bullet: Sync with upstream 2.89

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

4 files changed, 51 insertions, 6 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index 34ec2d8c45..34e7926f17 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -21,6 +21,9 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(
 	int heightStickWidth, int heightStickLength, const void* heightfieldData,
 	btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
 	PHY_ScalarType hdt, bool flipQuadEdges)
+	:m_userIndex2(-1),
+	m_userValue3(0),
+	m_triangleInfoMap(0)
 {
 	initialize(heightStickWidth, heightStickLength, heightfieldData,
 			   heightScale, minHeight, maxHeight, upAxis, hdt,
@@ -28,6 +31,9 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(
 }
 
 btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges)
+	:m_userIndex2(-1),
+	m_userValue3(0),
+	m_triangleInfoMap(0)
 {
 	// legacy constructor: support only float or unsigned char,
 	// 	and min height is zero
@@ -349,12 +355,12 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 				getVertex(x, j, vertices[indices[0]]);
 				getVertex(x, j + 1, vertices[indices[1]]);
 				getVertex(x + 1, j + 1, vertices[indices[2]]);
-				callback->processTriangle(vertices, x, j);
+				callback->processTriangle(vertices, 2 * x, j);
 				//second triangle
 				//  getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
 				getVertex(x + 1, j + 1, vertices[indices[1]]);
 				getVertex(x + 1, j, vertices[indices[2]]);
-				callback->processTriangle(vertices, x, j);
+				callback->processTriangle(vertices, 2 * x+1, j);
 			}
 			else
 			{
@@ -362,12 +368,12 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 				getVertex(x, j, vertices[indices[0]]);
 				getVertex(x, j + 1, vertices[indices[1]]);
 				getVertex(x + 1, j, vertices[indices[2]]);
-				callback->processTriangle(vertices, x, j);
+				callback->processTriangle(vertices, 2 * x, j);
 				//second triangle
 				getVertex(x + 1, j, vertices[indices[0]]);
 				//getVertex(x,j+1,vertices[1]);
 				getVertex(x + 1, j + 1, vertices[indices[2]]);
-				callback->processTriangle(vertices, x, j);
+				callback->processTriangle(vertices, 2 * x+1, j);
 			}
 		}
 	}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
index 43e1d25e3d..8dea98fc6b 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -114,6 +114,11 @@ protected:
 	int m_vboundsGridLength;
 	int m_vboundsChunkSize;
 
+	int m_userIndex2;
+	btScalar m_userValue3;
+
+	struct btTriangleInfoMap* m_triangleInfoMap;
+
 	virtual btScalar getRawHeightFieldValue(int x, int y) const;
 	void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;
 
@@ -185,6 +190,40 @@ public:
 	}
 	//debugging
 	virtual const char* getName() const { return "HEIGHTFIELD"; }
+
+	
+	void setUserIndex2(int index)
+	{
+		m_userIndex2 = index;
+	}
+	int getUserIndex2() const
+	{
+		return m_userIndex2;
+	}
+	void setUserValue3(btScalar value)
+	{
+		m_userValue3 = value;
+	}
+	btScalar getUserValue3() const
+	{
+		return m_userValue3;
+	}
+	const struct btTriangleInfoMap* getTriangleInfoMap() const
+	{
+		return m_triangleInfoMap;
+	}
+	struct btTriangleInfoMap* getTriangleInfoMap()
+	{
+		return m_triangleInfoMap;
+	}
+	void setTriangleInfoMap(btTriangleInfoMap* map)
+	{
+		m_triangleInfoMap = map;
+	}
+	const unsigned char* getHeightfieldRawData() const
+	{
+		return m_heightfieldDataUnsignedChar;
+	}
 };
 
 #endif  //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
\ No newline at end of file
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
index 7d729ee0d7..68a41dfb45 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
@@ -58,7 +58,7 @@ public:
 
 	virtual void unLockReadOnlyVertexBase(int subpart) const = 0;
 
-	/// getNumSubParts returns the number of seperate subparts
+	/// getNumSubParts returns the number of separate subparts
 	/// each subpart has a continuous array of vertices and indices
 	virtual int getNumSubParts() const = 0;
 
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
index 8ebb22baae..556aa3fef4 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
@@ -100,7 +100,7 @@ public:
 
 	virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; }
 
-	/// getNumSubParts returns the number of seperate subparts
+	/// getNumSubParts returns the number of separate subparts
 	/// each subpart has a continuous array of vertices and indices
 	virtual int getNumSubParts() const
 	{