Merge pull request #24740 from OBKF/update-bullet-physics

Update Bullet physics to commit 126b676

1 files changed, 314 insertions, 303 deletions

diff --git a/thirdparty/bullet/LinearMath/btQuickprof.cpp b/thirdparty/bullet/LinearMath/btQuickprof.cpp
index 1572b96262..86fd1d7812 100644
--- a/thirdparty/bullet/LinearMath/btQuickprof.cpp
+++ b/thirdparty/bullet/LinearMath/btQuickprof.cpp
@@ -16,16 +16,13 @@
 #include "btQuickprof.h"
 #include "btThreads.h"
 
-
-
-
 #ifdef __CELLOS_LV2__
 #include <sys/sys_time.h>
 #include <sys/time_util.h>
 #include <stdio.h>
 #endif
 
-#if defined (SUNOS) || defined (__SUNOS__)
+#if defined(SUNOS) || defined(__SUNOS__)
 #include <stdio.h>
 #endif
 #ifdef __APPLE__
@@ -42,49 +39,46 @@
 #define NOIME
 
 #ifdef _XBOX
-	#include <Xtl.h>
-#else //_XBOX
-	#include <windows.h>
+#include <Xtl.h>
+#else  //_XBOX
+#include <windows.h>
 
-#if WINVER <0x0602
+#if WINVER < 0x0602
 #define GetTickCount64 GetTickCount
 #endif
 
-#endif //_XBOX
+#endif  //_XBOX
 
 #include <time.h>
 
-
-#else //_WIN32
+#else  //_WIN32
 #include <sys/time.h>
 
 #ifdef BT_LINUX_REALTIME
 //required linking against rt (librt)
 #include <time.h>
-#endif //BT_LINUX_REALTIME
+#endif  //BT_LINUX_REALTIME
 
-#endif //_WIN32
+#endif  //_WIN32
 
-#define mymin(a,b) (a > b ? a : b)
+#define mymin(a, b) (a > b ? a : b)
 
 struct btClockData
 {
-
 #ifdef BT_USE_WINDOWS_TIMERS
 	LARGE_INTEGER mClockFrequency;
 	LONGLONG mStartTick;
 	LARGE_INTEGER mStartTime;
 #else
 #ifdef __CELLOS_LV2__
-	uint64_t	mStartTime;
+	uint64_t mStartTime;
 #else
 #ifdef __APPLE__
-    uint64_t mStartTimeNano;
+	uint64_t mStartTimeNano;
 #endif
 	struct timeval mStartTime;
 #endif
-#endif //__CELLOS_LV2__
-
+#endif  //__CELLOS_LV2__
 };
 
 ///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
@@ -114,8 +108,7 @@ btClock& btClock::operator=(const btClock& other)
 	return *this;
 }
 
-
-	/// Resets the initial reference time.
+/// Resets the initial reference time.
 void btClock::reset()
 {
 #ifdef BT_USE_WINDOWS_TIMERS
@@ -124,14 +117,14 @@ void btClock::reset()
 #else
 #ifdef __CELLOS_LV2__
 
-	typedef uint64_t  ClockSize;
+	typedef uint64_t ClockSize;
 	ClockSize newTime;
 	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	SYS_TIMEBASE_GET( newTime );
+	SYS_TIMEBASE_GET(newTime);
 	m_data->mStartTime = newTime;
 #else
 #ifdef __APPLE__
-    m_data->mStartTimeNano = mach_absolute_time();
+	m_data->mStartTimeNano = mach_absolute_time();
 #endif
 	gettimeofday(&m_data->mStartTime, 0);
 #endif
@@ -146,66 +139,66 @@ unsigned long long int btClock::getTimeMilliseconds()
 	LARGE_INTEGER currentTime;
 	QueryPerformanceCounter(&currentTime);
 	LONGLONG elapsedTime = currentTime.QuadPart -
-		m_data->mStartTime.QuadPart;
-		// Compute the number of millisecond ticks elapsed.
+						   m_data->mStartTime.QuadPart;
+	// Compute the number of millisecond ticks elapsed.
 	unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
-		m_data->mClockFrequency.QuadPart);
+											  m_data->mClockFrequency.QuadPart);
 
