Merge pull request #24740 from OBKF/update-bullet-physics

Update Bullet physics to commit 126b676

1 files changed, 120 insertions, 123 deletions

diff --git a/thirdparty/bullet/Bullet3Common/b3QuadWord.h b/thirdparty/bullet/Bullet3Common/b3QuadWord.h
index 65c9581977..0def305fac 100644
--- a/thirdparty/bullet/Bullet3Common/b3QuadWord.h
+++ b/thirdparty/bullet/Bullet3Common/b3QuadWord.h
@@ -12,18 +12,13 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef B3_SIMD_QUADWORD_H
 #define B3_SIMD_QUADWORD_H
 
 #include "b3Scalar.h"
 #include "b3MinMax.h"
 
-
-
-
-
-#if defined (__CELLOS_LV2) && defined (__SPU__)
+#if defined(__CELLOS_LV2) && defined(__SPU__)
 #include <altivec.h>
 #endif
 
@@ -31,58 +26,64 @@ subject to the following restrictions:
  * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
  */
 #ifndef USE_LIBSPE2
-B3_ATTRIBUTE_ALIGNED16(class) b3QuadWord
+B3_ATTRIBUTE_ALIGNED16(class)
+b3QuadWord
 #else
 class b3QuadWord
 #endif
 {
 protected:
-
-#if defined (__SPU__) && defined (__CELLOS_LV2__)
+#if defined(__SPU__) && defined(__CELLOS_LV2__)
 	union {
 		vec_float4 mVec128;
-		b3Scalar	m_floats[4];
+		b3Scalar m_floats[4];
 	};
+
 public:
-	vec_float4	get128() const
+	vec_float4 get128() const
 	{
 		return mVec128;
 	}
 
-#else //__CELLOS_LV2__ __SPU__
+#else  //__CELLOS_LV2__ __SPU__
 
-#if defined(B3_USE_SSE) || defined(B3_USE_NEON) 
+#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
 public:
 	union {
 		b3SimdFloat4 mVec128;
-		b3Scalar	m_floats[4];
-		struct {b3Scalar x,y,z,w;};
+		b3Scalar m_floats[4];
+		struct
+		{
+			b3Scalar x, y, z, w;
+		};
 	};
+
 public:
-	B3_FORCE_INLINE	b3SimdFloat4	get128() const
+	B3_FORCE_INLINE b3SimdFloat4 get128() const
 	{
 		return mVec128;
 	}
-	B3_FORCE_INLINE	void	set128(b3SimdFloat4 v128)
+	B3_FORCE_INLINE void set128(b3SimdFloat4 v128)
 	{
 		mVec128 = v128;
 	}
 #else
 public:
-	union
-	{
-		b3Scalar	m_floats[4];
-		struct {b3Scalar x,y,z,w;};
+	union {
+		b3Scalar m_floats[4];
+		struct
+		{
+			b3Scalar x, y, z, w;
+		};
 	};
-#endif // B3_USE_SSE
+#endif  // B3_USE_SSE
 
-#endif //__CELLOS_LV2__ __SPU__
+#endif  //__CELLOS_LV2__ __SPU__
 
-	public:
-  
+public:
 #if defined(B3_USE_SSE) || defined(B3_USE_NEON)
 
-	// Set Vector 
+	// Set Vector
 	B3_FORCE_INLINE b3QuadWord(const b3SimdFloat4 vec)
 	{
 		mVec128 = vec;
@@ -95,151 +96,147 @@ public:
 	}
 
 	// Assignment Operator
-	B3_FORCE_INLINE b3QuadWord& 
-	operator=(const b3QuadWord& v) 
+	B3_FORCE_INLINE b3QuadWord&
+	operator=(const b3QuadWord& v)
 	{
 		mVec128 = v.mVec128;
-		
+
 		return *this;
 	}
-	
+
 #endif
 
