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diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
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--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
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-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
-
-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 "btPersistentManifold.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btSerializer.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btCollisionObjectData btCollisionObjectDoubleData
-#else
-#define btCollisionObjectData btCollisionObjectFloatData
-#endif
-
-btScalar gContactBreakingThreshold = btScalar(0.02);
-ContactDestroyedCallback gContactDestroyedCallback = 0;
-ContactProcessedCallback gContactProcessedCallback = 0;
-ContactStartedCallback gContactStartedCallback = 0;
-ContactEndedCallback gContactEndedCallback = 0;
-///gContactCalcArea3Points will approximate the convex hull area using 3 points
-///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
-bool gContactCalcArea3Points = true;
-
-btPersistentManifold::btPersistentManifold()
- : btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
- m_body0(0),
- m_body1(0),
- m_cachedPoints(0),
- m_companionIdA(0),
- m_companionIdB(0),
- m_index1a(0)
-{
-}
-
-#ifdef DEBUG_PERSISTENCY
-#include <stdio.h>
-void btPersistentManifold::DebugPersistency()
-{
- int i;
- printf("DebugPersistency : numPoints %d\n", m_cachedPoints);
- for (i = 0; i < m_cachedPoints; i++)
- {
- printf("m_pointCache[%d].m_userPersistentData = %x\n", i, m_pointCache[i].m_userPersistentData);
- }
-}
-#endif //DEBUG_PERSISTENCY
-
-void btPersistentManifold::clearUserCache(btManifoldPoint& pt)
-{
- void* oldPtr = pt.m_userPersistentData;
- if (oldPtr)
- {
-#ifdef DEBUG_PERSISTENCY
- int i;
- int occurance = 0;
- for (i = 0; i < m_cachedPoints; i++)
- {
- if (m_pointCache[i].m_userPersistentData == oldPtr)
- {
- occurance++;
- if (occurance > 1)
- printf("error in clearUserCache\n");
- }
- }
- btAssert(occurance <= 0);
-#endif //DEBUG_PERSISTENCY
-
- if (pt.m_userPersistentData && gContactDestroyedCallback)
- {
- (*gContactDestroyedCallback)(pt.m_userPersistentData);
- pt.m_userPersistentData = 0;
- }
-
-#ifdef DEBUG_PERSISTENCY
- DebugPersistency();
-#endif
- }
-}
-
-static inline btScalar calcArea4Points(const btVector3& p0, const btVector3& p1, const btVector3& p2, const btVector3& p3)
-{
- // It calculates possible 3 area constructed from random 4 points and returns the biggest one.
-
- btVector3 a[3], b[3];
- a[0] = p0 - p1;
- a[1] = p0 - p2;
- a[2] = p0 - p3;
- b[0] = p2 - p3;
- b[1] = p1 - p3;
- b[2] = p1 - p2;
-
- //todo: Following 3 cross production can be easily optimized by SIMD.
- btVector3 tmp0 = a[0].cross(b[0]);
- btVector3 tmp1 = a[1].cross(b[1]);
- btVector3 tmp2 = a[2].cross(b[2]);
-
- return btMax(btMax(tmp0.length2(), tmp1.length2()), tmp2.length2());
-}
-
-int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt)
-{
- //calculate 4 possible cases areas, and take biggest area
- //also need to keep 'deepest'
-
- int maxPenetrationIndex = -1;
-#define KEEP_DEEPEST_POINT 1
-#ifdef KEEP_DEEPEST_POINT
- btScalar maxPenetration = pt.getDistance();
- for (int i = 0; i < 4; i++)
- {
- if (m_pointCache[i].getDistance() < maxPenetration)
- {
- maxPenetrationIndex = i;
- maxPenetration = m_pointCache[i].getDistance();
- }
- }
-#endif //KEEP_DEEPEST_POINT
-
- btScalar res0(btScalar(0.)), res1(btScalar(0.)), res2(btScalar(0.)), res3(btScalar(0.));
-
- if (gContactCalcArea3Points)
- {
- if (maxPenetrationIndex != 0)
- {
- btVector3 a0 = pt.m_localPointA - m_pointCache[1].m_localPointA;
- btVector3 b0 = m_pointCache[3].m_localPointA - m_pointCache[2].m_localPointA;
- btVector3 cross = a0.cross(b0);
- res0 = cross.length2();
- }
- if (maxPenetrationIndex != 1)
- {
- btVector3 a1 = pt.m_localPointA - m_pointCache[0].m_localPointA;
- btVector3 b1 = m_pointCache[3].m_localPointA - m_pointCache[2].m_localPointA;
- btVector3 cross = a1.cross(b1);
- res1 = cross.length2();
- }
-
- if (maxPenetrationIndex != 2)
- {
- btVector3 a2 = pt.m_localPointA - m_pointCache[0].m_localPointA;
- btVector3 b2 = m_pointCache[3].m_localPointA - m_pointCache[1].m_localPointA;
- btVector3 cross = a2.cross(b2);
- res2 = cross.length2();
- }
-
- if (maxPenetrationIndex != 3)
- {
- btVector3 a3 = pt.m_localPointA - m_pointCache[0].m_localPointA;
- btVector3 b3 = m_pointCache[2].m_localPointA - m_pointCache[1].m_localPointA;
- btVector3 cross = a3.cross(b3);
- res3 = cross.length2();
- }
- }
- else
- {
- if (maxPenetrationIndex != 0)
- {
- res0 = calcArea4Points(pt.m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[2].m_localPointA, m_pointCache[3].m_localPointA);
- }
-
- if (maxPenetrationIndex != 1)
- {
- res1 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[2].m_localPointA, m_pointCache[3].m_localPointA);
- }
-
- if (maxPenetrationIndex != 2)
- {
- res2 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[3].m_localPointA);
- }
-
- if (maxPenetrationIndex != 3)
- {
- res3 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[2].m_localPointA);
- }
- }
- btVector4 maxvec(res0, res1, res2, res3);
- int biggestarea = maxvec.closestAxis4();
- return biggestarea;
-}
-
-int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
-{
- btScalar shortestDist = getContactBreakingThreshold() * getContactBreakingThreshold();
