Update bullet to Master 12409f1118a7c7a266f9071350c70789dfe73bb9

1 files changed, 29 insertions, 23 deletions

diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index 16c7eb74c1..b834c3dac3 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -4,8 +4,8 @@ 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, 
+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.
@@ -27,7 +27,7 @@ class btCollisionObject;
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
 
-typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
+typedef btScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
 
 ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
 ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
@@ -64,44 +64,48 @@ protected:
 
 	void setupFrictionConstraint(	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, 
+									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
 									const btContactSolverInfo& infoGlobal,
 									btScalar desiredVelocity=0., btScalar cfmSlip=0.);
 
 	void setupTorsionalFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int  solverBodyIdB,
 									btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,
-									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
+									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
 									btScalar desiredVelocity=0., btScalar cfmSlip=0.);
 
 	btSolverConstraint&	addFrictionConstraint(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.);
 	btSolverConstraint&	addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
 
-	
-	void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, 
+
+	void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
 								const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
 
 	static void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
 
-	void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, 
+	void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
 										 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
 
 	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
 	unsigned long	m_btSeed2;
 
-	
+
 	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
 
 	virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
 
 	void	convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
 
+    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);
 
-	btSimdScalar	resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
+	btScalar	resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
     {
         return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
     }
 
-	btSimdScalar	resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
+	btScalar	resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
     {
         return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
     }
@@ -110,18 +114,20 @@ protected:
 	int		getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
 	void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
 
-	btSimdScalar	resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
-	btSimdScalar	resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
-	btSimdScalar	resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
-	btSimdScalar	resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
-	btSimdScalar	resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
+	btScalar	resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
+	btScalar	resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
+	btScalar	resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
+	btScalar	resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
+	btScalar	resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
     {
         return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
     }
-		
+
 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);
 	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
 	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);
@@ -133,15 +139,15 @@ protected:
 public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
+
 	btSequentialImpulseConstraintSolver();
 	virtual ~btSequentialImpulseConstraintSolver();
 
 	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
-		
+
 	///clear internal cached data and reset random seed
 	virtual	void	reset();
-	
+
 	unsigned long btRand2();
 
 	int btRandInt2 (int n);
@@ -155,7 +161,7 @@ public:
 		return m_btSeed2;
 	}
 
-	
+
 	virtual btConstraintSolverType	getSolverType() const
 	{
 		return BT_SEQUENTIAL_IMPULSE_SOLVER;