-  /**@brief Return the x value */
-		B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; }
-  /**@brief Return the y value */
-		B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; }
-  /**@brief Return the z value */
-		B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; }
-  /**@brief Set the x value */
-		B3_FORCE_INLINE void	setX(b3Scalar _x) { m_floats[0] = _x;};
-  /**@brief Set the y value */
-		B3_FORCE_INLINE void	setY(b3Scalar _y) { m_floats[1] = _y;};
-  /**@brief Set the z value */
-		B3_FORCE_INLINE void	setZ(b3Scalar _z) { m_floats[2] = _z;};
-  /**@brief Set the w value */
-		B3_FORCE_INLINE void	setW(b3Scalar _w) { m_floats[3] = _w;};
-  /**@brief Return the x value */
-
-
-	//B3_FORCE_INLINE b3Scalar&       operator[](int i)       { return (&m_floats[0])[i];	}      
+	/**@brief Return the x value */
+	B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; }
+	/**@brief Return the y value */
+	B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; }
+	/**@brief Return the z value */
+	B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; }
+	/**@brief Set the x value */
+	B3_FORCE_INLINE void setX(b3Scalar _x) { m_floats[0] = _x; };
+	/**@brief Set the y value */
+	B3_FORCE_INLINE void setY(b3Scalar _y) { m_floats[1] = _y; };
+	/**@brief Set the z value */
+	B3_FORCE_INLINE void setZ(b3Scalar _z) { m_floats[2] = _z; };
+	/**@brief Set the w value */
+	B3_FORCE_INLINE void setW(b3Scalar _w) { m_floats[3] = _w; };
+	/**@brief Return the x value */
+
+	//B3_FORCE_INLINE b3Scalar&       operator[](int i)       { return (&m_floats[0])[i];	}
 	//B3_FORCE_INLINE const b3Scalar& operator[](int i) const { return (&m_floats[0])[i]; }
 	///operator b3Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
-	B3_FORCE_INLINE	operator       b3Scalar *()       { return &m_floats[0]; }
-	B3_FORCE_INLINE	operator const b3Scalar *() const { return &m_floats[0]; }
+	B3_FORCE_INLINE operator b3Scalar*() { return &m_floats[0]; }
+	B3_FORCE_INLINE operator const b3Scalar*() const { return &m_floats[0]; }
 
-	B3_FORCE_INLINE	bool	operator==(const b3QuadWord& other) const
+	B3_FORCE_INLINE bool operator==(const b3QuadWord& other) const
 	{
 #ifdef B3_USE_SSE
-        return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
-#else 
-		return ((m_floats[3]==other.m_floats[3]) && 
-                (m_floats[2]==other.m_floats[2]) && 
-                (m_floats[1]==other.m_floats[1]) && 
-                (m_floats[0]==other.m_floats[0]));
+		return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
+#else
+		return ((m_floats[3] == other.m_floats[3]) &&
+				(m_floats[2] == other.m_floats[2]) &&
+				(m_floats[1] == other.m_floats[1]) &&
+				(m_floats[0] == other.m_floats[0]));
 #endif
 	}
 
-	B3_FORCE_INLINE	bool	operator!=(const b3QuadWord& other) const
+	B3_FORCE_INLINE bool operator!=(const b3QuadWord& other) const
 	{
 		return !(*this == other);
 	}
 
-  /**@brief Set x,y,z and zero w 
+	/**@brief Set x,y,z and zero w 
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    */
-		B3_FORCE_INLINE void 	setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
-		{
-			m_floats[0]=_x;
-			m_floats[1]=_y;
-			m_floats[2]=_z;
-			m_floats[3] = 0.f;
-		}
+	B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
+	{
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
+		m_floats[3] = 0.f;
+	}
 
-/*		void getValue(b3Scalar *m) const 
+	/*		void getValue(b3Scalar *m) const 
 		{
 			m[0] = m_floats[0];
 			m[1] = m_floats[1];
 			m[2] = m_floats[2];
 		}
 */
-/**@brief Set the values 
+	/**@brief Set the values 
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    * @param w Value of w
    */
-		B3_FORCE_INLINE void	setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _w)
-		{
-			m_floats[0]=_x;
-			m_floats[1]=_y;
-			m_floats[2]=_z;
-			m_floats[3]=_w;
-		}
-  /**@brief No initialization constructor */
-		B3_FORCE_INLINE b3QuadWord()
-		//	:m_floats[0](b3Scalar(0.)),m_floats[1](b3Scalar(0.)),m_floats[2](b3Scalar(0.)),m_floats[3](b3Scalar(0.))
-		{
-		}
- 
-  /**@brief Three argument constructor (zeros w)
+	B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w)
+	{
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
+		m_floats[3] = _w;
+	}
+	/**@brief No initialization constructor */
+	B3_FORCE_INLINE b3QuadWord()
+	//	:m_floats[0](b3Scalar(0.)),m_floats[1](b3Scalar(0.)),m_floats[2](b3Scalar(0.)),m_floats[3](b3Scalar(0.))
+	{
+	}
+
+	/**@brief Three argument constructor (zeros w)
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    */
-		B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)		
-		{
-			m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
-		}
+	B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z)
+	{
+		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
+	}
 
