Merge pull request #15664 from akien-mga/thirdparty

Bugfix updates to various thirdparty libraries

1 files changed, 0 insertions, 327 deletions

diff --git a/thirdparty/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/thirdparty/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
deleted file mode 100644
index 1d10bad922..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
+++ /dev/null
@@ -1,327 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-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,
-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.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "btDiscreteDynamicsWorldMt.h"
-
-//collision detection
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "btSimulationIslandManagerMt.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btQuickprof.h"
-
-//rigidbody & constraints
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
-#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
-
-
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-
-#include "BulletDynamics/Dynamics/btActionInterface.h"
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btMotionState.h"
-
-#include "LinearMath/btSerializer.h"
-
-
-struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::IslandCallback
-{
-	btContactSolverInfo*	m_solverInfo;
-	btConstraintSolver*		m_solver;
-	btIDebugDraw*			m_debugDrawer;
-	btDispatcher*			m_dispatcher;
-
-	InplaceSolverIslandCallbackMt(
-		btConstraintSolver*	solver,
-		btStackAlloc* stackAlloc,
-		btDispatcher* dispatcher)
-		:m_solverInfo(NULL),
-		m_solver(solver),
-		m_debugDrawer(NULL),
-		m_dispatcher(dispatcher)
-	{
-
-	}
-
-	InplaceSolverIslandCallbackMt& operator=(InplaceSolverIslandCallbackMt& other)
-	{
-		btAssert(0);
-		(void)other;
-		return *this;
-	}
-
-	SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btIDebugDraw* debugDrawer)
-	{
-		btAssert(solverInfo);
-		m_solverInfo = solverInfo;
-		m_debugDrawer = debugDrawer;
-	}
-
-
-	virtual	void	processIsland( btCollisionObject** bodies,
-                                   int numBodies,
-                                   btPersistentManifold** manifolds,
-                                   int numManifolds,
-                                   btTypedConstraint** constraints,
-                                   int numConstraints,
-                                   int islandId
-                                   )
-	{
-        m_solver->solveGroup( bodies,
-                              numBodies,
-                              manifolds,
-                              numManifolds,
-                              constraints,
-                              numConstraints,
-                              *m_solverInfo,
-                              m_debugDrawer,
-                              m_dispatcher
-                              );
-    }
-
-};
-
-
-///
-/// btConstraintSolverPoolMt
-///
-
-btConstraintSolverPoolMt::ThreadSolver* btConstraintSolverPoolMt::getAndLockThreadSolver()
-{
-    int i = 0;
-#if BT_THREADSAFE
-    i = btGetCurrentThreadIndex() % m_solvers.size();
-#endif // #if BT_THREADSAFE
-    while ( true )
-    {
-        ThreadSolver& solver = m_solvers[ i ];
-        if ( solver.mutex.tryLock() )
-        {
-            return &solver;
-        }
-        // failed, try the next one
-        i = ( i + 1 ) % m_solvers.size();
-    }
-    return NULL;
-}
-
-void btConstraintSolverPoolMt::init( btConstraintSolver** solvers, int numSolvers )
-{
-    m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER;
-    m_solvers.resize( numSolvers );
-    for ( int i = 0; i < numSolvers; ++i )
-    {
-        m_solvers[ i ].solver = solvers[ i ];
-    }
-    if ( numSolvers > 0 )
-    {
-        m_solverType = solvers[ 0 ]->getSolverType();
-    }
-}
-
-// create the solvers for me
-btConstraintSolverPoolMt::btConstraintSolverPoolMt( int numSolvers )
-{
-    btAlignedObjectArray<btConstraintSolver*> solvers;
-    solvers.reserve( numSolvers );
-    for ( int i = 0; i < numSolvers; ++i )
-    {
-        btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
-        solvers.push_back( solver );
-    }
-    init( &solvers[ 0 ], numSolvers );
-}
-
-// pass in fully constructed solvers (destructor will delete them)
-btConstraintSolverPoolMt::btConstraintSolverPoolMt( btConstraintSolver** solvers, int numSolvers )
-{
-    init( solvers, numSolvers );
-}
-
-btConstraintSolverPoolMt::~btConstraintSolverPoolMt()
-{
-    // delete all solvers
-    for ( int i = 0; i < m_solvers.size(); ++i )
-    {
-        ThreadSolver& solver = m_solvers[ i ];
-        delete solver.solver;
-        solver.solver = NULL;
-    }
-}
