bullet: Sync with current upstream master branch

This updates our local copy to commit 5ec8339b6fc491e3f09a34a4516e82787f053fcc.
We need a recent master commit for some new features that we use in Godot
(see #25543 and #28909).

To avoid warnings generated by Bullet headers included in our own module,
we include those headers with -isystem on GCC and Clang.

Fixes #29503.

1 files changed, 30 insertions, 7 deletions

diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index 1557987bc3..1131e5378c 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -207,6 +207,7 @@ public:
 	}
 };
 
+
 struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
 {
 	btContactSolverInfo* m_solverInfo;
@@ -224,6 +225,8 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 	btAlignedObjectArray<btTypedConstraint*> m_constraints;
 	btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
 
+	btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData;
+
 	MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver,
 										 btDispatcher* dispatcher)
 		: m_solverInfo(NULL),
@@ -235,7 +238,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 	{
 	}
 
-	MultiBodyInplaceSolverIslandCallback& operator=(MultiBodyInplaceSolverIslandCallback& other)
+	MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other)
 	{
 		btAssert(0);
 		(void)other;
@@ -244,6 +247,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 
 	SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer)
 	{
+		m_islandAnalyticsData.clear();
 		btAssert(solverInfo);
 		m_solverInfo = solverInfo;
 
@@ -270,6 +274,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 		{
 			///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
 			m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
+			if (m_solverInfo->m_reportSolverAnalytics&1)
+			{
+				m_solver->m_analyticsData.m_islandId = islandId;
+				m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
+			}
 		}
 		else
 		{
@@ -335,7 +344,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 
 				if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize)
 				{
-					processConstraints();
+					processConstraints(islandId);
 				}
 				else
 				{
@@ -344,7 +353,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 			}
 		}
 	}
-	void processConstraints()
+	void processConstraints(int islandId=-1)
 	{
 		btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
 		btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
@@ -354,6 +363,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 		//printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
 
 		m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
+		if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1))
+		{
+			m_solver->m_analyticsData.m_islandId = islandId;
+			m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
+		}
 		m_bodies.resize(0);
 		m_manifolds.resize(0);
 		m_constraints.resize(0);
@@ -361,6 +375,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 	}
 };
 
+void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const
+{
+	islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData;
+}
+
 btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
 	: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
 	  m_multiBodyConstraintSolver(constraintSolver)
@@ -717,13 +736,17 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 				m_scratch_v.resize(bod->getNumLinks() + 1);
 				m_scratch_m.resize(bod->getNumLinks() + 1);
 
+				if (bod->internalNeedsJointFeedback())
 				{
 					if (!bod->isUsingRK4Integration())
 					{
-						bool isConstraintPass = true;
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
-						getSolverInfo().m_jointFeedbackInWorldSpace,
-						getSolverInfo().m_jointFeedbackInJointFrame);
+						if (bod->internalNeedsJointFeedback())
+						{
+							bool isConstraintPass = true;
+							bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
+								getSolverInfo().m_jointFeedbackInWorldSpace,
+								getSolverInfo().m_jointFeedbackInJointFrame);
+						}
 					}
 				}
 			}