-		return msecTicks;
+	return msecTicks;
 #else
 
 #ifdef __CELLOS_LV2__
-		uint64_t freq=sys_time_get_timebase_frequency();
-		double dFreq=((double) freq) / 1000.0;
-		typedef uint64_t  ClockSize;
-		ClockSize newTime;
-		SYS_TIMEBASE_GET( newTime );
-		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-
-		return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+	uint64_t freq = sys_time_get_timebase_frequency();
+	double dFreq = ((double)freq) / 1000.0;
+	typedef uint64_t ClockSize;
+	ClockSize newTime;
+	SYS_TIMEBASE_GET(newTime);
+	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+
+	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
 #else
 
-		struct timeval currentTime;
-		gettimeofday(&currentTime, 0);
-		return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 +
-			(currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000;
-#endif //__CELLOS_LV2__
+	struct timeval currentTime;
+	gettimeofday(&currentTime, 0);
+	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 +
+		   (currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000;
+#endif  //__CELLOS_LV2__
 #endif
 }
 
-	/// Returns the time in us since the last call to reset or since
-	/// the Clock was created.
+/// Returns the time in us since the last call to reset or since
+/// the Clock was created.
 unsigned long long int btClock::getTimeMicroseconds()
 {
 #ifdef BT_USE_WINDOWS_TIMERS
-	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx	
-		LARGE_INTEGER currentTime, elapsedTime;
-		
-		QueryPerformanceCounter(&currentTime);
-		elapsedTime.QuadPart = currentTime.QuadPart - 
-			m_data->mStartTime.QuadPart;
-		elapsedTime.QuadPart *= 1000000;
-		elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
-
-		return (unsigned long long) elapsedTime.QuadPart;
+	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
+	LARGE_INTEGER currentTime, elapsedTime;
+
+	QueryPerformanceCounter(&currentTime);
+	elapsedTime.QuadPart = currentTime.QuadPart -
+						   m_data->mStartTime.QuadPart;
+	elapsedTime.QuadPart *= 1000000;
+	elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
+
+	return (unsigned long long)elapsedTime.QuadPart;
 #else
 
 #ifdef __CELLOS_LV2__
-		uint64_t freq=sys_time_get_timebase_frequency();
-		double dFreq=((double) freq)/ 1000000.0;
-		typedef uint64_t  ClockSize;
-		ClockSize newTime;
-		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-		SYS_TIMEBASE_GET( newTime );
-
-		return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+	uint64_t freq = sys_time_get_timebase_frequency();
+	double dFreq = ((double)freq) / 1000000.0;
+	typedef uint64_t ClockSize;
+	ClockSize newTime;
+	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+	SYS_TIMEBASE_GET(newTime);
+
+	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
 #else
 
-		struct timeval currentTime;
-		gettimeofday(&currentTime, 0);
-		return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 +
-			(currentTime.tv_usec - m_data->mStartTime.tv_usec);
-#endif//__CELLOS_LV2__
+	struct timeval currentTime;
+	gettimeofday(&currentTime, 0);
+	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 +
+		   (currentTime.tv_usec - m_data->mStartTime.tv_usec);
+#endif  //__CELLOS_LV2__
 #endif
 }
 
@@ -213,65 +206,63 @@ unsigned long long int btClock::getTimeNanoseconds()
 {
 #ifdef BT_USE_WINDOWS_TIMERS
 	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
-		LARGE_INTEGER currentTime, elapsedTime;
-		
-		QueryPerformanceCounter(&currentTime);
-		elapsedTime.QuadPart = currentTime.QuadPart - 
-			m_data->mStartTime.QuadPart;
-		elapsedTime.QuadPart *= 1000000000;
-		elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
-
-		return (unsigned long long) elapsedTime.QuadPart;
+	LARGE_INTEGER currentTime, elapsedTime;
+
+	QueryPerformanceCounter(&currentTime);
+	elapsedTime.QuadPart = currentTime.QuadPart -
+						   m_data->mStartTime.QuadPart;
+	elapsedTime.QuadPart *= 1000000000;
+	elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
+
+	return (unsigned long long)elapsedTime.QuadPart;
 #else
 
