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)

src/BulletCollision/BroadphaseCollision/btAxisSweep3.h

@@ -0,0 +1,115 @@
+//Bullet Continuous Collision Detection and Physics Library
+//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+//
+// AxisSweep3.h
+//
+// 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.
+
+#ifndef AXIS_SWEEP_3_H
+#define AXIS_SWEEP_3_H
+
+#include "LinearMath/SimdPoint3.h"
+#include "LinearMath/SimdVector3.h"
+#include "btOverlappingPairCache.h"
+#include "btBroadphaseProxy.h"
+
+/// AxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
+/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
+/// The TestOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
+class AxisSweep3 : public OverlappingPairCache
+{
+
+public:
+	
+
+	class Edge
+	{
+	public:
+		unsigned short m_pos;			// low bit is min/max
+		unsigned short m_handle;
+
+		unsigned short IsMax() const {return m_pos & 1;}
+	};
+
+public:
+	class Handle : public BroadphaseProxy
+	{
+	public:
+		
+		// indexes into the edge arrays
+		unsigned short m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
+		unsigned short m_handleId;
+		unsigned short m_pad;
+		
+		//void* m_pOwner; this is now in BroadphaseProxy.m_clientObject
+	
+		inline void SetNextFree(unsigned short next) {m_minEdges[0] = next;}
+		inline unsigned short GetNextFree() const {return m_minEdges[0];}
+	};		// 24 bytes + 24 for Edge structures = 44 bytes total per entry
+
+	
+private:
+	SimdPoint3 m_worldAabbMin;						// overall system bounds
+	SimdPoint3 m_worldAabbMax;						// overall system bounds
+
+	SimdVector3 m_quantize;						// scaling factor for quantization
+
+	int m_numHandles;						// number of active handles
+	int m_maxHandles;						// max number of handles
+	Handle* m_pHandles;						// handles pool
+	unsigned short m_firstFreeHandle;		// free handles list
+
+	Edge* m_pEdges[3];						// edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
+
+
+	// allocation/deallocation
+	unsigned short AllocHandle();
+	void FreeHandle(unsigned short handle);
+	
+
+	bool TestOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
+
+	//Overlap* AddOverlap(unsigned short handleA, unsigned short handleB);
+	//void RemoveOverlap(unsigned short handleA, unsigned short handleB);
+
+	void Quantize(unsigned short* out, const SimdPoint3& point, int isMax) const;
+
+	void SortMinDown(int axis, unsigned short edge, bool updateOverlaps = true);
+	void SortMinUp(int axis, unsigned short edge, bool updateOverlaps = true);
+	void SortMaxDown(int axis, unsigned short edge, bool updateOverlaps = true);
+	void SortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);
+
+public:
+	AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 16384);
+	virtual	~AxisSweep3();
+
+	virtual void	RefreshOverlappingPairs()
+	{
+		//this is replace by sweep and prune
+	}
+	
+	unsigned short AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
+	void RemoveHandle(unsigned short handle);
+	void UpdateHandle(unsigned short handle, const SimdPoint3& aabbMin,const SimdPoint3& aabbMax);
+	inline Handle* GetHandle(unsigned short index) const {return m_pHandles + index;}
+
+
+	//Broadphase Interface
+	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	virtual void	DestroyProxy(BroadphaseProxy* proxy);
+	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
+
+};
+
+#endif //AXIS_SWEEP_3_H