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

Update Bullet physics to commit 126b676

1 files changed, 50 insertions, 59 deletions

diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h
index e20e03cc1d..3cd8fa24e7 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvh.h
@@ -1,5 +1,5 @@
-#ifndef GIM_BOX_SET_H_INCLUDED
-#define GIM_BOX_SET_H_INCLUDED
+#ifndef BT_GIMPACT_BVH_H_INCLUDED
+#define BT_GIMPACT_BVH_H_INCLUDED
 
 /*! \file gim_box_set.h
 \author Francisco Leon Najera
@@ -24,7 +24,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #include "LinearMath/btAlignedObjectArray.h"
 
 #include "btBoxCollision.h"
@@ -32,50 +31,48 @@ subject to the following restrictions:
 #include "btGImpactBvhStructs.h"
 
 //! A pairset array
-class btPairSet: public btAlignedObjectArray<GIM_PAIR>
+class btPairSet : public btAlignedObjectArray<GIM_PAIR>
 {
 public:
 	btPairSet()
 	{
 		reserve(32);
 	}
-	inline void push_pair(int index1,int index2)
+	inline void push_pair(int index1, int index2)
 	{
-		push_back(GIM_PAIR(index1,index2));
+		push_back(GIM_PAIR(index1, index2));
 	}
 
-	inline void push_pair_inv(int index1,int index2)
+	inline void push_pair_inv(int index1, int index2)
 	{
-		push_back(GIM_PAIR(index2,index1));
+		push_back(GIM_PAIR(index2, index1));
 	}
 };
 
-class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray<GIM_BVH_DATA>
+class GIM_BVH_DATA_ARRAY : public btAlignedObjectArray<GIM_BVH_DATA>
 {
 };
 
-
-class GIM_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<GIM_BVH_TREE_NODE>
+class GIM_BVH_TREE_NODE_ARRAY : public btAlignedObjectArray<GIM_BVH_TREE_NODE>
 {
 };
 
-
-
-
 //! Basic Box tree structure
 class btBvhTree
 {
 protected:
 	int m_num_nodes;
 	GIM_BVH_TREE_NODE_ARRAY m_node_array;
+
 protected:
 	int _sort_and_calc_splitting_index(
-		GIM_BVH_DATA_ARRAY & primitive_boxes,
-		 int startIndex,  int endIndex, int splitAxis);
+		GIM_BVH_DATA_ARRAY& primitive_boxes,
+		int startIndex, int endIndex, int splitAxis);
 
-	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
+
+	void _build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
 
-	void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 public:
 	btBvhTree()
 	{
@@ -84,7 +81,7 @@ public:
 
 	//! prototype functions for box tree management
 	//!@{
-	void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
+	void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes);
 
 	SIMD_FORCE_INLINE void clearNodes()
 	{
@@ -109,25 +106,25 @@ public:
 		return m_node_array[nodeindex].getDataIndex();
 	}
 
-	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
 	{
 		bound = m_node_array[nodeindex].m_bound;
 	}
 
-	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
 	{
 		m_node_array[nodeindex].m_bound = bound;
 	}
 
 	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
 	{
-		return nodeindex+1;
+		return nodeindex + 1;
 	}
 
 	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
 	{
-		if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2;
-		return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex();
+		if (m_node_array[nodeindex + 1].isLeafNode()) return nodeindex + 2;
+		return nodeindex + 1 + m_node_array[nodeindex + 1].getEscapeIndex();
 	}
 
 	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
@@ -135,7 +132,7 @@ public:
 		return m_node_array[nodeindex].getEscapeIndex();
 	}
 
-	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const
+	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE* get_node_pointer(int index = 0) const
 	{
 		return &m_node_array[index];
 	}
@@ -143,7 +140,6 @@ public:
 	//!@}
 };
 
-
 //! Prototype Base class for primitive classification
 /*!
 This class is a wrapper for primitive collections.
@@ -153,18 +149,16 @@ This class can manage Compound shapes and trimeshes, and if it is managing trime
 class btPrimitiveManagerBase
 {
 public:
-
 	virtual ~btPrimitiveManagerBase() {}
 
 	//! determines if this manager consist on only triangles, which special case will be optimized
 	virtual bool is_trimesh() const = 0;
 	virtual int get_primitive_count() const = 0;
-	virtual void get_primitive_box(int prim_index ,btAABB & primbox) const = 0;
+	virtual void get_primitive_box(int prim_index, btAABB& primbox) const = 0;
 	//! retrieves only the points of the triangle, and the collision margin
-	virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const= 0;
+	virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const = 0;
 };
 