 #ifdef __CELLOS_LV2__
-		uint64_t freq=sys_time_get_timebase_frequency();
-		double dFreq=((double) freq)/ 1e9;
-		typedef uint64_t  ClockSize;
-		ClockSize newTime;
-		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-		SYS_TIMEBASE_GET( newTime );
-
-		return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+	uint64_t freq = sys_time_get_timebase_frequency();
+	double dFreq = ((double)freq) / 1e9;
+	typedef uint64_t ClockSize;
+	ClockSize newTime;
+	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+	SYS_TIMEBASE_GET(newTime);
+
+	return (unsigned long int)((double(newTime - m_data->mStartTime)) / dFreq);
 #else
 #ifdef __APPLE__
-    uint64_t ticks = mach_absolute_time() - m_data->mStartTimeNano;
-    static long double conversion = 0.0L;
-    if( 0.0L == conversion )
-    {
-        // attempt to get conversion to nanoseconds
-        mach_timebase_info_data_t info;
-        int err = mach_timebase_info( &info );
-        if( err )
-        {
-            btAssert(0);
-            conversion = 1.;
-        }
-        conversion = info.numer / info.denom;
-    }
-    return (ticks * conversion);
-
-    
-#else//__APPLE__
-    
+	uint64_t ticks = mach_absolute_time() - m_data->mStartTimeNano;
+	static long double conversion = 0.0L;
+	if (0.0L == conversion)
+	{
+		// attempt to get conversion to nanoseconds
+		mach_timebase_info_data_t info;
+		int err = mach_timebase_info(&info);
+		if (err)
+		{
+			btAssert(0);
+			conversion = 1.;
+		}
+		conversion = info.numer / info.denom;
+	}
+	return (ticks * conversion);
+
+#else  //__APPLE__
+
 #ifdef BT_LINUX_REALTIME
-    timespec ts;
-    clock_gettime(CLOCK_REALTIME,&ts);
-    return 1000000000*ts.tv_sec + ts.tv_nsec;
+	timespec ts;
+	clock_gettime(CLOCK_REALTIME, &ts);
+	return 1000000000 * ts.tv_sec + ts.tv_nsec;
 #else
-    	struct timeval currentTime;
-		gettimeofday(&currentTime, 0);
-		return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1e9 +
-			(currentTime.tv_usec - m_data->mStartTime.tv_usec)*1000;
-#endif //BT_LINUX_REALTIME
-
-#endif//__APPLE__
-#endif//__CELLOS_LV2__
-#endif 
+	struct timeval currentTime;
+	gettimeofday(&currentTime, 0);
+	return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1e9 +
+		   (currentTime.tv_usec - m_data->mStartTime.tv_usec) * 1000;
+#endif  //BT_LINUX_REALTIME
+
+#endif  //__APPLE__
+#endif  //__CELLOS_LV2__
+#endif
 }
 
-
-/// Returns the time in s since the last call to reset or since 
+/// Returns the time in s since the last call to reset or since
 /// the Clock was created.
 btScalar btClock::getTimeSeconds()
 {
@@ -281,23 +272,19 @@ btScalar btClock::getTimeSeconds()
 
 #ifndef BT_NO_PROFILE
 
-
 static btClock gProfileClock;
 
-
-inline void Profile_Get_Ticks(unsigned long int * ticks)
+inline void Profile_Get_Ticks(unsigned long int* ticks)
 {
 	*ticks = (unsigned long int)gProfileClock.getTimeMicroseconds();
 }
 
 inline float Profile_Get_Tick_Rate(void)
 {
-//	return 1000000.f;
+	//	return 1000000.f;
 	return 1000.f;
-
 }
 
