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diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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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.
-*/
-
-/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
-
-#ifndef BT_HINGECONSTRAINT_H
-#define BT_HINGECONSTRAINT_H
-
-#define _BT_USE_CENTER_LIMIT_ 1
-
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btHingeConstraintData btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version
-#define btHingeConstraintDataName "btHingeConstraintDoubleData2"
-#else
-#define btHingeConstraintData btHingeConstraintFloatData
-#define btHingeConstraintDataName "btHingeConstraintFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-
-
-enum btHingeFlags
-{
- BT_HINGE_FLAGS_CFM_STOP = 1,
- BT_HINGE_FLAGS_ERP_STOP = 2,
- BT_HINGE_FLAGS_CFM_NORM = 4,
- BT_HINGE_FLAGS_ERP_NORM = 8
-};
-
-
-/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
-/// axis defines the orientation of the hinge axis
-ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint
-{
-#ifdef IN_PARALLELL_SOLVER
-public:
-#endif
- btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
- btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
-
- btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
- btTransform m_rbBFrame;
-
- btScalar m_motorTargetVelocity;
- btScalar m_maxMotorImpulse;
-
-
-#ifdef _BT_USE_CENTER_LIMIT_
- btAngularLimit m_limit;
-#else
- btScalar m_lowerLimit;
- btScalar m_upperLimit;
- btScalar m_limitSign;
- btScalar m_correction;
-
- btScalar m_limitSoftness;
- btScalar m_biasFactor;
- btScalar m_relaxationFactor;
-
- bool m_solveLimit;
-#endif
-
- btScalar m_kHinge;
-
-
- btScalar m_accLimitImpulse;
- btScalar m_hingeAngle;
- btScalar m_referenceSign;
-
- bool m_angularOnly;
- bool m_enableAngularMotor;
- bool m_useSolveConstraintObsolete;
- bool m_useOffsetForConstraintFrame;
- bool m_useReferenceFrameA;
-
- btScalar m_accMotorImpulse;
-
- int m_flags;
- btScalar m_normalCFM;
- btScalar m_normalERP;
- btScalar m_stopCFM;
- btScalar m_stopERP;
-
-
-public:
-
- BT_DECLARE_ALIGNED_ALLOCATOR();
-
- btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false);
-
- btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false);
-
- btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
-
- btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
-
-
- virtual void buildJacobian();
-
- virtual void getInfo1 (btConstraintInfo1* info);
-
- void getInfo1NonVirtual(btConstraintInfo1* info);
-
- virtual void getInfo2 (btConstraintInfo2* info);
-
- void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
-
- void getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
- void getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
-
-
- void updateRHS(btScalar timeStep);
-
- const btRigidBody& getRigidBodyA() const
- {
- return m_rbA;
- }
- const btRigidBody& getRigidBodyB() const
- {
- return m_rbB;
- }
-
- btRigidBody& getRigidBodyA()
- {
- return m_rbA;
- }
-
- btRigidBody& getRigidBodyB()
- {
- return m_rbB;
- }
-
- btTransform& getFrameOffsetA()
- {
- return m_rbAFrame;
- }
-
- btTransform& getFrameOffsetB()
- {
- return m_rbBFrame;
- }
-
- void setFrames(const btTransform& frameA, const btTransform& frameB);
-
- void setAngularOnly(bool angularOnly)
- {
- m_angularOnly = angularOnly;
- }
-
- void enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
- {
- m_enableAngularMotor = enableMotor;
- m_motorTargetVelocity = targetVelocity;
- m_maxMotorImpulse = maxMotorImpulse;
- }
-
- // extra motor API, including ability to set a target rotation (as opposed to angular velocity)
- // note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to
- // maintain a given angular target.
