update bullet test to compile from source

1 files changed, 202 insertions, 0 deletions

diff --git a/tests/bullet/Extras/ConvexDecomposition/fitsphere.cpp b/tests/bullet/Extras/ConvexDecomposition/fitsphere.cpp
new file mode 100644
index 00000000..53e6e6d7
--- /dev/null
+++ b/tests/bullet/Extras/ConvexDecomposition/fitsphere.cpp
@@ -0,0 +1,202 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+#include <math.h>
+
+#include "fitsphere.h"
+
+
+/*----------------------------------------------------------------------
+		Copyright (c) 2004 Open Dynamics Framework Group
+					www.physicstools.org
+		All rights reserved.
+
+		Redistribution and use in source and binary forms, with or without modification, are permitted provided
+		that the following conditions are met:
+
+		Redistributions of source code must retain the above copyright notice, this list of conditions
+		and the following disclaimer.
+
+		Redistributions in binary form must reproduce the above copyright notice,
+		this list of conditions and the following disclaimer in the documentation
+		and/or other materials provided with the distribution.
+
+		Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
+		be used to endorse or promote products derived from this software without specific prior written permission.
+
+		THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
+		INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+		DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+		EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+		LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+		IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+		THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-----------------------------------------------------------------------*/
+
+// http://codesuppository.blogspot.com
+//
+// mailto: jratcliff@infiniplex.net
+//
+// http://www.amillionpixels.us
+//
+/*
+An Efficient Bounding Sphere
+by Jack Ritter
+from "Graphics Gems", Academic Press, 1990
+*/
+
+/* Routine to calculate tight bounding sphere over    */
+/* a set of points in 3D */
+/* This contains the routine find_bounding_sphere(), */
+/* the struct definition, and the globals used for parameters. */
+/* The abs() of all coordinates must be < BIGNUMBER */
+/* Code written by Jack Ritter and Lyle Rains. */
+
+#define BIGNUMBER 100000000.0  		/* hundred million */
+
+static inline void Set(float *n,float x,float y,float z)
+{
+	n[0] = x;
+	n[1] = y;
+	n[2] = z;
+}
+
+static inline void Copy(float *dest,const float *source)
+{
+	dest[0] = source[0];
+	dest[1] = source[1];
+	dest[2] = source[2];
+}
+
+float computeBoundingSphere(unsigned int vcount,const float *points,float *center)
+{
+
+  float mRadius;
+  float mRadius2;
+
+	float xmin[3];
+	float xmax[3];
+	float ymin[3];
+	float ymax[3];
+	float zmin[3];
+	float zmax[3];
+	float dia1[3];
+	float dia2[3];
+
+  /* FIRST PASS: find 6 minima/maxima points */
+  Set(xmin,BIGNUMBER,BIGNUMBER,BIGNUMBER);
+  Set(xmax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER);
+  Set(ymin,BIGNUMBER,BIGNUMBER,BIGNUMBER);
+  Set(ymax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER);
+  Set(zmin,BIGNUMBER,BIGNUMBER,BIGNUMBER);
+  Set(zmax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER);
+
+  for (unsigned i=0; i<vcount; i++)
+	{
+		const float *caller_p = &points[i*3];
+
+   	if (caller_p[0]<xmin[0])
+  	  Copy(xmin,caller_p); /* New xminimum point */
+  	if (caller_p[0]>xmax[0])
+  	  Copy(xmax,caller_p);
+  	if (caller_p[1]<ymin[1])
+  	  Copy(ymin,caller_p);
+  	if (caller_p[1]>ymax[1])
+  	  Copy(ymax,caller_p);
+  	if (caller_p[2]<zmin[2])
+  	  Copy(zmin,caller_p);
+  	if (caller_p[2]>zmax[2])
+  	  Copy(zmax,caller_p);
+	}
+
+  /* Set xspan = distance between the 2 points xmin & xmax (squared) */
+  float dx = xmax[0] - xmin[0];
+  float dy = xmax[1] - xmin[1];
+  float dz = xmax[2] - xmin[2];
+  float xspan = dx*dx + dy*dy + dz*dz;
+
+  /* Same for y & z spans */
+  dx = ymax[0] - ymin[0];
+  dy = ymax[1] - ymin[1];
+  dz = ymax[2] - ymin[2];
+  float yspan = dx*dx + dy*dy + dz*dz;
+
+  dx = zmax[0] - zmin[0];
+  dy = zmax[1] - zmin[1];
+  dz = zmax[2] - zmin[2];
+  float zspan = dx*dx + dy*dy + dz*dz;
+
+  /* Set points dia1 & dia2 to the maximally separated pair */
+  Copy(dia1,xmin);
+  Copy(dia2,xmax); /* assume xspan biggest */
+  float maxspan = xspan;
+
+  if (yspan>maxspan)
+	{
+	  maxspan = yspan;
+  	Copy(dia1,ymin);
+  	Copy(dia2,ymax);
+	}
+
+  if (zspan>maxspan)
+	{
+	  Copy(dia1,zmin);
+	  Copy(dia2,zmax);
+	}
+
+
+  /* dia1,dia2 is a diameter of initial sphere */
+  /* calc initial center */
+  center[0] = (dia1[0]+dia2[0])*0.5f;
+  center[1] = (dia1[1]+dia2[1])*0.5f;
+  center[2] = (dia1[2]+dia2[2])*0.5f;
+
+  /* calculate initial radius**2 and radius */
+
+  dx = dia2[0]-center[0]; /* x component of radius vector */
+  dy = dia2[1]-center[1]; /* y component of radius vector */
+  dz = dia2[2]-center[2]; /* z component of radius vector */
+
+  mRadius2 = dx*dx + dy*dy + dz*dz;
+  mRadius = float(sqrt(mRadius2));
+
+  /* SECOND PASS: increment current sphere */
+
+	if ( 1 )
+	{
+		for (unsigned i=0; i<vcount; i++)
+		{
+			const float *caller_p = &points[i*3];
+
+  		dx = caller_p[0]-center[0];
+			dy = caller_p[1]-center[1];
+  		dz = caller_p[2]-center[2];
+
+			float old_to_p_sq = dx*dx + dy*dy + dz*dz;
+
+  		if (old_to_p_sq > mRadius2) 	/* do r**2 test first */
+			{ 	/* this point is outside of current sphere */
+	  		float old_to_p = float(sqrt(old_to_p_sq));
+				/* calc radius of new sphere */
+  			mRadius = (mRadius + old_to_p) * 0.5f;
+	  		mRadius2 = mRadius*mRadius; 	/* for next r**2 compare */
+  			float old_to_new = old_to_p - mRadius;
+
+	  		/* calc center of new sphere */
+
+				float recip = 1.0f /old_to_p;
+
+  			float cx = (mRadius*center[0] + old_to_new*caller_p[0]) * recip;
+	  		float cy = (mRadius*center[1] + old_to_new*caller_p[1]) * recip;
+				float cz = (mRadius*center[2] + old_to_new*caller_p[2]) * recip;
+
+				Set(center,cx,cy,cz);
+			}
+		}
+	}
+
+  return mRadius;
+}
+
+