bullet: Sync with upstream 2.89

This allows distro unbundling again for distros that ship Bullet 2.89+.

8 files changed, 118 insertions, 17 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
index 1cc4a5ac5f..56341b7d29 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
@@ -27,13 +27,19 @@ public:
 	const btCollisionShape* m_shape;
 	const btCollisionObject* m_collisionObject;
 	const btTransform& m_worldTransform;
+    const btTransform* m_preTransform;
 	int m_partId;
 	int m_index;
 
 	btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index)
-		: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_partId(partId), m_index(index)
+		: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(NULL), m_partId(partId), m_index(index)
 	{
 	}
+    
+    btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, const btTransform& preTransform, int partId, int index)
+    : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(&preTransform), m_partId(partId), m_index(index)
+    {
+    }
 
 	SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }
 	SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; }
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
index 9f422dc157..e56e73dcf5 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
@@ -292,8 +292,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionSha
 			}
 			break;
 		}
-#endif  //SUPPORT_GIMPACT_SHAPE_IMPORT                                                                        \
-		//The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API \
+#endif  //SUPPORT_GIMPACT_SHAPE_IMPORT
+		//The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API
 		//so deal with this
 		case CAPSULE_SHAPE_PROXYTYPE:
 		{
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index 633bee4825..1bb21104cb 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -139,7 +139,7 @@ public:
 
 		if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
 		{
-			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, -1, index);
+			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index);
 
 			btCollisionAlgorithm* algo = 0;
 			bool allocatedAlgorithm = false;
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index 44dd3c553e..b48d97f2b2 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -503,9 +503,9 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
 
 					gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw);
 					//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
-#endif  //ZERO_MARGIN                                                    \
-	//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); \
-	//if (l2>SIMD_EPSILON)
+#endif  //ZERO_MARGIN
+					//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
+					//if (l2>SIMD_EPSILON)
 					{
 						sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;  //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
 						//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
index e74c83f9f1..a4252c296a 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
@@ -1,6 +1,8 @@
 #include "btInternalEdgeUtility.h"
 
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
+
 #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btTriangleShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
@@ -290,6 +292,39 @@ struct btConnectivityProcessor : public btTriangleCallback
 		}
 	}
 };
+
+
+struct b3ProcessAllTrianglesHeightfield: public btTriangleCallback
+{
+	btHeightfieldTerrainShape* m_heightfieldShape;
+	btTriangleInfoMap* m_triangleInfoMap;
+	
+
+	b3ProcessAllTrianglesHeightfield(btHeightfieldTerrainShape* heightFieldShape, btTriangleInfoMap* triangleInfoMap)
+		:m_heightfieldShape(heightFieldShape),
+		m_triangleInfoMap(triangleInfoMap)
+	{
+	}
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
+	{
+		btConnectivityProcessor connectivityProcessor;
+		connectivityProcessor.m_partIdA = partId;
+		connectivityProcessor.m_triangleIndexA = triangleIndex;
+		connectivityProcessor.m_triangleVerticesA = triangle;
+		connectivityProcessor.m_triangleInfoMap = m_triangleInfoMap;
+		btVector3 aabbMin, aabbMax;
+		aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+		aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
+		aabbMin.setMin(triangle[0]);
+		aabbMax.setMax(triangle[0]);
+		aabbMin.setMin(triangle[1]);
+		aabbMax.setMax(triangle[1]);
+		aabbMin.setMin(triangle[2]);
+		aabbMax.setMax(triangle[2]);
+
+		m_heightfieldShape->processAllTriangles(&connectivityProcessor, aabbMin, aabbMax);
+	}
+};
 /////////////////////////////////////////////////////////
 /////////////////////////////////////////////////////////
 
@@ -361,6 +396,28 @@ void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangle
 	}
 }
 
