Merge pull request #15664 from akien-mga/thirdparty

Bugfix updates to various thirdparty libraries

1 files changed, 219 insertions, 0 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
new file mode 100644
index 0000000000..a214a827c9
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
@@ -0,0 +1,219 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CYLINDER_MINKOWSKI_H
+#define BT_CYLINDER_MINKOWSKI_H
+
+#include "btBoxShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "LinearMath/btVector3.h"
+
+/// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
+ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape
+
+{
+
+protected:
+
+	int	m_upAxis;
+
+public:
+
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btVector3 getHalfExtentsWithMargin() const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+		btVector3 margin(getMargin(),getMargin(),getMargin());
+		halfExtents += margin;
+		return halfExtents;
+	}
+	
+	const btVector3& getHalfExtentsWithoutMargin() const
+	{
+		return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
+	}
+
+	btCylinderShape (const btVector3& halfExtents);
+	
+	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+	virtual void setMargin(btScalar collisionMargin)
+	{
+		//correct the m_implicitShapeDimensions for the margin
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		
+		btConvexInternalShape::setMargin(collisionMargin);
+		btVector3 newMargin(getMargin(),getMargin(),getMargin());
+		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
+
+	}
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
+	{
+
+		btVector3 supVertex;
+		supVertex = localGetSupportingVertexWithoutMargin(vec);
+		
+		if ( getMargin()!=btScalar(0.) )
+		{
+			btVector3 vecnorm = vec;
+			if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+			{
+				vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+			} 
+			vecnorm.normalize();
+			supVertex+= getMargin() * vecnorm;
+		}
+		return supVertex;
+	}
+
+
+	//use box inertia
+	//	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+
+	int	getUpAxis() const
+	{
+		return m_upAxis;
+	}
+
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		btVector3 aniDir(0,0,0);
+		aniDir[getUpAxis()]=1;
+		return aniDir;
+	}
+
+	virtual btScalar getRadius() const
+	{
+		return getHalfExtentsWithMargin().getX();
+	}
+
+	virtual void	setLocalScaling(const btVector3& scaling)
+	{
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
+
+		btConvexInternalShape::setLocalScaling(scaling);
+
+		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
+
+	}
+
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "CylinderY";
+	}
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+};
+
+class btCylinderShapeX : public btCylinderShape
+{
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btCylinderShapeX (const btVector3& halfExtents);
+
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	
+		//debugging
+	virtual const char*	getName()const
+	{
+		return "CylinderX";
+	}
+
+	virtual btScalar getRadius() const
+	{
+		return getHalfExtentsWithMargin().getY();
+	}
+
+};
+
+class btCylinderShapeZ : public btCylinderShape
+{
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btCylinderShapeZ (const btVector3& halfExtents);
+
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+		//debugging
+	virtual const char*	getName()const
+	{
+		return "CylinderZ";
+	}
+
+	virtual btScalar getRadius() const
+	{
+		return getHalfExtentsWithMargin().getX();
+	}
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btCylinderShapeData
+{
+	btConvexInternalShapeData	m_convexInternalShapeData;
+
+	int	m_upAxis;
+
+	char	m_padding[4];
+};
+
+SIMD_FORCE_INLINE	int	btCylinderShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btCylinderShapeData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
+
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+
+	shapeData->m_upAxis = m_upAxis;
+
+	// Fill padding with zeros to appease msan.
+	shapeData->m_padding[0] = 0;
+	shapeData->m_padding[1] = 0;
+	shapeData->m_padding[2] = 0;
+	shapeData->m_padding[3] = 0;
+
+	return "btCylinderShapeData";
+}
+
+
+
+#endif //BT_CYLINDER_MINKOWSKI_H
+