First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.

Made all buildsystems to work again (jam, msvc, cmake)

Extras/SATConvexCollision/Geometry.cpp

@@ -0,0 +1,229 @@
+// Bullet Continuous Collision Detection and Physics Library
+// Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+//
+// Geometry.cpp
+//
+// Copyright (c) 2006 Simon Hobbs
+// 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.
+
+
+///for now this is windows only, Intel SSE SIMD intrinsics
+#ifdef WIN32
+#if _MSC_VER >= 1310
+
+
+#include "Geometry.h"
+#include "Maths.h"
+#include <assert.h>
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Line
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Ray
+
+
+// returns false if the lines are parallel
+// t1 and t2 are set to the times of the nearest points on each line
+bool Intersect(const Line& la, const Line& lb, float& ta, float& tb)
+{
+	Vector3 ea = la.m_end - la.m_start;
+	Vector3 eb = lb.m_end - lb.m_start;
+	Vector3 u = la.m_start - lb.m_start;
+
+	float a = Dot(ea, ea);
+	float b = Dot(ea, eb);
+	float c = Dot(eb, eb);
+	float d = Dot(ea, u);
+	float e = Dot(eb, u);
+
+	float det = (a * c - b * b);
+
+	if (Abs(det) < 0.001f)
+		return false;
+
+	float invDet = RcpNr(det);
+	ta = (b * e - c * d) * invDet;
+	tb = (a * e - b * d) * invDet;
+
+	return true;
+}
+
+bool IntersectSegments(const Line& la, const Line& lb, float& ta, float& tb)
+{
+	Vector3 ea = la.m_end - la.m_start;
+	Vector3 eb = lb.m_end - lb.m_start;
+	Vector3 u = la.m_start - lb.m_start;
+
+	float a = Dot(ea, ea);
+	float b = Dot(ea, eb);
+	float c = Dot(eb, eb);
+	float d = Dot(ea, u);
+	float e = Dot(eb, u);
+
+	float det = (a * c - b * b);
+
+	if (Abs(det) < 0.001f)
+		return false;
+
+	float numa = (b * e - c * d);
+	float numb = (a * e - b * d);
+
+	// clip a
+	float dena = det, denb = det;
+	if (numa < 0.0f)
+	{
+		numa = 0.0f;
+		numb = e;
+		denb = c;
+	}
+	else if (numa > det)
+	{
+		numa = det;
+		numb = e + b;
+		denb = c;
+	}
+	else
+		denb = det;
+
+	// clip b
+	if (numb < 0.0f)
+	{
+		numb = 0.0f;
+		if (-d < 0.0f)
+		{
+			numa = 0.0f;
+		}
+		else if (-d > a)
+		{
+			numa = dena;
+		}
+		else
+		{
+			numa = -d;
+			dena = a;
+		}
+	}
+	else if (numb > denb)
+	{
+		numb = denb;
+		if ((-d + b) < 0.0f)
+		{
+			numa = 0.0f;
+		}
+		else if ((-d + b) > a)
+		{
+			numa = dena;
+		}
+		else
+		{
+			numa = -d + b;
+			dena = a;
+		}
+	}
+
+	// compute the times
+	ta = numa / dena;
+	tb = numb / denb;
+
+	return true;
+}
+
+// returns intersection of 2 rays or nearest point to it
+// t1 and t2 are set to the times of the nearest points on each ray (not clamped to ray though)
+// asserts if rays are parallel
+bool Intersect(const Ray& ra, const Ray& rb, float& ta, float& tb)
+{
+	Vector3 u = ra.m_start - rb.m_start;
+
+	Scalar a = Dot(ra.m_dir, ra.m_dir);
+	Scalar b = Dot(ra.m_dir, rb.m_dir);
+	Scalar c = Dot(rb.m_dir, rb.m_dir);
+	Scalar d = Dot(ra.m_dir, u);
+	Scalar e = Dot(rb.m_dir, u);
+
+	Scalar det = (a * c - b * b);
+
+	if (Abs(det) < 0.001f)
+		return false;
+
+	Scalar invDet = RcpNr(det);
+	ta = (b * e - c * d) * invDet;
+	tb = (a * e - b * d) * invDet;
+
+	return true;
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Plane
+bool Plane::IsFinite() const
+{
+	if (IsNan(GetX()) || IsNan(GetY()) || IsNan(GetZ()) || IsNan(GetW()))
+		return false;
+	return true;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Bounds3 - axis aligned bounding box
+
+Bounds3::OriginTag Bounds3::Origin;
+Bounds3::EmptyTag Bounds3::Empty;
+
+bool Bounds3::Intersect(const Ray& ray, float& tnear, float& tfar) const
+{
+	Vector3 rcpDir = RcpNr(ray.m_dir);
+
+	Vector3 v1 = (m_min - ray.m_start) * rcpDir;
+	Vector3 v2 = (m_max - ray.m_start) * rcpDir;
+
+	Vector3 vmin = Min(v1, v2);
+	Vector3 vmax = Max(v1, v2);
+
+	Scalar snear = MaxComp(vmin);
+
+	// handle ray being parallel to any axis
+	// (most rays don't need this)
+	if (IsNan(snear))
+	{
+		int inside = (ray.m_start >= m_min) & (ray.m_start <= m_max);
+
+		for (int i = 0; i < 3; i++)
+		{
+			if (IsNan(rcpDir.Get(i)))
+			{
+				if ((inside & (1 << i)) == 0)
+					return false;
+				vmin.Set(i, Scalar::Consts::MinValue);
+				vmax.Set(i, Scalar::Consts::MaxValue);
+			}
+		}
+
+		snear = MaxComp(vmin);
+	}
+
+	tnear = snear;
+	tfar = MinComp(vmax);
+
+	if (tnear > tfar)
+		return false;
+
+	if (tfar < 0.0f)
+		return false;
+
+	return true;
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+// OrientedBounds3 - oriented bounding box
+
+#endif
+#endif //WIN32