Merge pull request #21836 from AndreaCatania/bulletUpdate

Update bullet to Master 12409f1118a7c7a266f9071350c70789dfe73bb9

1 files changed, 66 insertions, 0 deletions

diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
new file mode 100644
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--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_BATCHED_CONSTRAINTS_H
+#define BT_BATCHED_CONSTRAINTS_H
+
+#include "LinearMath/btThreads.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
+#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
+
+
+class btIDebugDraw;
+
+struct btBatchedConstraints
+{
+    enum BatchingMethod
+    {
+        BATCHING_METHOD_SPATIAL_GRID_2D,
+        BATCHING_METHOD_SPATIAL_GRID_3D,
+        BATCHING_METHOD_COUNT
+    };
+    struct Range
+    {
+        int begin;
+        int end;
+
+        Range() : begin( 0 ), end( 0 ) {}
+        Range( int _beg, int _end ) : begin( _beg ), end( _end ) {}
+    };
+
+    btAlignedObjectArray<int> m_constraintIndices;
+    btAlignedObjectArray<Range> m_batches;  // each batch is a range of indices in the m_constraintIndices array
+    btAlignedObjectArray<Range> m_phases;  // each phase is range of indices in the m_batches array
+    btAlignedObjectArray<char> m_phaseGrainSize;  // max grain size for each phase
+    btAlignedObjectArray<int> m_phaseOrder;  // phases can be done in any order, so we can randomize the order here
+    btIDebugDraw* m_debugDrawer;
+
+    static bool s_debugDrawBatches;
+
+    btBatchedConstraints() {m_debugDrawer=NULL;}
+    void setup( btConstraintArray* constraints,
+        const btAlignedObjectArray<btSolverBody>& bodies,
+        BatchingMethod batchingMethod,
+        int minBatchSize,
+        int maxBatchSize,
+        btAlignedObjectArray<char>* scratchMemory
+    );
+    bool validate( btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies ) const;
+};
+
+
+#endif // BT_BATCHED_CONSTRAINTS_H
+