+
+void btGenerateInternalEdgeInfo(btHeightfieldTerrainShape* heightfieldShape, btTriangleInfoMap* triangleInfoMap)
+{
+
+	//the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there!
+	if (heightfieldShape->getTriangleInfoMap())
+		return;
+
+	heightfieldShape->setTriangleInfoMap(triangleInfoMap);
+
+	//get all the triangles of the heightfield
+
+	btVector3 aabbMin, aabbMax;
+
+	aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
+
+	b3ProcessAllTrianglesHeightfield processHeightfield(heightfieldShape, triangleInfoMap);
+	heightfieldShape->processAllTriangles(&processHeightfield, aabbMin, aabbMax);
+
+}
+
 // Given a point and a line segment (defined by two points), compute the closest point
 // in the line.  Cap the point at the endpoints of the line segment.
 void btNearestPointInLineSegment(const btVector3& point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint)
@@ -426,6 +483,32 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr
 	if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
 		return;
 
+	
+	btTriangleInfoMap* triangleInfoMapPtr = 0;
+
+	if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
+	{
+		btHeightfieldTerrainShape* heightfield = (btHeightfieldTerrainShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
+		triangleInfoMapPtr = heightfield->getTriangleInfoMap();
+
+//#define USE_HEIGHTFIELD_TRIANGLES
+#ifdef USE_HEIGHTFIELD_TRIANGLES
+		btVector3 newNormal = btVector3(0, 0, 1);
+
+		const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape());
+		btVector3 tri_normal;
+		tri_shape->calcNormal(tri_normal);
+		newNormal = tri_normal;
+		//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
+		cp.m_normalWorldOnB = newNormal;
+		// Reproject collision point along normal. (what about cp.m_distance1?)
+		cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
+		cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
+		return;
+#endif
+	}
+
+
 	btBvhTriangleMeshShape* trimesh = 0;
 
 	if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
@@ -439,10 +522,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr
 			trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
 		}
 	}
-	if (trimesh == 0)
-		return;
-
-	btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*)trimesh->getTriangleInfoMap();
+	if (trimesh)
+	{
+		triangleInfoMapPtr = (btTriangleInfoMap*)trimesh->getTriangleInfoMap();
+	}
+	
+	
 	if (!triangleInfoMapPtr)
 		return;
 
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
index 9d9cff040f..cc6d11c241 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
@@ -15,6 +15,7 @@ class btCollisionObject;
 struct btCollisionObjectWrapper;
 class btManifoldPoint;
 class btIDebugDraw;
+class btHeightfieldTerrainShape;
 
 enum btInternalEdgeAdjustFlags
 {
@@ -26,6 +27,8 @@ enum btInternalEdgeAdjustFlags
 ///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'
 void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangleInfoMap* triangleInfoMap);
 
+void btGenerateInternalEdgeInfo(btHeightfieldTerrainShape* trimeshShape, btTriangleInfoMap* triangleInfoMap);
+
 ///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
 ///If this info map is missing, or the triangle is not store in this map, nothing will be done
 void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap, const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0);
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index e5097ccbbf..327b3f076a 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -233,7 +233,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
 				//				printf("error in island management\n");
 			}
 
-			btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+            btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 			if (colObj0->getIslandTag() == islandId)
 			{
 				if (colObj0->getActivationState() == ACTIVE_TAG ||
@@ -257,7 +257,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
 					//					printf("error in island management\n");
 				}
 
-				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+                btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{
@@ -278,7 +278,8 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
 					//					printf("error in island management\n");
 				}
 
-				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+                 btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+
 
 				if (colObj0->getIslandTag() == islandId)
 				{
@@ -337,13 +338,17 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
 	}
 }
 
+
 ///@todo: this is random access, it can be walked 'cache friendly'!
 void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
 {
-	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-
 	buildIslands(dispatcher, collisionWorld);
+    processIslands(dispatcher, collisionWorld, callback);
+}
 
+void btSimulationIslandManager::processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
+{
+    btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
 	int endIslandIndex = 1;
 	int startIslandIndex;
 	int numElem = getUnionFind().getNumElements();
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
index 6c2802141c..197bb457cf 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
@@ -57,9 +57,11 @@ public:
 	};
 
 	void buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback);
-
+    
 	void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld);
 
+    void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback);
+    
 	bool getSplitIslands()
 	{
 		return m_splitIslands;