Update Bullet to the latest commit 126b676

1 files changed, 73 insertions, 75 deletions

diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
index 90b333d846..a71feef53b 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
@@ -24,16 +24,16 @@ subject to the following restrictions:
 // Compile time config
 //
 
-#define	DBVT_BP_PROFILE					0
+#define DBVT_BP_PROFILE 0
 //#define DBVT_BP_SORTPAIRS				1
-#define DBVT_BP_PREVENTFALSEUPDATE		0
-#define DBVT_BP_ACCURATESLEEPING		0
-#define DBVT_BP_ENABLE_BENCHMARK		0
+#define DBVT_BP_PREVENTFALSEUPDATE 0
+#define DBVT_BP_ACCURATESLEEPING 0
+#define DBVT_BP_ENABLE_BENCHMARK 0
 //#define DBVT_BP_MARGIN					(btScalar)0.05
 extern btScalar gDbvtMargin;
 
 #if DBVT_BP_PROFILE
-#define	DBVT_BP_PROFILING_RATE	256
+#define DBVT_BP_PROFILING_RATE 256
 #include "LinearMath/btQuickprof.h"
 #endif
 
@@ -42,90 +42,90 @@ extern btScalar gDbvtMargin;
 //
 struct btDbvtProxy : btBroadphaseProxy
 {
-	/* Fields		*/ 
+	/* Fields		*/
 	//btDbvtAabbMm	aabb;
-	btDbvtNode*		leaf;
-	btDbvtProxy*	links[2];
-	int				stage;
-	/* ctor			*/ 
-	btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup,  int collisionFilterMask) :
-	btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
+	btDbvtNode* leaf;
+	btDbvtProxy* links[2];
+	int stage;
+	/* ctor			*/
+	btDbvtProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) : btBroadphaseProxy(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask)
 	{
-		links[0]=links[1]=0;
+		links[0] = links[1] = 0;
 	}
 };
 
-typedef btAlignedObjectArray<btDbvtProxy*>	btDbvtProxyArray;
+typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray;
 
