bullet: Sync with upstream 2.89

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

1 files changed, 55 insertions, 26 deletions

diff --git a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
index a52b2cb1cc..eb290a1dbd 100644
--- a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
+++ b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
@@ -20,27 +20,38 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 
-// Modified Paul Hsieh hash
-template <const int DWORDLEN>
-unsigned int HsiehHash(const void* pdata)
-{
-	const unsigned short* data = (const unsigned short*)pdata;
-	unsigned hash = DWORDLEN << 2, tmp;
-	for (int i = 0; i < DWORDLEN; ++i)
-	{
-		hash += data[0];
-		tmp = (data[1] << 11) ^ hash;
-		hash = (hash << 16) ^ tmp;
-		data += 2;
-		hash += hash >> 11;
-	}
-	hash ^= hash << 3;
-	hash += hash >> 5;
-	hash ^= hash << 4;
-	hash += hash >> 17;
-	hash ^= hash << 25;
-	hash += hash >> 6;
-	return (hash);
+// Fast Hash
+
+#if !defined (get16bits)
+#define get16bits(d) ((((unsigned int)(((const unsigned char *)(d))[1])) << 8)\
++(unsigned int)(((const unsigned char *)(d))[0]) )
+#endif
+//
+// super hash function by Paul Hsieh
+//
+inline unsigned int HsiehHash (const char * data, int len) {
+  unsigned int hash = len, tmp;
+  len>>=2;
+
+    /* Main loop */
+    for (;len > 0; len--) {
+        hash  += get16bits (data);
+        tmp    = (get16bits (data+2) << 11) ^ hash;
+        hash   = (hash << 16) ^ tmp;
+        data  += 2*sizeof (unsigned short);
+        hash  += hash >> 11;
+    }
+
+
+    /* Force "avalanching" of final 127 bits */
+    hash ^= hash << 3;
+    hash += hash >> 5;
+    hash ^= hash << 4;
+    hash += hash >> 17;
+    hash ^= hash << 25;
+    hash += hash >> 6;
+
+    return hash;
 }
 
 template <const int CELLSIZE>
@@ -70,12 +81,17 @@ struct btSparseSdf
 
 	btAlignedObjectArray<Cell*> cells;
 	btScalar voxelsz;
+    btScalar m_defaultVoxelsz;
 	int puid;
 	int ncells;
 	int m_clampCells;
 	int nprobes;
 	int nqueries;
 
+	~btSparseSdf()
+	{
+		Reset();
+	}
 	//
 	// Methods
 	//
@@ -87,9 +103,16 @@ struct btSparseSdf
 		//if this limit is reached, the SDF is reset (at the cost of some performance during the reset)
 		m_clampCells = clampCells;
 		cells.resize(hashsize, 0);
+        m_defaultVoxelsz = 0.25;
 		Reset();
 	}
 	//
+    
+    void setDefaultVoxelsz(btScalar sz)
+    {
+        m_defaultVoxelsz = sz;
+    }
+    
 	void Reset()
 	{
 		for (int i = 0, ni = cells.size(); i < ni; ++i)
@@ -103,7 +126,7 @@ struct btSparseSdf
 				pc = pn;
 			}
 		}
-		voxelsz = 0.25;
+		voxelsz = m_defaultVoxelsz;
 		puid = 0;
 		ncells = 0;
 		nprobes = 1;
@@ -197,6 +220,9 @@ struct btSparseSdf
 			}
 			else
 			{
+				// printf("c->hash/c[0][1][2]=%d,%d,%d,%d\n", c->hash, c->c[0], c->c[1],c->c[2]);
+                        //printf("h,ixb,iyb,izb=%d,%d,%d,%d\n", h,ix.b, iy.b, iz.b);
+
 				c = c->next;
 			}
 		}
@@ -248,7 +274,7 @@ struct btSparseSdf
 						 Lerp(gy[2], gy[3], ix.f), iz.f));
 		normal.setZ(Lerp(Lerp(gz[0], gz[1], ix.f),
 						 Lerp(gz[2], gz[3], ix.f), iy.f));
-		normal = normal.normalized();
+		normal.safeNormalize();
 #else
 		normal = btVector3(d[1] - d[0], d[3] - d[0], d[4] - d[0]).normalized();
 #endif
@@ -322,19 +348,22 @@ struct btSparseSdf
 	{
 		struct btS
 		{
-			int x, y, z;
+			int x, y, z, w;
 			void* p;
 		};
 
 		btS myset;
+		//memset may be needed in case of additional (uninitialized) padding!
+		//memset(&myset, 0, sizeof(btS));
 
 		myset.x = x;
 		myset.y = y;
 		myset.z = z;
+		myset.w = 0;
 		myset.p = (void*)shape;
-		const void* ptr = &myset;
+		const char* ptr = (const char*)&myset;
 
-		unsigned int result = HsiehHash<sizeof(btS) / 4>(ptr);
+		unsigned int result = HsiehHash(ptr, sizeof(btS) );
 
 		return result;
 	}