-
 /***************************************************************************************************
 **
 ** CProfileNode
@@ -313,35 +300,32 @@ inline float Profile_Get_Tick_Rate(void)
  * The name is assumed to be a static pointer, only the pointer is stored and compared for     *
  * efficiency reasons.                                                                         *
  *=============================================================================================*/
-CProfileNode::CProfileNode( const char * name, CProfileNode * parent ) :
-	Name( name ),
-	TotalCalls( 0 ),
-	TotalTime( 0 ),
-	StartTime( 0 ),
-	RecursionCounter( 0 ),
-	Parent( parent ),
-	Child( NULL ),
-	Sibling( NULL ),
-	m_userPtr(0)
+CProfileNode::CProfileNode(const char* name, CProfileNode* parent) : Name(name),
+																	 TotalCalls(0),
+																	 TotalTime(0),
+																	 StartTime(0),
+																	 RecursionCounter(0),
+																	 Parent(parent),
+																	 Child(NULL),
+																	 Sibling(NULL),
+																	 m_userPtr(0)
 {
 	Reset();
 }
 
-
-void	CProfileNode::CleanupMemory()
+void CProfileNode::CleanupMemory()
 {
-	delete ( Child);
+	delete (Child);
 	Child = NULL;
-	delete ( Sibling);
+	delete (Sibling);
 	Sibling = NULL;
 }
 
-CProfileNode::~CProfileNode( void )
+CProfileNode::~CProfileNode(void)
 {
 	CleanupMemory();
 }
 
-
 /***********************************************************************************************
  * INPUT:                                                                                      *
  * name - static string pointer to the name of the node we are searching for                   *
@@ -350,12 +334,14 @@ CProfileNode::~CProfileNode( void )
  * All profile names are assumed to be static strings so this function uses pointer compares   *
  * to find the named node.                                                                     *
  *=============================================================================================*/
-CProfileNode * CProfileNode::Get_Sub_Node( const char * name )
+CProfileNode* CProfileNode::Get_Sub_Node(const char* name)
 {
 	// Try to find this sub node
-	CProfileNode * child = Child;
-	while ( child ) {
-		if ( child->Name == name ) {
+	CProfileNode* child = Child;
+	while (child)
+	{
+		if (child->Name == name)
+		{
 			return child;
 		}
 		child = child->Sibling;
@@ -363,176 +349,212 @@ CProfileNode * CProfileNode::Get_Sub_Node( const char * name )
 
 	// We didn't find it, so add it
 
-	CProfileNode * node = new CProfileNode( name, this );
+	CProfileNode* node = new CProfileNode(name, this);
 	node->Sibling = Child;
 	Child = node;
 	return node;
 }
 
-
-void	CProfileNode::Reset( void )
+void CProfileNode::Reset(void)
 {
 	TotalCalls = 0;
 	TotalTime = 0.0f;
 
-
-	if ( Child ) {
+	if (Child)
+	{
 		Child->Reset();
 	}
-	if ( Sibling ) {
+	if (Sibling)
+	{
 		Sibling->Reset();
 	}
 }
 
-
-void	CProfileNode::Call( void )
+void CProfileNode::Call(void)
 {
 	TotalCalls++;
-	if (RecursionCounter++ == 0) {
+	if (RecursionCounter++ == 0)
+	{
 		Profile_Get_Ticks(&StartTime);
 	}
 }
 
-
-bool	CProfileNode::Return( void )
+bool CProfileNode::Return(void)
 {
-	if ( --RecursionCounter == 0 && TotalCalls != 0 ) {
+	if (--RecursionCounter == 0 && TotalCalls != 0)
+	{
 		unsigned long int time;
 		Profile_Get_Ticks(&time);
 
-		time-=StartTime;
+		time -= StartTime;
 		TotalTime += (float)time / Profile_Get_Tick_Rate();
 	}
-	return ( RecursionCounter == 0 );
+	return (RecursionCounter == 0);
 }
 
