Update to bullet master (2.90)

7 files changed, 38 insertions, 15 deletions

diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
index 980d19a754..55daa7fb57 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -203,8 +203,8 @@ struct btDbvntNode
 
     btDbvntNode(const btDbvtNode* n)
     : volume(n->volume)
-    , angle(0)
     , normal(0,0,0)
+    , angle(0)
     , data(n->data)
     {
         childs[0] = 0;
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index f4a2d5e368..56011899cb 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -61,7 +61,8 @@ public:
 	virtual void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher) = 0;
 
 	virtual int getNumOverlappingPairs() const = 0;
-
+	virtual bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const = 0;
+	virtual btOverlapFilterCallback* getOverlapFilterCallback() = 0;
 	virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
 
 	virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
@@ -380,6 +381,14 @@ public:
 	{
 	}
 
+	bool needsBroadphaseCollision(btBroadphaseProxy*, btBroadphaseProxy*) const
+	{
+		return true;
+	}
+	btOverlapFilterCallback* getOverlapFilterCallback()
+	{
+		return 0;
+	}
 	virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
 	{
 	}
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
index b814fd84d8..4954e773e2 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -468,7 +468,7 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
 
 #ifdef RAYAABB2
 	btVector3 rayDir = (rayTarget - raySource);
-	rayDir.normalize();
+	rayDir.safeNormalize();// stephengold changed normalize to safeNormalize 2020-02-17
 	lambda_max = rayDir.dot(rayTarget - raySource);
 	///what about division by zero? --> just set rayDirection[i] to 1.0
 	btVector3 rayDirectionInverse;
@@ -554,7 +554,7 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 
 #ifdef RAYAABB2
 	btVector3 rayDirection = (rayTarget - raySource);
-	rayDirection.normalize();
+	rayDirection.safeNormalize();// stephengold changed normalize to safeNormalize 2020-02-17
 	lambda_max = rayDirection.dot(rayTarget - raySource);
 	///what about division by zero? --> just set rayDirection[i] to 1.0
 	rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
index 6b9f5e23a5..04309670cf 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
@@ -46,8 +46,6 @@ protected:
 
 	btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
 
-	btManifoldResult m_defaultManifoldResult;
-
 	btNearCallback m_nearCallback;
 
 	btPoolAllocator* m_collisionAlgorithmPoolAllocator;
@@ -95,11 +93,15 @@ public:
 
 	btPersistentManifold* getManifoldByIndexInternal(int index)
 	{
+		btAssert(index>=0);
+		btAssert(index<m_manifoldsPtr.size());
 		return m_manifoldsPtr[index];
 	}
 
 	const btPersistentManifold* getManifoldByIndexInternal(int index) const
 	{
+		btAssert(index>=0);
+		btAssert(index<m_manifoldsPtr.size());
 		return m_manifoldsPtr[index];
 	}
 
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
index 6fe56538d2..89bc8d920e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
@@ -28,6 +28,7 @@ subject to the following restrictions:
 btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize)
 	: btCollisionDispatcher(config)
 {
+	m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
 	m_batchUpdating = false;
 	m_grainSize = grainSize;  // iterations per task
 }
@@ -65,6 +66,10 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionO
 		manifold->m_index1a = m_manifoldsPtr.size();
 		m_manifoldsPtr.push_back(manifold);
 	}
+	else
+	{
+		m_batchManifoldsPtr[btGetCurrentThreadIndex()].push_back(manifold);
+	}
 
 	return manifold;
 }
@@ -121,7 +126,7 @@ struct CollisionDispatcherUpdater : public btIParallelForBody
 
 void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher)
 {
-	int pairCount = pairCache->getNumOverlappingPairs();
+	const int pairCount = pairCache->getNumOverlappingPairs();
 	if (pairCount == 0)
 	{
 		return;
@@ -136,16 +141,17 @@ void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache*
 	btParallelFor(0, pairCount, m_grainSize, updater);
 	m_batchUpdating = false;
 
-	// reconstruct the manifolds array to ensure determinism
-	m_manifoldsPtr.resizeNoInitialize(0);
-
-	btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
-	for (int i = 0; i < pairCount; ++i)
+	// merge new manifolds, if any
+	for (int i = 0; i < m_batchManifoldsPtr.size(); ++i)
 	{
-		if (btCollisionAlgorithm* algo = pairs[i].m_algorithm)
+		btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchManifoldsPtr[i];
+
+		for (int j = 0; j < batchManifoldsPtr.size(); ++j)
 		{
-			algo->getAllContactManifolds(m_manifoldsPtr);
+			m_manifoldsPtr.push_back(batchManifoldsPtr[j]);
 		}
+
+		batchManifoldsPtr.resizeNoInitialize(0);
 	}
 
 	// update the indices (used when releasing manifolds)
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
index 28eba7f32a..1155de2cfe 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
@@ -30,6 +30,7 @@ public:
 	virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE;
 
 protected:
+	btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*> > m_batchManifoldsPtr;
 	bool m_batchUpdating;
 	int m_grainSize;
 };
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index 1bb21104cb..b5f4a3c869 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -139,7 +139,12 @@ public:
 
 		if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
 		{
-			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index);
+			btTransform preTransform = childTrans;
+			if (this->m_compoundColObjWrap->m_preTransform)
+			{
+				preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform));
+			}
+			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index);
 
 			btCollisionAlgorithm* algo = 0;
 			bool allocatedAlgorithm = false;