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

Update Bullet physics to commit 126b676

1 files changed, 54 insertions, 59 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
index b7a6f74361..8ebb22baae 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
@@ -20,62 +20,59 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btScalar.h"
 
-
 ///The btIndexedMesh indexes a single vertex and index array. Multiple btIndexedMesh objects can be passed into a btTriangleIndexVertexArray using addIndexedMesh.
 ///Instead of the number of indices, we pass the number of triangles.
-ATTRIBUTE_ALIGNED16( struct)	btIndexedMesh
+ATTRIBUTE_ALIGNED16(struct)
+btIndexedMesh
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-   int                     m_numTriangles;
-   const unsigned char *   m_triangleIndexBase;
-   // Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
-   int                     m_triangleIndexStride;
-   int                     m_numVertices;
-   const unsigned char *   m_vertexBase;
-   // Size of a vertex, in bytes
-   int                     m_vertexStride;
-
-   // The index type is set when adding an indexed mesh to the
-   // btTriangleIndexVertexArray, do not set it manually
-   PHY_ScalarType m_indexType;
-
-   // The vertex type has a default type similar to Bullet's precision mode (float or double)
-   // but can be set manually if you for example run Bullet with double precision but have
-   // mesh data in single precision..
-   PHY_ScalarType m_vertexType;
-
-
-   btIndexedMesh()
-	   :m_indexType(PHY_INTEGER),
+	int m_numTriangles;
+	const unsigned char* m_triangleIndexBase;
+	// Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
+	int m_triangleIndexStride;
+	int m_numVertices;
+	const unsigned char* m_vertexBase;
+	// Size of a vertex, in bytes
+	int m_vertexStride;
+
+	// The index type is set when adding an indexed mesh to the
+	// btTriangleIndexVertexArray, do not set it manually
+	PHY_ScalarType m_indexType;
+
+	// The vertex type has a default type similar to Bullet's precision mode (float or double)
+	// but can be set manually if you for example run Bullet with double precision but have
+	// mesh data in single precision..
+	PHY_ScalarType m_vertexType;
+
+	btIndexedMesh()
+		: m_indexType(PHY_INTEGER),
 #ifdef BT_USE_DOUBLE_PRECISION
-      m_vertexType(PHY_DOUBLE)
-#else // BT_USE_DOUBLE_PRECISION
-      m_vertexType(PHY_FLOAT)
-#endif // BT_USE_DOUBLE_PRECISION
-      {
-      }
-}
-;
-
+		  m_vertexType(PHY_DOUBLE)
+#else   // BT_USE_DOUBLE_PRECISION
+		  m_vertexType(PHY_FLOAT)
+#endif  // BT_USE_DOUBLE_PRECISION
+	{
+	}
+};
 
-typedef btAlignedObjectArray<btIndexedMesh>	IndexedMeshArray;
+typedef btAlignedObjectArray<btIndexedMesh> IndexedMeshArray;
 
 ///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
 ///Additional meshes can be added using addIndexedMesh
 ///No duplicate is made of the vertex/index data, it only indexes into external vertex/index arrays.
 ///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
-ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface
+ATTRIBUTE_ALIGNED16(class)
+btTriangleIndexVertexArray : public btStridingMeshInterface
 {
 protected:
-	IndexedMeshArray	m_indexedMeshes;
+	IndexedMeshArray m_indexedMeshes;
 	int m_pad[2];
-	mutable int m_hasAabb; // using int instead of bool to maintain alignment
+	mutable int m_hasAabb;  // using int instead of bool to maintain alignment
 	mutable btVector3 m_aabbMin;
 	mutable btVector3 m_aabbMax;
 
 public:
-
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btTriangleIndexVertexArray() : m_hasAabb(0)
@@ -85,49 +82,47 @@ public:
 	virtual ~btTriangleIndexVertexArray();
 
 	//just to be backwards compatible
-	btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride);
-	
-	void	addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
+	btTriangleIndexVertexArray(int numTriangles, int* triangleIndexBase, int triangleIndexStride, int numVertices, btScalar* vertexBase, int vertexStride);
+
+	void addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
 	{
 		m_indexedMeshes.push_back(mesh);
-		m_indexedMeshes[m_indexedMeshes.size()-1].m_indexType = indexType;
+		m_indexedMeshes[m_indexedMeshes.size() - 1].m_indexType = indexType;
 	}
-	
-	
-	virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
 
-	virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
+	virtual void getLockedVertexIndexBase(unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0);
+
+	virtual void getLockedReadOnlyVertexIndexBase(const unsigned char** vertexbase, int& numverts, PHY_ScalarType& type, int& vertexStride, const unsigned char** indexbase, int& indexstride, int& numfaces, PHY_ScalarType& indicestype, int subpart = 0) const;
 
 	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
 	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-	virtual void	unLockVertexBase(int subpart) {(void)subpart;}
+	virtual void unLockVertexBase(int subpart) { (void)subpart; }
 
-	virtual void	unLockReadOnlyVertexBase(int subpart) const {(void)subpart;}
+	virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; }
 
 	/// getNumSubParts returns the number of seperate subparts
 	/// each subpart has a continuous array of vertices and indices
-	virtual int		getNumSubParts() const { 
+	virtual int getNumSubParts() const
+	{
 		return (int)m_indexedMeshes.size();
 	}
 
-	IndexedMeshArray&	getIndexedMeshArray()
+	IndexedMeshArray& getIndexedMeshArray()
 	{
 		return m_indexedMeshes;
 	}
 
-	const IndexedMeshArray&	getIndexedMeshArray() const
+	const IndexedMeshArray& getIndexedMeshArray() const
 	{
 		return m_indexedMeshes;
 	}
 
-	virtual void	preallocateVertices(int numverts){(void) numverts;}
-	virtual void	preallocateIndices(int numindices){(void) numindices;}
-
-	virtual bool	hasPremadeAabb() const;
-	virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const;
-	virtual void	getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const;
+	virtual void preallocateVertices(int numverts) { (void)numverts; }
+	virtual void preallocateIndices(int numindices) { (void)numindices; }
 
-}
-;
+	virtual bool hasPremadeAabb() const;
+	virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax) const;
+	virtual void getPremadeAabb(btVector3 * aabbMin, btVector3 * aabbMax) const;
+};
 
-#endif //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
+#endif  //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H