-
 /***************************************************************************************************
 **
 ** CProfileIterator
 **
 ***************************************************************************************************/
-CProfileIterator::CProfileIterator( CProfileNode * start )
+CProfileIterator::CProfileIterator(CProfileNode* start)
 {
 	CurrentParent = start;
 	CurrentChild = CurrentParent->Get_Child();
 }
 
-
-void	CProfileIterator::First(void)
+void CProfileIterator::First(void)
 {
 	CurrentChild = CurrentParent->Get_Child();
 }
 
-
-void	CProfileIterator::Next(void)
+void CProfileIterator::Next(void)
 {
 	CurrentChild = CurrentChild->Get_Sibling();
 }
 
-
-bool	CProfileIterator::Is_Done(void)
+bool CProfileIterator::Is_Done(void)
 {
 	return CurrentChild == NULL;
 }
 
-
-void	CProfileIterator::Enter_Child( int index )
+void CProfileIterator::Enter_Child(int index)
 {
 	CurrentChild = CurrentParent->Get_Child();
-	while ( (CurrentChild != NULL) && (index != 0) ) {
+	while ((CurrentChild != NULL) && (index != 0))
+	{
 		index--;
 		CurrentChild = CurrentChild->Get_Sibling();
 	}
 
-	if ( CurrentChild != NULL ) {
+	if (CurrentChild != NULL)
+	{
 		CurrentParent = CurrentChild;
 		CurrentChild = CurrentParent->Get_Child();
 	}
 }
 
-
-void	CProfileIterator::Enter_Parent( void )
+void CProfileIterator::Enter_Parent(void)
 {
-	if ( CurrentParent->Get_Parent() != NULL ) {
+	if (CurrentParent->Get_Parent() != NULL)
+	{
 		CurrentParent = CurrentParent->Get_Parent();
 	}
 	CurrentChild = CurrentParent->Get_Child();
 }
 
-
 /***************************************************************************************************
 **
 ** CProfileManager
 **
 ***************************************************************************************************/
 