-
-///solve a group of constraints
-btScalar btConstraintSolverPoolMt::solveGroup( btCollisionObject** bodies,
-    int numBodies,
-    btPersistentManifold** manifolds,
-    int numManifolds,
-    btTypedConstraint** constraints,
-    int numConstraints,
-    const btContactSolverInfo& info,
-    btIDebugDraw* debugDrawer,
-    btDispatcher* dispatcher
-)
-{
-    ThreadSolver* ts = getAndLockThreadSolver();
-    ts->solver->solveGroup( bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher );
-    ts->mutex.unlock();
-    return 0.0f;
-}
-
-void btConstraintSolverPoolMt::reset()
-{
-    for ( int i = 0; i < m_solvers.size(); ++i )
-    {
-        ThreadSolver& solver = m_solvers[ i ];
-        solver.mutex.lock();
-        solver.solver->reset();
-        solver.mutex.unlock();
-    }
-}
-
-
-///
-/// btDiscreteDynamicsWorldMt
-///
-
-btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolverPoolMt* constraintSolver, btCollisionConfiguration* collisionConfiguration)
-: btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
-{
-	if (m_ownsIslandManager)
-	{
-		m_islandManager->~btSimulationIslandManager();
-		btAlignedFree( m_islandManager);
-	}
-    {
-		void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallbackMt),16);
-		m_solverIslandCallbackMt = new (mem) InplaceSolverIslandCallbackMt (m_constraintSolver, 0, dispatcher);
-    }
-	{
-		void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16);
-		btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt();
-        im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize );
-        m_islandManager = im;
-	}
-}
-
-
-btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt()
-{
-	if (m_solverIslandCallbackMt)
-	{
-		m_solverIslandCallbackMt->~InplaceSolverIslandCallbackMt();
-		btAlignedFree(m_solverIslandCallbackMt);
-	}
-	if (m_ownsConstraintSolver)
-	{
-		m_constraintSolver->~btConstraintSolver();
-		btAlignedFree(m_constraintSolver);
-	}
-}
-
-
-void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo)
-{
-	BT_PROFILE("solveConstraints");
-
-	m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer());
-	m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
-
-	/// solve all the constraints for this island
-    btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager);
-    im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, m_solverIslandCallbackMt );
-
-	m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
-}
-
-
-struct UpdaterUnconstrainedMotion : public btIParallelForBody
-{
-    btScalar timeStep;
-    btRigidBody** rigidBodies;
-
-    void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
-    {
-        for ( int i = iBegin; i < iEnd; ++i )
-        {
-            btRigidBody* body = rigidBodies[ i ];
-            if ( !body->isStaticOrKinematicObject() )
-            {
-                //don't integrate/update velocities here, it happens in the constraint solver
-                body->applyDamping( timeStep );
-                body->predictIntegratedTransform( timeStep, body->getInterpolationWorldTransform() );
-            }
-        }
-    }
-};
-
-
-void btDiscreteDynamicsWorldMt::predictUnconstraintMotion( btScalar timeStep )
-{
-    BT_PROFILE( "predictUnconstraintMotion" );
-    if ( m_nonStaticRigidBodies.size() > 0 )
-    {
-        UpdaterUnconstrainedMotion update;
-        update.timeStep = timeStep;
-        update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
-        int grainSize = 50;  // num of iterations per task for task scheduler
-        btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
-    }
-}
-
-
-void btDiscreteDynamicsWorldMt::createPredictiveContacts( btScalar timeStep )
-{
-    BT_PROFILE( "createPredictiveContacts" );
-    releasePredictiveContacts();
-    if ( m_nonStaticRigidBodies.size() > 0 )
-    {
-        UpdaterCreatePredictiveContacts update;
-        update.world = this;
-        update.timeStep = timeStep;
-        update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
-        int grainSize = 50;  // num of iterations per task for task scheduler
-        btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
-    }
-}
-
-
-void btDiscreteDynamicsWorldMt::integrateTransforms( btScalar timeStep )
-{
-    BT_PROFILE( "integrateTransforms" );
-    if ( m_nonStaticRigidBodies.size() > 0 )
-    {
-        UpdaterIntegrateTransforms update;
-        update.world = this;
-        update.timeStep = timeStep;
-        update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
-        int grainSize = 50;  // num of iterations per task for task scheduler
-        btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
-    }
-}
-