Update Bullet to the latest commit 126b676

1 files changed, 111 insertions, 118 deletions

diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
index 4d97f7f62b..6b0c941f23 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
@@ -15,35 +15,32 @@ subject to the following restrictions:
 
 #include "b3StridingMeshInterface.h"
 
-
 b3StridingMeshInterface::~b3StridingMeshInterface()
 {
-
 }
 
-
-void	b3StridingMeshInterface::InternalProcessAllTriangles(b3InternalTriangleIndexCallback* callback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
+void b3StridingMeshInterface::InternalProcessAllTriangles(b3InternalTriangleIndexCallback* callback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const
 {
 	(void)aabbMin;
 	(void)aabbMax;
 	int numtotalphysicsverts = 0;
-	int part,graphicssubparts = getNumSubParts();
-	const unsigned char * vertexbase;
-	const unsigned char * indexbase;
+	int part, graphicssubparts = getNumSubParts();
+	const unsigned char* vertexbase;
+	const unsigned char* indexbase;
 	int indexstride;
 	PHY_ScalarType type;
 	PHY_ScalarType gfxindextype;
-	int stride,numverts,numtriangles;
+	int stride, numverts, numtriangles;
 	int gfxindex;
 	b3Vector3 triangle[3];
 
 	b3Vector3 meshScaling = getScaling();
 
 	///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
-	for (part=0;part<graphicssubparts ;part++)
+	for (part = 0; part < graphicssubparts; part++)
 	{
-		getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
-		numtotalphysicsverts+=numtriangles*3; //upper bound
+		getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numtriangles, gfxindextype, part);
+		numtotalphysicsverts += numtriangles * 3;  //upper bound
 
 		///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
 		///so disable this feature by default
@@ -51,143 +48,141 @@ void	b3StridingMeshInterface::InternalProcessAllTriangles(b3InternalTriangleInde
 
 		switch (type)
 		{
-		case PHY_FLOAT:
-		 {
-
-			 float* graphicsbase;
-
-			 switch (gfxindextype)
-			 {
-			 case PHY_INTEGER:
-				 {
-					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
-					 {
-						 unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
-						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
-						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
-						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
-						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
-					 }
-					 break;
-				 }
-			 case PHY_SHORT:
-				 {
-					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
-					 {
-						 unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
-						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
-						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
-						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
-						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
-					 }
-					 break;
-				 }
-			case PHY_UCHAR:
-				 {
-					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
-					 {
-						 unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
-						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
-						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
-						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
-						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
-						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
-					 }
-					 break;
-				 }
-			 default:
-				 b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
-			 }
-			 break;
-		 }
-
-		case PHY_DOUBLE:
+			case PHY_FLOAT:
+			{
+				float* graphicsbase;
+
+				switch (gfxindextype)
+				{
+					case PHY_INTEGER:
+					{
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
+						{
+							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
+						}
+						break;
+					}
+					case PHY_SHORT:
+					{
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
+						{
+							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
+						}
+						break;
+					}
+					case PHY_UCHAR:
+					{
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
+						{
+							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (float*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (float*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue(graphicsbase[0] * meshScaling.getX(), graphicsbase[1] * meshScaling.getY(), graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
+						}
+						break;
+					}
+					default:
+						b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+				}
+				break;
+			}
+
+			case PHY_DOUBLE:
 			{
 				double* graphicsbase;
 
 				switch (gfxindextype)
 				{
-				case PHY_INTEGER:
+					case PHY_INTEGER:
 					{
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
-							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
-							triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
-							triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
-							triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+							unsigned int* tri_indices = (unsigned int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
 						}
 						break;
 					}
-				case PHY_SHORT:
+					case PHY_SHORT:
 					{
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
-							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
-							triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
-							triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
-							triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+							unsigned short int* tri_indices = (unsigned short int*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
 						}
 						break;
 					}
-				case PHY_UCHAR:
+					case PHY_UCHAR:
 					{
-						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						for (gfxindex = 0; gfxindex < numtriangles; gfxindex++)
 						{
-							unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
-							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
-							triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
-							triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
-							triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),  (b3Scalar)graphicsbase[2]*meshScaling.getZ());
-							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+							unsigned char* tri_indices = (unsigned char*)(indexbase + gfxindex * indexstride);
+							graphicsbase = (double*)(vertexbase + tri_indices[0] * stride);
+							triangle[0].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[1] * stride);
+							triangle[1].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase + tri_indices[2] * stride);
+							triangle[2].setValue((b3Scalar)graphicsbase[0] * meshScaling.getX(), (b3Scalar)graphicsbase[1] * meshScaling.getY(), (b3Scalar)graphicsbase[2] * meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle, part, gfxindex);
 						}
 						break;
 					}
-				default:
-					b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+					default:
+						b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
 				}
 				break;
 			}
-		default:
-			b3Assert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
+			default:
+				b3Assert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
 		}
 
 		unLockReadOnlyVertexBase(part);
 	}
 }
 
-void	b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin,b3Vector3& aabbMax)
+void b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin, b3Vector3& aabbMax)
 {
-
-	struct	AabbCalculationCallback : public b3InternalTriangleIndexCallback
+	struct AabbCalculationCallback : public b3InternalTriangleIndexCallback
 	{
-		b3Vector3	m_aabbMin;
-		b3Vector3	m_aabbMax;
+		b3Vector3 m_aabbMin;
+		b3Vector3 m_aabbMax;
 
 		AabbCalculationCallback()
 		{
-			m_aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
-			m_aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
+			m_aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
+			m_aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
 		}
 
-		virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int  triangleIndex)
+		virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
 		{
 			(void)partId;
 			(void)triangleIndex;
@@ -202,13 +197,11 @@ void	b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin,b3Vecto
 	};
 
 	//first calculate the total aabb for all triangles
-	AabbCalculationCallback	aabbCallback;
-	aabbMin.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
-	aabbMax.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
-	InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
+	AabbCalculationCallback aabbCallback;
+	aabbMin.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
+	aabbMax.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
+	InternalProcessAllTriangles(&aabbCallback, aabbMin, aabbMax);
 
 	aabbMin = aabbCallback.m_aabbMin;
 	aabbMax = aabbCallback.m_aabbMax;
 }
-
-