 ///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
 ///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
 ///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
-struct	btDbvtBroadphase : btBroadphaseInterface
+struct btDbvtBroadphase : btBroadphaseInterface
 {
-	/* Config		*/ 
-	enum	{
-		DYNAMIC_SET			=	0,	/* Dynamic set index	*/ 
-		FIXED_SET			=	1,	/* Fixed set index		*/ 
-		STAGECOUNT			=	2	/* Number of stages		*/ 
+	/* Config		*/
+	enum
+	{
+		DYNAMIC_SET = 0, /* Dynamic set index	*/
+		FIXED_SET = 1,   /* Fixed set index		*/
+		STAGECOUNT = 2   /* Number of stages		*/
 	};
-	/* Fields		*/ 
-	btDbvt					m_sets[2];					// Dbvt sets
-	btDbvtProxy*			m_stageRoots[STAGECOUNT+1];	// Stages list
-	btOverlappingPairCache*	m_paircache;				// Pair cache
-	btScalar				m_prediction;				// Velocity prediction
-	int						m_stageCurrent;				// Current stage
-	int						m_fupdates;					// % of fixed updates per frame
-	int						m_dupdates;					// % of dynamic updates per frame
-	int						m_cupdates;					// % of cleanup updates per frame
-	int						m_newpairs;					// Number of pairs created
-	int						m_fixedleft;				// Fixed optimization left
-	unsigned				m_updates_call;				// Number of updates call
-	unsigned				m_updates_done;				// Number of updates done
-	btScalar				m_updates_ratio;			// m_updates_done/m_updates_call
-	int						m_pid;						// Parse id
-	int						m_cid;						// Cleanup index
-	int						m_gid;						// Gen id
-	bool					m_releasepaircache;			// Release pair cache on delete
-	bool					m_deferedcollide;			// Defere dynamic/static collision to collide call
-	bool					m_needcleanup;				// Need to run cleanup?
-    btAlignedObjectArray< btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks;
+	/* Fields		*/
+	btDbvt m_sets[2];                           // Dbvt sets
+	btDbvtProxy* m_stageRoots[STAGECOUNT + 1];  // Stages list
+	btOverlappingPairCache* m_paircache;        // Pair cache
+	btScalar m_prediction;                      // Velocity prediction
+	int m_stageCurrent;                         // Current stage
+	int m_fupdates;                             // % of fixed updates per frame
+	int m_dupdates;                             // % of dynamic updates per frame
+	int m_cupdates;                             // % of cleanup updates per frame
+	int m_newpairs;                             // Number of pairs created
+	int m_fixedleft;                            // Fixed optimization left
+	unsigned m_updates_call;                    // Number of updates call
+	unsigned m_updates_done;                    // Number of updates done
+	btScalar m_updates_ratio;                   // m_updates_done/m_updates_call
+	int m_pid;                                  // Parse id
+	int m_cid;                                  // Cleanup index
+	int m_gid;                                  // Gen id
+	bool m_releasepaircache;                    // Release pair cache on delete
+	bool m_deferedcollide;                      // Defere dynamic/static collision to collide call
+	bool m_needcleanup;                         // Need to run cleanup?
+	btAlignedObjectArray<btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks;
 #if DBVT_BP_PROFILE
-	btClock					m_clock;
-	struct	{
-		unsigned long		m_total;
-		unsigned long		m_ddcollide;
-		unsigned long		m_fdcollide;
-		unsigned long		m_cleanup;
-		unsigned long		m_jobcount;
-	}				m_profiling;
+	btClock m_clock;
+	struct
+	{
+		unsigned long m_total;
+		unsigned long m_ddcollide;
+		unsigned long m_fdcollide;
+		unsigned long m_cleanup;
+		unsigned long m_jobcount;
+	} m_profiling;
 #endif
-	/* Methods		*/ 
-	btDbvtBroadphase(btOverlappingPairCache* paircache=0);
+	/* Methods		*/
+	btDbvtBroadphase(btOverlappingPairCache* paircache = 0);
 	~btDbvtBroadphase();
-	void							collide(btDispatcher* dispatcher);
-	void							optimize();
-	
-	/* btBroadphaseInterface Implementation	*/
-	btBroadphaseProxy*				createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher);
-	virtual void					destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-	virtual void					setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
-	virtual void					rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
-	virtual void					aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
-
-	virtual void					getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-	virtual	void					calculateOverlappingPairs(btDispatcher* dispatcher);
-	virtual	btOverlappingPairCache*	getOverlappingPairCache();
-	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const;
-	virtual	void					getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
-	virtual	void					printStats();
+	void collide(btDispatcher* dispatcher);
+	void optimize();
 
+	/* btBroadphaseInterface Implementation	*/
+	btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
+	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
+	virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
+	virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0));
+	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
+
+	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
+	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
+	virtual btOverlappingPairCache* getOverlappingPairCache();
+	virtual const btOverlappingPairCache* getOverlappingPairCache() const;
+	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const;
+	virtual void printStats();
 
 	///reset broadphase internal structures, to ensure determinism/reproducability
 	virtual void resetPool(btDispatcher* dispatcher);
 
-	void	performDeferredRemoval(btDispatcher* dispatcher);
-	
-	void	setVelocityPrediction(btScalar prediction)
+	void performDeferredRemoval(btDispatcher* dispatcher);
+
+	void setVelocityPrediction(btScalar prediction)
 	{
 		m_prediction = prediction;
 	}
@@ -134,15 +134,13 @@ struct	btDbvtBroadphase : btBroadphaseInterface
 		return m_prediction;
 	}
 
-	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update. 
+	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
 	///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
 	///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
 	///http://code.google.com/p/bullet/issues/detail?id=223
-	void							setAabbForceUpdate(		btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
-
-	static void						benchmark(btBroadphaseInterface*);
-
+	void setAabbForceUpdate(btBroadphaseProxy* absproxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/);
 
+	static void benchmark(btBroadphaseInterface*);
 };
 
 #endif