bullet: Sync with upstream 2.89

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

1 files changed, 8 insertions, 116 deletions

diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index 2b88e25be7..f3ef02fccc 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -29,68 +29,6 @@ class btCollisionObject;
 
 typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
 
-struct btSISolverSingleIterationData
-{
-	btAlignedObjectArray<btSolverBody>& m_tmpSolverBodyPool;
-	btConstraintArray& m_tmpSolverContactConstraintPool;
-	btConstraintArray& m_tmpSolverNonContactConstraintPool;
-	btConstraintArray& m_tmpSolverContactFrictionConstraintPool;
-	btConstraintArray& m_tmpSolverContactRollingFrictionConstraintPool;
-
-	btAlignedObjectArray<int>& m_orderTmpConstraintPool;
-	btAlignedObjectArray<int>& m_orderNonContactConstraintPool;
-	btAlignedObjectArray<int>& m_orderFrictionConstraintPool;
-	btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& m_tmpConstraintSizesPool;
-	unsigned long& m_seed;
-
-	btSingleConstraintRowSolver& m_resolveSingleConstraintRowGeneric;
-	btSingleConstraintRowSolver& m_resolveSingleConstraintRowLowerLimit;
-	btSingleConstraintRowSolver& m_resolveSplitPenetrationImpulse;
-	btAlignedObjectArray<int>& m_kinematicBodyUniqueIdToSolverBodyTable;
-	int& m_fixedBodyId;
-	int& m_maxOverrideNumSolverIterations;
-	int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep);
-	static void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep);
-	int getSolverBody(btCollisionObject& body) const;
-
-
-	btSISolverSingleIterationData(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
-		btConstraintArray& tmpSolverContactConstraintPool,
-		btConstraintArray& tmpSolverNonContactConstraintPool,
-		btConstraintArray& tmpSolverContactFrictionConstraintPool,
-		btConstraintArray& tmpSolverContactRollingFrictionConstraintPool,
-		btAlignedObjectArray<int>& orderTmpConstraintPool,
-		btAlignedObjectArray<int>& orderNonContactConstraintPool,
-		btAlignedObjectArray<int>& orderFrictionConstraintPool,
-		btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& tmpConstraintSizesPool,
-		btSingleConstraintRowSolver& resolveSingleConstraintRowGeneric,
-		btSingleConstraintRowSolver& resolveSingleConstraintRowLowerLimit,
-		btSingleConstraintRowSolver& resolveSplitPenetrationImpulse,
-		btAlignedObjectArray<int>& kinematicBodyUniqueIdToSolverBodyTable,
-		unsigned long& seed,
-		int& fixedBodyId,
-		int& maxOverrideNumSolverIterations
-	)
-		:m_tmpSolverBodyPool(tmpSolverBodyPool),
-		m_tmpSolverContactConstraintPool(tmpSolverContactConstraintPool),
-		m_tmpSolverNonContactConstraintPool(tmpSolverNonContactConstraintPool),
-		m_tmpSolverContactFrictionConstraintPool(tmpSolverContactFrictionConstraintPool),
-		m_tmpSolverContactRollingFrictionConstraintPool(tmpSolverContactRollingFrictionConstraintPool),
-		m_orderTmpConstraintPool(orderTmpConstraintPool),
-		m_orderNonContactConstraintPool(orderNonContactConstraintPool),
-		m_orderFrictionConstraintPool(orderFrictionConstraintPool),
-		m_tmpConstraintSizesPool(tmpConstraintSizesPool),
-		m_seed(seed),
-		m_resolveSingleConstraintRowGeneric(resolveSingleConstraintRowGeneric),
-		m_resolveSingleConstraintRowLowerLimit(resolveSingleConstraintRowLowerLimit),
-		m_resolveSplitPenetrationImpulse(resolveSplitPenetrationImpulse),
-		m_kinematicBodyUniqueIdToSolverBodyTable(kinematicBodyUniqueIdToSolverBodyTable),
-		m_fixedBodyId(fixedBodyId),
-		m_maxOverrideNumSolverIterations(maxOverrideNumSolverIterations)
-	{
-	}
-};
-
 struct btSolverAnalyticsData
 {
 	btSolverAnalyticsData()
@@ -178,7 +116,6 @@ protected:
 	virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
 	void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal);
 
-
 	virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
 
 	btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint)
@@ -204,8 +141,7 @@ protected:
 		return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
 	}
 
-public:
-
+protected:
 	void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
 	void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
 	void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
@@ -213,7 +149,6 @@ public:
 	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
 	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 
-
 	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 
@@ -225,51 +160,12 @@ public:
 
 	virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
 
-	static btScalar solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
-	static void convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
-	static void convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
-	static void convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
-	static void setupContactConstraintInternal(btSISolverSingleIterationData& siData, btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation,
-		const btVector3& rel_pos1, const btVector3& rel_pos2);
-	static btScalar restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
-	static btSolverConstraint& addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.);
-	static void setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB,
-		btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
-		btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
-		btScalar desiredVelocity, btScalar cfmSlip);
-	static void setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip);
-	static btSolverConstraint& addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
-	static void setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool,
-
-		btSolverConstraint& solverConstraint,
-		int solverBodyIdA, int solverBodyIdB,
-		btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
-	static void convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
-		int& maxOverrideNumSolverIterations,
-		btSolverConstraint* currentConstraintRow,
-		btTypedConstraint* constraint,
-		const btTypedConstraint::btConstraintInfo1& info1,
-		int solverBodyIdA,
-		int solverBodyIdB,
-		const btContactSolverInfo& infoGlobal);
-
-	static btScalar solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
-
-	static void writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-
-	static void writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-	static void writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
-	static void solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-
-
 	///clear internal cached data and reset random seed
 	virtual void reset();
 
 	unsigned long btRand2();
-	int btRandInt2(int n);
 
-	static unsigned long btRand2a(unsigned long& seed);
-	static int btRandInt2a(int n, unsigned long& seed);
+	int btRandInt2(int n);
 
 	void setRandSeed(unsigned long seed)
 	{
@@ -305,18 +201,14 @@ public:
 
 
 	///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4
-	static btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
-	static btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
-	static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
+	btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
+	btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
+	btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
 
 	///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4
-	static btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
-	static btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
-	static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
-
-	static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric();
-	static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric();
-
+	btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
+	btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
+	btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
 	btSolverAnalyticsData m_analyticsData;
 };