-
-
-
-CProfileNode	gRoots[BT_QUICKPROF_MAX_THREAD_COUNT]={
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
-	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL)
-};
-
-
-CProfileNode* gCurrentNodes[BT_QUICKPROF_MAX_THREAD_COUNT]=
-{
-	&gRoots[ 0],	&gRoots[ 1],	&gRoots[ 2],	&gRoots[ 3],
-	&gRoots[ 4],	&gRoots[ 5],	&gRoots[ 6],	&gRoots[ 7],
-	&gRoots[ 8],	&gRoots[ 9],	&gRoots[10],	&gRoots[11],
-	&gRoots[12],	&gRoots[13],	&gRoots[14],	&gRoots[15],
-	&gRoots[16],	&gRoots[17],	&gRoots[18],	&gRoots[19],
-	&gRoots[20],	&gRoots[21],	&gRoots[22],	&gRoots[23],
-	&gRoots[24],	&gRoots[25],	&gRoots[26],	&gRoots[27],
-	&gRoots[28],	&gRoots[29],	&gRoots[30],	&gRoots[31],
-	&gRoots[32],	&gRoots[33],	&gRoots[34],	&gRoots[35],
-	&gRoots[36],	&gRoots[37],	&gRoots[38],	&gRoots[39],
-	&gRoots[40],	&gRoots[41],	&gRoots[42],	&gRoots[43],
-	&gRoots[44],	&gRoots[45],	&gRoots[46],	&gRoots[47],
-	&gRoots[48],	&gRoots[49],	&gRoots[50],	&gRoots[51],
-	&gRoots[52],	&gRoots[53],	&gRoots[54],	&gRoots[55],
-	&gRoots[56],	&gRoots[57],	&gRoots[58],	&gRoots[59],
-	&gRoots[60],	&gRoots[61],	&gRoots[62],	&gRoots[63],
+CProfileNode gRoots[BT_QUICKPROF_MAX_THREAD_COUNT] = {
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL),
+	CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL), CProfileNode("Root", NULL)};
+
+CProfileNode* gCurrentNodes[BT_QUICKPROF_MAX_THREAD_COUNT] =
+	{
+		&gRoots[0],
+		&gRoots[1],
+		&gRoots[2],
+		&gRoots[3],
+		&gRoots[4],
+		&gRoots[5],
+		&gRoots[6],
+		&gRoots[7],
+		&gRoots[8],
+		&gRoots[9],
+		&gRoots[10],
+		&gRoots[11],
+		&gRoots[12],
+		&gRoots[13],
+		&gRoots[14],
+		&gRoots[15],
+		&gRoots[16],
+		&gRoots[17],
+		&gRoots[18],
+		&gRoots[19],
+		&gRoots[20],
+		&gRoots[21],
+		&gRoots[22],
+		&gRoots[23],
+		&gRoots[24],
+		&gRoots[25],
+		&gRoots[26],
+		&gRoots[27],
+		&gRoots[28],
+		&gRoots[29],
+		&gRoots[30],
+		&gRoots[31],
+		&gRoots[32],
+		&gRoots[33],
+		&gRoots[34],
+		&gRoots[35],
+		&gRoots[36],
+		&gRoots[37],
+		&gRoots[38],
+		&gRoots[39],
+		&gRoots[40],
+		&gRoots[41],
+		&gRoots[42],
+		&gRoots[43],
+		&gRoots[44],
+		&gRoots[45],
+		&gRoots[46],
+		&gRoots[47],
+		&gRoots[48],
+		&gRoots[49],
+		&gRoots[50],
+		&gRoots[51],
+		&gRoots[52],
+		&gRoots[53],
+		&gRoots[54],
+		&gRoots[55],
+		&gRoots[56],
+		&gRoots[57],
+		&gRoots[58],
+		&gRoots[59],
+		&gRoots[60],
+		&gRoots[61],
+		&gRoots[62],
+		&gRoots[63],
 };
 
+int CProfileManager::FrameCounter = 0;
+unsigned long int CProfileManager::ResetTime = 0;
 
-int				CProfileManager::FrameCounter = 0;
-unsigned long int			CProfileManager::ResetTime = 0;
-
-CProfileIterator *	CProfileManager::Get_Iterator( void )
-{ 
-
-		int threadIndex = btQuickprofGetCurrentThreadIndex2();
-		if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
-			return 0;
+CProfileIterator* CProfileManager::Get_Iterator(void)
+{
+	int threadIndex = btQuickprofGetCurrentThreadIndex2();
+	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+		return 0;
 
-		return new CProfileIterator( &gRoots[threadIndex]); 
+	return new CProfileIterator(&gRoots[threadIndex]);
 }
 
-void						CProfileManager::CleanupMemory(void)
+void CProfileManager::CleanupMemory(void)
 {
-	for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
+	for (int i = 0; i < BT_QUICKPROF_MAX_THREAD_COUNT; i++)
 	{
 		gRoots[i].CleanupMemory();
 	}
 }
 
-
 /***********************************************************************************************
  * CProfileManager::Start_Profile -- Begin a named profile                                    *
  *                                                                                             *
@@ -546,51 +568,47 @@ void						CProfileManager::CleanupMemory(void)
  * The string used is assumed to be a static string; pointer compares are used throughout      *
  * the profiling code for efficiency.                                                          *
  *=============================================================================================*/
-void	CProfileManager::Start_Profile( const char * name )
+void CProfileManager::Start_Profile(const char* name)
 {
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 
-	if (name != gCurrentNodes[threadIndex]->Get_Name()) {
-		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Sub_Node( name );
+	if (name != gCurrentNodes[threadIndex]->Get_Name())
+	{
+		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Sub_Node(name);
 	}
 
 	gCurrentNodes[threadIndex]->Call();
 }
 
-
 /***********************************************************************************************
  * CProfileManager::Stop_Profile -- Stop timing and record the results.                       *
  *=============================================================================================*/
-void	CProfileManager::Stop_Profile( void )
+void CProfileManager::Stop_Profile(void)
 {
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 
 	// Return will indicate whether we should back up to our parent (we may
 	// be profiling a recursive function)
-	if (gCurrentNodes[threadIndex]->Return()) {
+	if (gCurrentNodes[threadIndex]->Return())
+	{
 		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Parent();
 	}
 }
 