-/**@brief Initializing constructor
+	/**@brief Initializing constructor
    * @param x Value of x
    * @param y Value of y
    * @param z Value of z
    * @param w Value of w
    */
-		B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _w) 
-		{
-			m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
-		}
+	B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z, const b3Scalar& _w)
+	{
+		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
+	}
 
-  /**@brief Set each element to the max of the current values and the values of another b3QuadWord
+	/**@brief Set each element to the max of the current values and the values of another b3QuadWord
    * @param other The other b3QuadWord to compare with 
    */
-		B3_FORCE_INLINE void	setMax(const b3QuadWord& other)
-		{
-        #ifdef B3_USE_SSE
-            mVec128 = _mm_max_ps(mVec128, other.mVec128);
-        #elif defined(B3_USE_NEON)
-            mVec128 = vmaxq_f32(mVec128, other.mVec128);
-        #else
-        	b3SetMax(m_floats[0], other.m_floats[0]);
-			b3SetMax(m_floats[1], other.m_floats[1]);
-			b3SetMax(m_floats[2], other.m_floats[2]);
-			b3SetMax(m_floats[3], other.m_floats[3]);
-		#endif
-        }
-  /**@brief Set each element to the min of the current values and the values of another b3QuadWord
+	B3_FORCE_INLINE void setMax(const b3QuadWord& other)
+	{
+#ifdef B3_USE_SSE
+		mVec128 = _mm_max_ps(mVec128, other.mVec128);
+#elif defined(B3_USE_NEON)
+		mVec128 = vmaxq_f32(mVec128, other.mVec128);
+#else
+		b3SetMax(m_floats[0], other.m_floats[0]);
+		b3SetMax(m_floats[1], other.m_floats[1]);
+		b3SetMax(m_floats[2], other.m_floats[2]);
+		b3SetMax(m_floats[3], other.m_floats[3]);
+#endif
+	}
+	/**@brief Set each element to the min of the current values and the values of another b3QuadWord
    * @param other The other b3QuadWord to compare with 
    */
-		B3_FORCE_INLINE void	setMin(const b3QuadWord& other)
-		{
-        #ifdef B3_USE_SSE
-            mVec128 = _mm_min_ps(mVec128, other.mVec128);
-        #elif defined(B3_USE_NEON)
-            mVec128 = vminq_f32(mVec128, other.mVec128);
-        #else
-        	b3SetMin(m_floats[0], other.m_floats[0]);
-			b3SetMin(m_floats[1], other.m_floats[1]);
-			b3SetMin(m_floats[2], other.m_floats[2]);
-			b3SetMin(m_floats[3], other.m_floats[3]);
-		#endif
-        }
-
-
-
+	B3_FORCE_INLINE void setMin(const b3QuadWord& other)
+	{
+#ifdef B3_USE_SSE
+		mVec128 = _mm_min_ps(mVec128, other.mVec128);
+#elif defined(B3_USE_NEON)
+		mVec128 = vminq_f32(mVec128, other.mVec128);
+#else
+		b3SetMin(m_floats[0], other.m_floats[0]);
+		b3SetMin(m_floats[1], other.m_floats[1]);
+		b3SetMin(m_floats[2], other.m_floats[2]);
+		b3SetMin(m_floats[3], other.m_floats[3]);
+#endif
+	}
 };
 
-#endif //B3_SIMD_QUADWORD_H
+#endif  //B3_SIMD_QUADWORD_H