch (upIndex)
+	{
+	case 0:
+			m_coneIndices[0] = 1;
+			m_coneIndices[1] = 0;
+			m_coneIndices[2] = 2;
+		break;
+	case 1:
+			m_coneIndices[0] = 0;
+			m_coneIndices[1] = 1;
+			m_coneIndices[2] = 2;
+		break;
+	case 2:
+			m_coneIndices[0] = 0;
+			m_coneIndices[1] = 2;
+			m_coneIndices[2] = 1;
+		break;
+	default:
+		btAssert(0);
+	};
+	
+	m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
+	m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
+	m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
+}
+
+btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
+{
+	
+	btScalar halfHeight = m_height * btScalar(0.5);
+
+ if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
+ {
+	btVector3 tmp;
+
+	tmp[m_coneIndices[0]] = btScalar(0.);
+	tmp[m_coneIndices[1]] = halfHeight;
+	tmp[m_coneIndices[2]] = btScalar(0.);
+	return tmp;
+ }
+  else {
+    btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
+    if (s > SIMD_EPSILON) {
+      btScalar d = m_radius / s;
+	  btVector3 tmp;
+	  tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
+	  tmp[m_coneIndices[1]] = -halfHeight;
+	  tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
+	  return tmp;
+    }
+    else  {
+		btVector3 tmp;
+		tmp[m_coneIndices[0]] = btScalar(0.);
+		tmp[m_coneIndices[1]] = -halfHeight;
+		tmp[m_coneIndices[2]] = btScalar(0.);
+		return tmp;
+	}
+  }
+
+}
+
+btVector3	btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
+{
+		return coneLocalSupport(vec);
+}
+
+void	btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		const btVector3& vec = vectors[i];
+		supportVerticesOut[i] = coneLocalSupport(vec);
+	}
+}
+
+
+btVector3	btConeShape::localGetSupportingVertex(const btVector3& vec)  const
+{
+	btVector3 supVertex = coneLocalSupport(vec);
+	if ( getMargin()!=btScalar(0.) )
+	{
+		btVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+		} 
+		vecnorm.normalize();
+		supVertex+= getMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+void	btConeShape::setLocalScaling(const btVector3& scaling)
+{
+	int axis = m_coneIndices[1];
+	int r1 = m_coneIndices[0];
+	int r2 = m_coneIndices[2];
+	m_height *= scaling[axis] / m_localScaling[axis];
+	m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
+	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
+	btConvexInternalShape::setLocalScaling(scaling);
+}
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