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diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
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--- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
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-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2010 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.
-*/
-
-#ifndef _BT_TRIANGLE_INFO_MAP_H
-#define _BT_TRIANGLE_INFO_MAP_H
-
-
-#include "LinearMath/btHashMap.h"
-#include "LinearMath/btSerializer.h"
-
-
-///for btTriangleInfo m_flags
-#define TRI_INFO_V0V1_CONVEX 1
-#define TRI_INFO_V1V2_CONVEX 2
-#define TRI_INFO_V2V0_CONVEX 4
-
-#define TRI_INFO_V0V1_SWAP_NORMALB 8
-#define TRI_INFO_V1V2_SWAP_NORMALB 16
-#define TRI_INFO_V2V0_SWAP_NORMALB 32
-
-
-///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges
-///it can be generated using
-struct btTriangleInfo
-{
- btTriangleInfo()
- {
- m_edgeV0V1Angle = SIMD_2_PI;
- m_edgeV1V2Angle = SIMD_2_PI;
- m_edgeV2V0Angle = SIMD_2_PI;
- m_flags=0;
- }
-
- int m_flags;
-
- btScalar m_edgeV0V1Angle;
- btScalar m_edgeV1V2Angle;
- btScalar m_edgeV2V0Angle;
-
-};
-
-typedef btHashMap<btHashInt,btTriangleInfo> btInternalTriangleInfoMap;
-
-
-///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo.
-struct btTriangleInfoMap : public btInternalTriangleInfoMap
-{
- btScalar m_convexEpsilon;///used to determine if an edge or contact normal is convex, using the dot product
- btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
- btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
- btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
- btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
- btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
-
-
- btTriangleInfoMap()
- {
- m_convexEpsilon = 0.00f;
- m_planarEpsilon = 0.0001f;
- m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
- m_edgeDistanceThreshold = btScalar(0.1);
- m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
- m_maxEdgeAngleThreshold = SIMD_2_PI;
- }
- virtual ~btTriangleInfoMap() {}
-
- virtual int calculateSerializeBufferSize() const;
-
- ///fills the dataBuffer and returns the struct name (and 0 on failure)
- virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
-
- void deSerialize(struct btTriangleInfoMapData& data);
-
-};
-
-///those fields have to be float and not btScalar for the serialization to work properly
-struct btTriangleInfoData
-{
- int m_flags;
- float m_edgeV0V1Angle;
- float m_edgeV1V2Angle;
- float m_edgeV2V0Angle;
-};
-
-struct btTriangleInfoMapData
-{
- int *m_hashTablePtr;
- int *m_nextPtr;
- btTriangleInfoData *m_valueArrayPtr;
- int *m_keyArrayPtr;
-
- float m_convexEpsilon;
- float m_planarEpsilon;
- float m_equalVertexThreshold;
- float m_edgeDistanceThreshold;
- float m_zeroAreaThreshold;
-
- int m_nextSize;
- int m_hashTableSize;
- int m_numValues;
- int m_numKeys;
- char m_padding[4];
-};
-
-SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const
-{
- return sizeof(btTriangleInfoMapData);
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
-{
- btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer;
- tmapData->m_convexEpsilon = (float)m_convexEpsilon;
- tmapData->m_planarEpsilon = (float)m_planarEpsilon;
- tmapData->m_equalVertexThreshold =(float) m_equalVertexThreshold;
- tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
- tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
-
- tmapData->m_hashTableSize = m_hashTable.size();
-
- tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0;
- if (tmapData->m_hashTablePtr)
- {
- //serialize an int buffer
- int sz = sizeof(int);
- int numElem = tmapData->m_hashTableSize;
- btChunk* chunk = serializer->allocate(sz,numElem);
- int* memPtr = (int*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
- {
- *memPtr = m_hashTable[i];
- }
- serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_hashTable[0]);
-
- }
-
- tmapData->m_nextSize = m_next.size();
- tmapData->m_nextPtr = tmapData->m_nextSize? (int*)serializer->getUniquePointer((void*)&m_next[0]): 0;
- if (tmapData->m_nextPtr)
- {
- int sz = sizeof(int);
- int numElem = tmapData->m_nextSize;
- btChunk* chunk = serializer->allocate(sz,numElem);
- int* memPtr = (int*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
- {
- *memPtr = m_next[i];
- }
- serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_next[0]);
- }
-
- tmapData->m_numValues = m_valueArray.size();
- tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]): 0;
- if (tmapData->m_valueArrayPtr)
- {
- int sz = sizeof(btTriangleInfoData);
- int numElem = tmapData->m_numValues;
- btChunk* chunk = serializer->allocate(sz,numElem);
- btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
- {
- memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle;
- memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle;
- memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle;
- memPtr->m_flags = m_valueArray[i].m_flags;
- }
- serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]);
- }
-
- tmapData->m_numKeys = m_keyArray.size();
- tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0;
- if (tmapData->m_keyArrayPtr)
- {
- int sz = sizeof(int);
- int numElem = tmapData->m_numValues;
- btChunk* chunk = serializer->allocate(sz,numElem);
- int* memPtr = (int*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
- {
- *memPtr = m_keyArray[i].getUid1();
- }
- serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*) &m_keyArray[0]);
-
- }
-
- // Fill padding with zeros to appease msan.
- tmapData->m_padding[0] = 0;
- tmapData->m_padding[1] = 0;
- tmapData->m_padding[2] = 0;
- tmapData->m_padding[3] = 0;
-
- return "btTriangleInfoMapData";
-}
-
-
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData )
-{
-
-
- m_convexEpsilon = tmapData.m_convexEpsilon;
- m_planarEpsilon = tmapData.m_planarEpsilon;
- m_equalVertexThreshold = tmapData.m_equalVertexThreshold;
- m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold;
- m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold;
- m_hashTable.resize(tmapData.m_hashTableSize);
- int i =0;
- for (i=0;i<tmapData.m_hashTableSize;i++)
- {
- m_hashTable[i] = tmapData.m_hashTablePtr[i];
- }
- m_next.resize(tmapData.m_nextSize);
- for (i=0;i<tmapData.m_nextSize;i++)
- {
- m_next[i] = tmapData.m_nextPtr[i];
- }
- m_valueArray.resize(tmapData.m_numValues);
- for (i=0;i<tmapData.m_numValues;i++)
- {
- m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
- m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
- m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
- m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
- }
-
- m_keyArray.resize(tmapData.m_numKeys,btHashInt(0));
- for (i=0;i<tmapData.m_numKeys;i++)
- {
- m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
- }
-}
-
-
-#endif //_BT_TRIANGLE_INFO_MAP_H
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