-
 //! Structure for containing Boxes
 /*!
 This class offers an structure for managing a box tree of primitives.
@@ -174,13 +168,13 @@ class btGImpactBvh
 {
 protected:
 	btBvhTree m_box_tree;
-	btPrimitiveManagerBase * m_primitive_manager;
+	btPrimitiveManagerBase* m_primitive_manager;
 
 protected:
 	//stackless refit
 	void refit();
-public:
 
+public:
 	//! this constructor doesn't build the tree. you must call	buildSet
 	btGImpactBvh()
 	{
@@ -188,31 +182,30 @@ public:
 	}
 
 	//! this constructor doesn't build the tree. you must call	buildSet
-	btGImpactBvh(btPrimitiveManagerBase * primitive_manager)
+	btGImpactBvh(btPrimitiveManagerBase* primitive_manager)
 	{
 		m_primitive_manager = primitive_manager;
 	}
 
-	SIMD_FORCE_INLINE btAABB getGlobalBox()  const
+	SIMD_FORCE_INLINE btAABB getGlobalBox() const
 	{
 		btAABB totalbox;
 		getNodeBound(0, totalbox);
 		return totalbox;
 	}
 
-	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager)
+	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase* primitive_manager)
 	{
 		m_primitive_manager = primitive_manager;
 	}
 
-	SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const
+	SIMD_FORCE_INLINE btPrimitiveManagerBase* getPrimitiveManager() const
 	{
 		return m_primitive_manager;
 	}
 
-
-//! node manager prototype functions
-///@{
+	//! node manager prototype functions
+	///@{
 
 	//! this attemps to refit the box set.
 	SIMD_FORCE_INLINE void update()
@@ -224,21 +217,21 @@ public:
 	void buildSet();
 
 	//! returns the indices of the primitives in the m_primitive_manager
-	bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const;
+	bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const;
 
 	//! returns the indices of the primitives in the m_primitive_manager
-	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box,
-		 const btTransform & transform, btAlignedObjectArray<int> & collided_results) const
+	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB& box,
+										 const btTransform& transform, btAlignedObjectArray<int>& collided_results) const
 	{
-		btAABB transbox=box;
+		btAABB transbox = box;
 		transbox.appy_transform(transform);
-		return boxQuery(transbox,collided_results);
+		return boxQuery(transbox, collided_results);
 	}
 
 	//! returns the indices of the primitives in the m_primitive_manager
 	bool rayQuery(
-		const btVector3 & ray_dir,const btVector3 & ray_origin ,
-		btAlignedObjectArray<int> & collided_results) const;
+		const btVector3& ray_dir, const btVector3& ray_origin,
+		btAlignedObjectArray<int>& collided_results) const;
 
 	//! tells if this set has hierarcht
 	SIMD_FORCE_INLINE bool hasHierarchy() const
@@ -247,7 +240,7 @@ public:
 	}
 
 	//! tells if this set is a trimesh
-	SIMD_FORCE_INLINE bool isTrimesh()  const
+	SIMD_FORCE_INLINE bool isTrimesh() const
 	{
 		return m_primitive_manager->is_trimesh();
 	}
@@ -269,17 +262,16 @@ public:
 		return m_box_tree.getNodeData(nodeindex);
 	}
 
-	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound)  const
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
 	{
 		m_box_tree.getNodeBound(nodeindex, bound);
 	}
 
-	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
 	{
 		m_box_tree.setNodeBound(nodeindex, bound);
 	}
 
-
 	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
 	{
 		return m_box_tree.getLeftNode(nodeindex);
@@ -295,24 +287,23 @@ public:
 		return m_box_tree.getEscapeNodeIndex(nodeindex);
 	}
 
-	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const
+	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const
 	{
-		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle);
+		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex), triangle);
 	}
 
-
-	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const
+	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE* get_node_pointer(int index = 0) const
 	{
 		return m_box_tree.get_node_pointer(index);
 	}
 
 #ifdef TRI_COLLISION_PROFILING
 	static float getAverageTreeCollisionTime();
-#endif //TRI_COLLISION_PROFILING
+#endif  //TRI_COLLISION_PROFILING
 
-	static void find_collision(btGImpactBvh * boxset1, const btTransform & trans1,
-		btGImpactBvh * boxset2, const btTransform & trans2,
-		btPairSet & collision_pairs);
+	static void find_collision(btGImpactBvh* boxset1, const btTransform& trans1,
+							   btGImpactBvh* boxset2, const btTransform& trans2,
+							   btPairSet& collision_pairs);
 };
 
-#endif // GIM_BOXPRUNING_H_INCLUDED
+#endif  // BT_GIMPACT_BVH_H_INCLUDED