- int size = getNumContacts();
- int nearestPoint = -1;
- for (int i = 0; i < size; i++)
- {
- const btManifoldPoint& mp = m_pointCache[i];
-
- btVector3 diffA = mp.m_localPointA - newPoint.m_localPointA;
- const btScalar distToManiPoint = diffA.dot(diffA);
- if (distToManiPoint < shortestDist)
- {
- shortestDist = distToManiPoint;
- nearestPoint = i;
- }
- }
- return nearestPoint;
-}
-
-int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive)
-{
- if (!isPredictive)
- {
- btAssert(validContactDistance(newPoint));
- }
-
- int insertIndex = getNumContacts();
- if (insertIndex == MANIFOLD_CACHE_SIZE)
- {
-#if MANIFOLD_CACHE_SIZE >= 4
- //sort cache so best points come first, based on area
- insertIndex = sortCachedPoints(newPoint);
-#else
- insertIndex = 0;
-#endif
- clearUserCache(m_pointCache[insertIndex]);
- }
- else
- {
- m_cachedPoints++;
- }
- if (insertIndex < 0)
- insertIndex = 0;
-
- btAssert(m_pointCache[insertIndex].m_userPersistentData == 0);
- m_pointCache[insertIndex] = newPoint;
- return insertIndex;
-}
-
-btScalar btPersistentManifold::getContactBreakingThreshold() const
-{
- return m_contactBreakingThreshold;
-}
-
-void btPersistentManifold::refreshContactPoints(const btTransform& trA, const btTransform& trB)
-{
- int i;
-#ifdef DEBUG_PERSISTENCY
- printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
- trA.getOrigin().getX(),
- trA.getOrigin().getY(),
- trA.getOrigin().getZ(),
- trB.getOrigin().getX(),
- trB.getOrigin().getY(),
- trB.getOrigin().getZ());
-#endif //DEBUG_PERSISTENCY
- /// first refresh worldspace positions and distance
- for (i = getNumContacts() - 1; i >= 0; i--)
- {
- btManifoldPoint& manifoldPoint = m_pointCache[i];
- manifoldPoint.m_positionWorldOnA = trA(manifoldPoint.m_localPointA);
- manifoldPoint.m_positionWorldOnB = trB(manifoldPoint.m_localPointB);
- manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA - manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
- manifoldPoint.m_lifeTime++;
- }
-
- /// then
- btScalar distance2d;
- btVector3 projectedDifference, projectedPoint;
- for (i = getNumContacts() - 1; i >= 0; i--)
- {
- btManifoldPoint& manifoldPoint = m_pointCache[i];
- //contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
- if (!validContactDistance(manifoldPoint))
- {
- removeContactPoint(i);
- }
- else
- {
- //todo: friction anchor may require the contact to be around a bit longer
- //contact also becomes invalid when relative movement orthogonal to normal exceeds margin
- projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
- projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
- distance2d = projectedDifference.dot(projectedDifference);
- if (distance2d > getContactBreakingThreshold() * getContactBreakingThreshold())
- {
- removeContactPoint(i);
- }
- else
- {
- //contact point processed callback
- if (gContactProcessedCallback)
- (*gContactProcessedCallback)(manifoldPoint, (void*)m_body0, (void*)m_body1);
- }
- }
- }
-#ifdef DEBUG_PERSISTENCY
- DebugPersistency();
-#endif //
-}
-
-int btPersistentManifold::calculateSerializeBufferSize() const
-{
- return sizeof(btPersistentManifoldData);
-}
-
-const char* btPersistentManifold::serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const
-{
- btPersistentManifoldData* dataOut = (btPersistentManifoldData*)dataBuffer;
- memset(dataOut, 0, sizeof(btPersistentManifoldData));
-
- dataOut->m_body0 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody0());
- dataOut->m_body1 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody1());
- dataOut->m_contactBreakingThreshold = manifold->getContactBreakingThreshold();
- dataOut->m_contactProcessingThreshold = manifold->getContactProcessingThreshold();
- dataOut->m_numCachedPoints = manifold->getNumContacts();
- dataOut->m_companionIdA = manifold->m_companionIdA;
- dataOut->m_companionIdB = manifold->m_companionIdB;
- dataOut->m_index1a = manifold->m_index1a;
- dataOut->m_objectType = manifold->m_objectType;
-
- for (int i = 0; i < this->getNumContacts(); i++)
- {
- const btManifoldPoint& pt = manifold->getContactPoint(i);
- dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse;
- dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS;
- dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
- dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2;
- pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]);
- pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]);
- pt.m_normalWorldOnB.serialize(dataOut->m_pointCacheNormalWorldOnB[i]);
- dataOut->m_pointCacheDistance[i] = pt.m_distance1;
- dataOut->m_pointCacheCombinedContactDamping1[i] = pt.m_combinedContactDamping1;
- dataOut->m_pointCacheCombinedContactStiffness1[i] = pt.m_combinedContactStiffness1;
- dataOut->m_pointCacheLifeTime[i] = pt.m_lifeTime;
- dataOut->m_pointCacheFrictionCFM[i] = pt.m_frictionCFM;
- dataOut->m_pointCacheContactERP[i] = pt.m_contactERP;
- dataOut->m_pointCacheContactCFM[i] = pt.m_contactCFM;
- dataOut->m_pointCacheContactPointFlags[i] = pt.m_contactPointFlags;
- dataOut->m_pointCacheIndex0[i] = pt.m_index0;
- dataOut->m_pointCacheIndex1[i] = pt.m_index1;
- dataOut->m_pointCachePartId0[i] = pt.m_partId0;
- dataOut->m_pointCachePartId1[i] = pt.m_partId1;
- pt.m_positionWorldOnA.serialize(dataOut->m_pointCachePositionWorldOnA[i]);
- pt.m_positionWorldOnB.serialize(dataOut->m_pointCachePositionWorldOnB[i]);
