Merge pull request #44455 from akien-mga/bullet-3.07

bullet: Sync with upstream 3.07

11 files changed, 69 insertions, 34 deletions

diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
index 4954e773e2..19f1737b73 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -346,8 +346,6 @@ void btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb
 	}
 }
 
-int maxIterations = 0;
-
 void btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
 	btAssert(!m_useQuantization);
@@ -387,8 +385,6 @@ void btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback, cons
 			curIndex += escapeIndex;
 		}
 	}
-	if (maxIterations < walkIterations)
-		maxIterations = walkIterations;
 }
 
 /*
@@ -529,8 +525,6 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
 			curIndex += escapeIndex;
 		}
 	}
-	if (maxIterations < walkIterations)
-		maxIterations = walkIterations;
 }
 
 void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const
@@ -654,8 +648,6 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 			curIndex += escapeIndex;
 		}
 	}
-	if (maxIterations < walkIterations)
-		maxIterations = walkIterations;
 }
 
 void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const
@@ -718,8 +710,6 @@ void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
 			curIndex += escapeIndex;
 		}
 	}
-	if (maxIterations < walkIterations)
-		maxIterations = walkIterations;
 }
 
 //This traversal can be called from Playstation 3 SPU
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
index 85dc488c8c..e085c40892 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -127,6 +127,7 @@ public:
 
 	enum CollisionFlags
 	{
+		CF_DYNAMIC_OBJECT = 0,
 		CF_STATIC_OBJECT = 1,
 		CF_KINEMATIC_OBJECT = 2,
 		CF_NO_CONTACT_RESPONSE = 4,
@@ -251,6 +252,16 @@ public:
 		m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
 	}
 
+        int getNumObjectsWithoutCollision() const
+	{
+		return m_objectsWithoutCollisionCheck.size();
+	}
+
+	const btCollisionObject* getObjectWithoutCollision(int index)
+	{
+		return m_objectsWithoutCollisionCheck[index];
+	}
+
 	virtual bool checkCollideWithOverride(const btCollisionObject* co) const
 	{
 		int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
index a4252c296a..a71700f58a 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
@@ -361,7 +361,13 @@ void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangle
 
 			for (int j = 2; j >= 0; j--)
 			{
-				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
+				int graphicsindex;
+                                switch (indicestype) {
+                                        case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
+                                        case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
+                                        case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
+                                        default: btAssert(0);
+                                }
 				if (type == PHY_FLOAT)
 				{
 					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
index d663b3d6d6..c66ce58e3e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
@@ -124,12 +124,17 @@ void btBvhTriangleMeshShape::performRaycast(btTriangleCallback* callback, const
 				nodeSubPart);
 
 			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
-			btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
 
 			const btVector3& meshScaling = m_meshInterface->getScaling();
 			for (int j = 2; j >= 0; j--)
 			{
-				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
+				int graphicsindex;
+                                switch (indicestype) {
+                                        case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
+                                        case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
+                                        case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
+                                        default: btAssert(0);
+                                }
 
 				if (type == PHY_FLOAT)
 				{
@@ -193,12 +198,17 @@ void btBvhTriangleMeshShape::performConvexcast(btTriangleCallback* callback, con
 				nodeSubPart);
 
 			unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
-			btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
 
 			const btVector3& meshScaling = m_meshInterface->getScaling();
 			for (int j = 2; j >= 0; j--)
 			{
-				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
+				int graphicsindex;
+                                switch (indicestype) {
+                                        case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
+                                        case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
+                                        case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
+                                        default: btAssert(0);
+                                }
 
 				if (type == PHY_FLOAT)
 				{
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
index c80e105a4d..16f9e0c77a 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
@@ -30,11 +30,12 @@ protected:
 	int m_shapeType;
 	void* m_userPointer;
 	int m_userIndex;
+	int m_userIndex2;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
+	btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1), m_userIndex2(-1)
 	{
 	}
 
@@ -137,6 +138,16 @@ public:
 		return m_userIndex;
 	}
 
+	void setUserIndex2(int index)
+	{
+		m_userIndex2 = index;
+	}
+
+	int getUserIndex2() const
+	{
+		return m_userIndex2;
+	}
+
 	virtual int calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index 34e7926f17..cab6980b65 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -21,8 +21,7 @@ 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_userValue3(0),
 	m_triangleInfoMap(0)
 {
 	initialize(heightStickWidth, heightStickLength, heightfieldData,
@@ -31,8 +30,7 @@ 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_userValue3(0),
 	m_triangleInfoMap(0)
 {
 	// legacy constructor: support only float or unsigned char,
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
index 8dea98fc6b..2cf3c00721 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -114,7 +114,7 @@ protected:
 	int m_vboundsGridLength;
 	int m_vboundsChunkSize;
 
-	int m_userIndex2;
+	
 	btScalar m_userValue3;
 
 	struct btTriangleInfoMap* m_triangleInfoMap;
@@ -192,14 +192,6 @@ public:
 	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;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
index 687399e0a9..863ea6d6ac 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
@@ -286,7 +286,6 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface, int
 				meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, nodeSubPart);
 
 				curNodeSubPart = nodeSubPart;
-				btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
 			}
 			//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
 
@@ -294,7 +293,13 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface, int
 
 			for (int j = 2; j >= 0; j--)
 			{
-				int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
+				int graphicsindex;
+                                switch (indicestype) {
+                                        case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
+                                        case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
+                                        case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
+                                        default: btAssert(0);
+                                }
 				if (type == PHY_FLOAT)
 				{
 					float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
index 4a95dbea4f..23c95ad3ff 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
@@ -2,8 +2,11 @@
 #include "btMiniSDF.h"
 #include "LinearMath/btAabbUtil2.h"
 
-struct btSdfCollisionShapeInternalData
+ATTRIBUTE_ALIGNED16(struct)
+btSdfCollisionShapeInternalData
 {
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btVector3 m_localScaling;
 	btScalar m_margin;
 	btMiniSDF m_sdf;
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
index 5b85e87041..cc91079579 100644
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
+++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h
@@ -623,13 +623,21 @@ public:
 				i1 = s_indices[1];
 				i2 = s_indices[2];
 			}
-			else
+			else if (indicestype == PHY_INTEGER)
 			{
 				unsigned int* i_indices = (unsigned int*)(indexbase + face_index * indexstride);
 				i0 = i_indices[0];
 				i1 = i_indices[1];
 				i2 = i_indices[2];
 			}
+			else
+			{
+				btAssert(indicestype == PHY_UCHAR);
+				unsigned char* i_indices = (unsigned char*)(indexbase + face_index * indexstride);
+				i0 = i_indices[0];
+				i1 = i_indices[1];
+				i2 = i_indices[2];
+			}
 		}
 
 		SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3& vertex) const
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
index 45d1817135..7d53f8624a 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
@@ -1049,7 +1049,8 @@ btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position,
 		const btScalar length = delta.length();
 		results.normal = delta / length;
 		results.witnesses[0] += results.normal * margin;
-		return (length - margin);
+		results.distance = length - margin;
+		return results.distance;
 	}
 	else
 	{