-
-
-
-
-
 /***********************************************************************************************
  * CProfileManager::Reset -- Reset the contents of the profiling system                       *
  *                                                                                             *
  *    This resets everything except for the tree structure.  All of the timing data is reset.  *
  *=============================================================================================*/
-void	CProfileManager::Reset( void )
+void CProfileManager::Reset(void)
 {
 	gProfileClock.reset();
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+	if ((threadIndex < 0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 	gRoots[threadIndex].Reset();
 	gRoots[threadIndex].Call();
@@ -598,20 +616,18 @@ void	CProfileManager::Reset( void )
 	Profile_Get_Ticks(&ResetTime);
 }
 
-
 /***********************************************************************************************
  * CProfileManager::Increment_Frame_Counter -- Increment the frame counter                    *
  *=============================================================================================*/
-void CProfileManager::Increment_Frame_Counter( void )
+void CProfileManager::Increment_Frame_Counter(void)
 {
 	FrameCounter++;
 }
 
-
 /***********************************************************************************************
  * CProfileManager::Get_Time_Since_Reset -- returns the elapsed time since last reset         *
  *=============================================================================================*/
-float CProfileManager::Get_Time_Since_Reset( void )
+float CProfileManager::Get_Time_Since_Reset(void)
 {
 	unsigned long int time;
 	Profile_Get_Ticks(&time);
@@ -621,34 +637,34 @@ float CProfileManager::Get_Time_Since_Reset( void )
 
 #include <stdio.h>
 
-void	CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spacing)
+void CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spacing)
 {
 	profileIterator->First();
 	if (profileIterator->Is_Done())
 		return;
 
-	float accumulated_time=0,parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
+	float accumulated_time = 0, parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
 	int i;
 	int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
-	for (i=0;i<spacing;i++)	printf(".");
+	for (i = 0; i < spacing; i++) printf(".");
 	printf("----------------------------------\n");
-	for (i=0;i<spacing;i++)	printf(".");
-	printf("Profiling: %s (total running time: %.3f ms) ---\n",	profileIterator->Get_Current_Parent_Name(), parent_time );
+	for (i = 0; i < spacing; i++) printf(".");
+	printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time);
 	float totalTime = 0.f;
 
-
 	int numChildren = 0;
 
-	for (i = 0; !profileIterator->Is_Done(); i++,profileIterator->Next())
+	for (i = 0; !profileIterator->Is_Done(); i++, profileIterator->Next())
 	{
 		numChildren++;
 		float current_total_time = profileIterator->Get_Current_Total_Time();
 		accumulated_time += current_total_time;
 		float fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
 		{
-			int i;	for (i=0;i<spacing;i++)	printf(".");
+			int i;
+			for (i = 0; i < spacing; i++) printf(".");
 		}
-		printf("%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)\n",i, profileIterator->Get_Current_Name(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls());
+		printf("%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)\n", i, profileIterator->Get_Current_Name(), fraction, (current_total_time / (double)frames_since_reset), profileIterator->Get_Current_Total_Calls());
 		totalTime += current_total_time;
 		//recurse into children
 	}
@@ -657,29 +673,45 @@ void	CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spaci
 	{
 		//printf("what's wrong\n");
 	}
-	for (i=0;i<spacing;i++)	printf(".");
-	printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:",parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
+	for (i = 0; i < spacing; i++) printf(".");
+	printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:", parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
 
-	for (i=0;i<numChildren;i++)
+	for (i = 0; i < numChildren; i++)
 	{
 		profileIterator->Enter_Child(i);
-		dumpRecursive(profileIterator,spacing+3);
+		dumpRecursive(profileIterator, spacing + 3);
 		profileIterator->Enter_Parent();
 	}
 }
 