- dataOut->m_pointCacheCombinedFriction[i] = pt.m_combinedFriction;
- pt.m_lateralFrictionDir1.serialize(dataOut->m_pointCacheLateralFrictionDir1[i]);
- pt.m_lateralFrictionDir2.serialize(dataOut->m_pointCacheLateralFrictionDir2[i]);
- dataOut->m_pointCacheCombinedRollingFriction[i] = pt.m_combinedRollingFriction;
- dataOut->m_pointCacheCombinedSpinningFriction[i] = pt.m_combinedSpinningFriction;
- dataOut->m_pointCacheCombinedRestitution[i] = pt.m_combinedRestitution;
- dataOut->m_pointCacheContactMotion1[i] = pt.m_contactMotion1;
- dataOut->m_pointCacheContactMotion2[i] = pt.m_contactMotion2;
- }
- return btPersistentManifoldDataName;
-}
-
-void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr)
-{
- m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
- m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
- m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
- m_companionIdA = manifoldDataPtr->m_companionIdA;
- m_companionIdB = manifoldDataPtr->m_companionIdB;
- //m_index1a = manifoldDataPtr->m_index1a;
- m_objectType = manifoldDataPtr->m_objectType;
-
- for (int i = 0; i < this->getNumContacts(); i++)
- {
- btManifoldPoint& pt = m_pointCache[i];
-
- pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
- pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
- pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
- pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
- pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]);
- pt.m_localPointB.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointB[i]);
- pt.m_normalWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
- pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
- pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
- pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
- pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
- pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
- pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
- pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
- pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
- pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
- pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
- pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
- pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
- pt.m_positionWorldOnA.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
- pt.m_positionWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
- pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
- pt.m_lateralFrictionDir1.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
- pt.m_lateralFrictionDir2.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
- pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
- pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
- pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
- pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
- pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
- }
-}
-
-void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr)
-{
- m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
- m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
- m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
- m_companionIdA = manifoldDataPtr->m_companionIdA;
- m_companionIdB = manifoldDataPtr->m_companionIdB;
- //m_index1a = manifoldDataPtr->m_index1a;
- m_objectType = manifoldDataPtr->m_objectType;
-
- for (int i = 0; i < this->getNumContacts(); i++)
- {
- btManifoldPoint& pt = m_pointCache[i];
-
- pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
- pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
- pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
- pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
- pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]);
- pt.m_localPointB.deSerialize(manifoldDataPtr->m_pointCacheLocalPointB[i]);
- pt.m_normalWorldOnB.deSerialize(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
- pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
- pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
- pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
- pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
- pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
- pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
- pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
- pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
- pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
- pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
- pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
- pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
- pt.m_positionWorldOnA.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
- pt.m_positionWorldOnB.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
- pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
- pt.m_lateralFrictionDir1.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
- pt.m_lateralFrictionDir2.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
- pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
- pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
- pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
- pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
- pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
- }
-}
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