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-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h7
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h176
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h2
3 files changed, 176 insertions, 9 deletions
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index 825caeef56..bc0742ad62 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -187,13 +187,6 @@ btBroadphasePair
BT_DECLARE_ALIGNED_ALLOCATOR();
- btBroadphasePair(const btBroadphasePair& other)
- : m_pProxy0(other.m_pProxy0),
- m_pProxy1(other.m_pProxy1),
- m_algorithm(other.m_algorithm),
- m_internalInfo1(other.m_internalInfo1)
- {
- }
btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1)
{
//keep them sorted, so the std::set operations work
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
index a316dbf207..980d19a754 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -21,7 +21,6 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btAabbUtil2.h"
-
//
// Compile time configuration
//
@@ -131,6 +130,7 @@ subject to the following restrictions:
/* btDbvtAabbMm */
struct btDbvtAabbMm
{
+ DBVT_INLINE btDbvtAabbMm(){}
DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); }
DBVT_INLINE btVector3 Lengths() const { return (mx - mi); }
DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); }
@@ -190,6 +190,36 @@ struct btDbvtNode
};
};
+/* btDbv(normal)tNode */
+struct btDbvntNode
+{
+ btDbvtVolume volume;
+ btVector3 normal;
+ btScalar angle;
+ DBVT_INLINE bool isleaf() const { return (childs[1] == 0); }
+ DBVT_INLINE bool isinternal() const { return (!isleaf()); }
+ btDbvntNode* childs[2];
+ void* data;
+
+ btDbvntNode(const btDbvtNode* n)
+ : volume(n->volume)
+ , angle(0)
+ , normal(0,0,0)
+ , data(n->data)
+ {
+ childs[0] = 0;
+ childs[1] = 0;
+ }
+
+ ~btDbvntNode()
+ {
+ if (childs[0])
+ delete childs[0];
+ if (childs[1])
+ delete childs[1];
+ }
+};
+
typedef btAlignedObjectArray<const btDbvtNode*> btNodeStack;
///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
@@ -225,6 +255,14 @@ struct btDbvt
btDbvtNode* parent;
sStkCLN(const btDbvtNode* n, btDbvtNode* p) : node(n), parent(p) {}
};
+
+ struct sStknNN
+ {
+ const btDbvntNode* a;
+ const btDbvntNode* b;
+ sStknNN() {}
+ sStknNN(const btDbvntNode* na, const btDbvntNode* nb) : a(na), b(nb) {}
+ };
// Policies/Interfaces
/* ICollide */
@@ -234,6 +272,7 @@ struct btDbvt
DBVT_VIRTUAL void Process(const btDbvtNode*, const btDbvtNode*) {}
DBVT_VIRTUAL void Process(const btDbvtNode*) {}
DBVT_VIRTUAL void Process(const btDbvtNode* n, btScalar) { Process(n); }
+ DBVT_VIRTUAL void Process(const btDbvntNode*, const btDbvntNode*) {}
DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return (true); }
DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return (true); }
};
@@ -306,6 +345,12 @@ struct btDbvt
void collideTT(const btDbvtNode* root0,
const btDbvtNode* root1,
DBVT_IPOLICY);
+ DBVT_PREFIX
+ void selfCollideT(const btDbvntNode* root,
+ DBVT_IPOLICY);
+ DBVT_PREFIX
+ void selfCollideTT(const btDbvtNode* root,
+ DBVT_IPOLICY);
DBVT_PREFIX
void collideTTpersistentStack(const btDbvtNode* root0,
@@ -837,6 +882,135 @@ inline void btDbvt::collideTT(const btDbvtNode* root0,
}
}
+//
+DBVT_PREFIX
+inline void btDbvt::selfCollideT(const btDbvntNode* root,
+ DBVT_IPOLICY)
+{
+ DBVT_CHECKTYPE
+ if (root)
+ {
+ int depth = 1;
+ int treshold = DOUBLE_STACKSIZE - 4;
+ btAlignedObjectArray<sStknNN> stkStack;
+ stkStack.resize(DOUBLE_STACKSIZE);
+ stkStack[0] = sStknNN(root, root);
+ do
+ {
+ sStknNN p = stkStack[--depth];
+ if (depth > treshold)
+ {
+ stkStack.resize(stkStack.size() * 2);
+ treshold = stkStack.size() - 4;
+ }
+ if (p.a == p.b)
+ {
+ if (p.a->isinternal() && p.a->angle > SIMD_PI)
+ {
+ stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[0]);
+ stkStack[depth++] = sStknNN(p.a->childs[1], p.a->childs[1]);
+ stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[1]);
+ }
+ }
+ else if (Intersect(p.a->volume, p.b->volume))
+ {
+ if (p.a->isinternal())
+ {
+ if (p.b->isinternal())
+ {
+ stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[0]);
+ stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[0]);
+ stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[1]);
+ stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[1]);
+ }
+ else
+ {
+ stkStack[depth++] = sStknNN(p.a->childs[0], p.b);
+ stkStack[depth++] = sStknNN(p.a->childs[1], p.b);
+ }
+ }
+ else
+ {
+ if (p.b->isinternal())
+ {
+ stkStack[depth++] = sStknNN(p.a, p.b->childs[0]);
+ stkStack[depth++] = sStknNN(p.a, p.b->childs[1]);
+ }
+ else
+ {
+ policy.Process(p.a, p.b);
+ }
+ }
+ }
+ } while (depth);
+ }
+}
+
+//
+DBVT_PREFIX
+inline void btDbvt::selfCollideTT(const btDbvtNode* root,
+ DBVT_IPOLICY)
+{
+ DBVT_CHECKTYPE
+ if (root)
+ {
+ int depth = 1;
+ int treshold = DOUBLE_STACKSIZE - 4;
+ btAlignedObjectArray<sStkNN> stkStack;
+ stkStack.resize(DOUBLE_STACKSIZE);
+ stkStack[0] = sStkNN(root, root);
+ do
+ {
+ sStkNN p = stkStack[--depth];
+ if (depth > treshold)
+ {
+ stkStack.resize(stkStack.size() * 2);
+ treshold = stkStack.size() - 4;
+ }
+ if (p.a == p.b)
+ {
+ if (p.a->isinternal())
+ {
+ stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
+ stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
+ stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
+ }
+ }
+ else if (Intersect(p.a->volume, p.b->volume))
+ {
+ if (p.a->isinternal())
+ {
+ if (p.b->isinternal())
+ {
+ stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
+ stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
+ stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
+ stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
+ }
+ else
+ {
+ stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
+ stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
+ }
+ }
+ else
+ {
+ if (p.b->isinternal())
+ {
+ stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
+ stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
+ }
+ else
+ {
+ policy.Process(p.a, p.b);
+ }
+ }
+ }
+ } while (depth);
+ }
+}
+
+
DBVT_PREFIX
inline void btDbvt::collideTTpersistentStack(const btDbvtNode* root0,
const btDbvtNode* root1,
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index a85782bc8a..f4a2d5e368 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -68,7 +68,7 @@ public:
virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0;
- virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo)
+ virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/)
{
processAllOverlappingPairs(callback, dispatcher);
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-06 11:56:12 +0000