-
-
-void	CProfileManager::dumpAll()
+void CProfileManager::dumpAll()
 {
 	CProfileIterator* profileIterator = 0;
 	profileIterator = CProfileManager::Get_Iterator();
 
-	dumpRecursive(profileIterator,0);
+	dumpRecursive(profileIterator, 0);
 
 	CProfileManager::Release_Iterator(profileIterator);
 }
 
+
+void btEnterProfileZoneDefault(const char* name)
+{
+}
+void btLeaveProfileZoneDefault()
+{
+}
+
+#else
+void btEnterProfileZoneDefault(const char* name)
+{
+}
+void btLeaveProfileZoneDefault()
+{
+}
+#endif  //BT_NO_PROFILE
+
+
 // clang-format off
 #if defined(_WIN32) && (defined(__MINGW32__) || defined(__MINGW64__))
   #define BT_HAVE_TLS 1
@@ -703,50 +735,31 @@ void	CProfileManager::dumpAll()
 #endif  // defined(__ANDROID__) && defined(__clang__)
 // clang-format on
 
-unsigned int btQuickprofGetCurrentThreadIndex2() {
-  const unsigned int kNullIndex = ~0U;
+unsigned int btQuickprofGetCurrentThreadIndex2()
+{
+	const unsigned int kNullIndex = ~0U;
 
 #if BT_THREADSAFE
-  return btGetCurrentThreadIndex();
+	return btGetCurrentThreadIndex();
 #else
 #if defined(BT_HAVE_TLS)
-  static __thread unsigned int sThreadIndex = kNullIndex;
+	static __thread unsigned int sThreadIndex = kNullIndex;
 #elif defined(_WIN32)
-  __declspec(thread) static unsigned int sThreadIndex = kNullIndex;
+	__declspec(thread) static unsigned int sThreadIndex = kNullIndex;
 #else
-  unsigned int sThreadIndex = 0;
-  return -1;
+	unsigned int sThreadIndex = 0;
+	return -1;
 #endif
 
-  static int gThreadCounter = 0;
-
-  if (sThreadIndex == kNullIndex) {
-    sThreadIndex = gThreadCounter++;
-  }
-  return sThreadIndex;
-#endif //BT_THREADSAFE
-}
-
-void	btEnterProfileZoneDefault(const char* name)
-{
-}
-void	btLeaveProfileZoneDefault()
-{
-}
-
+	static int gThreadCounter = 0;
 
-#else
-void	btEnterProfileZoneDefault(const char* name)
-{
-}
-void	btLeaveProfileZoneDefault()
-{
+	if (sThreadIndex == kNullIndex)
+	{
+		sThreadIndex = gThreadCounter++;
+	}
+	return sThreadIndex;
+#endif  //BT_THREADSAFE
 }
-#endif //BT_NO_PROFILE
-
-
-
-
 
 static btEnterProfileZoneFunc* bts_enterFunc = btEnterProfileZoneDefault;
 static btLeaveProfileZoneFunc* bts_leaveFunc = btLeaveProfileZoneDefault;
@@ -762,14 +775,13 @@ void btLeaveProfileZone()
 
 btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc()
 {
-	return bts_enterFunc ;
+	return bts_enterFunc;
 }
 btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc()
 {
 	return bts_leaveFunc;
 }
 
-
 void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc)
 {
 	bts_enterFunc = enterFunc;
@@ -779,13 +791,12 @@ void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc)
 	bts_leaveFunc = leaveFunc;
 }
 
-CProfileSample::CProfileSample( const char * name )
-{ 
+CProfileSample::CProfileSample(const char* name)
+{
 	btEnterProfileZone(name);
 }
 
-CProfileSample::~CProfileSample( void )					
-{ 
+CProfileSample::~CProfileSample(void)
+{
 	btLeaveProfileZone();
 }
-