- void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; }
- void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
- void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; }
- void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
- void setMotorTarget(btScalar targetAngle, btScalar dt);
-
-
- void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
- {
-#ifdef _BT_USE_CENTER_LIMIT_
- m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor);
-#else
- m_lowerLimit = btNormalizeAngle(low);
- m_upperLimit = btNormalizeAngle(high);
- m_limitSoftness = _softness;
- m_biasFactor = _biasFactor;
- m_relaxationFactor = _relaxationFactor;
-#endif
- }
-
- btScalar getLimitSoftness() const
- {
-#ifdef _BT_USE_CENTER_LIMIT_
- return m_limit.getSoftness();
-#else
- return m_limitSoftness;
-#endif
- }
-
- btScalar getLimitBiasFactor() const
- {
-#ifdef _BT_USE_CENTER_LIMIT_
- return m_limit.getBiasFactor();
-#else
- return m_biasFactor;
-#endif
- }
-
- btScalar getLimitRelaxationFactor() const
- {
-#ifdef _BT_USE_CENTER_LIMIT_
- return m_limit.getRelaxationFactor();
-#else
- return m_relaxationFactor;
-#endif
- }
-
- void setAxis(btVector3& axisInA)
- {
- btVector3 rbAxisA1, rbAxisA2;
- btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
- btVector3 pivotInA = m_rbAFrame.getOrigin();
-// m_rbAFrame.getOrigin() = pivotInA;
- m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
- rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
- rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
-
- btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;
-
- btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
- btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
- btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
-
- m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA));
-
- m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
- rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
- rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
- m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis();
-
- }
-
- bool hasLimit() const {
-#ifdef _BT_USE_CENTER_LIMIT_
- return m_limit.getHalfRange() > 0;
-#else
- return m_lowerLimit <= m_upperLimit;
-#endif
- }
-
- btScalar getLowerLimit() const
- {
-#ifdef _BT_USE_CENTER_LIMIT_
- return m_limit.getLow();
-#else
- return m_lowerLimit;
-#endif
- }
-
- btScalar getUpperLimit() const
- {
-#ifdef _BT_USE_CENTER_LIMIT_
- return m_limit.getHigh();
-#else
- return m_upperLimit;
-#endif
- }
-
-
- ///The getHingeAngle gives the hinge angle in range [-PI,PI]
- btScalar getHingeAngle();
-
- btScalar getHingeAngle(const btTransform& transA,const btTransform& transB);
-
- void testLimit(const btTransform& transA,const btTransform& transB);
-
-
- const btTransform& getAFrame() const { return m_rbAFrame; };
- const btTransform& getBFrame() const { return m_rbBFrame; };
-
- btTransform& getAFrame() { return m_rbAFrame; };
- btTransform& getBFrame() { return m_rbBFrame; };
-
- inline int getSolveLimit()
- {
-#ifdef _BT_USE_CENTER_LIMIT_
- return m_limit.isLimit();
-#else
- return m_solveLimit;
-#endif
- }
-
- inline btScalar getLimitSign()
- {
-#ifdef _BT_USE_CENTER_LIMIT_
- return m_limit.getSign();
-#else
- return m_limitSign;
-#endif
- }
-
- inline bool getAngularOnly()
- {
- return m_angularOnly;
- }
- inline bool getEnableAngularMotor()
- {
- return m_enableAngularMotor;
- }
- inline btScalar getMotorTargetVelocity()
- {
- return m_motorTargetVelocity;
- }
- inline btScalar getMaxMotorImpulse()
- {
- return m_maxMotorImpulse;
- }
- // access for UseFrameOffset
- bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
- void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
- // access for UseReferenceFrameA
- bool getUseReferenceFrameA() const { return m_useReferenceFrameA; }
- void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; }
-
- ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
- ///If no axis is provided, it uses the default axis for this constraint.
- virtual void setParam(int num, btScalar value, int axis = -1);
- ///return the local value of parameter
- virtual btScalar getParam(int num, int axis = -1) const;
-
- virtual int getFlags() const
- {
- return m_flags;
- }
-
- 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;
-
-
-};
-
-
-//only for backward compatibility
-#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
-///this structure is not used, except for loading pre-2.82 .bullet files
-struct btHingeConstraintDoubleData
-{
- btTypedConstraintData m_typeConstraintData;
- btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
- btTransformDoubleData m_rbBFrame;
- int m_useReferenceFrameA;
- int m_angularOnly;
- int m_enableAngularMotor;
- float m_motorTargetVelocity;
- float m_maxMotorImpulse;
-
- float m_lowerLimit;
- float m_upperLimit;
- float m_limitSoftness;
- float m_biasFactor;
- float m_relaxationFactor;
-
-};
-#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
-
-///The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account
-ATTRIBUTE_ALIGNED16(class) btHingeAccumulatedAngleConstraint : public btHingeConstraint
-{
-protected:
- btScalar m_accumulatedAngle;
-public:
-
- BT_DECLARE_ALIGNED_ALLOCATOR();
-
- btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false)
- :btHingeConstraint(rbA,rbB,pivotInA,pivotInB, axisInA,axisInB, useReferenceFrameA )
- {
- m_accumulatedAngle=getHingeAngle();
- }
-
- btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false)
- :btHingeConstraint(rbA,pivotInA,axisInA, useReferenceFrameA)
- {
- m_accumulatedAngle=getHingeAngle();
- }
-
- btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false)
- :btHingeConstraint(rbA,rbB, rbAFrame, rbBFrame, useReferenceFrameA )
- {
- m_accumulatedAngle=getHingeAngle();
- }
-
- btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false)
- :btHingeConstraint(rbA,rbAFrame, useReferenceFrameA )
- {
- m_accumulatedAngle=getHingeAngle();
- }
- btScalar getAccumulatedHingeAngle();
- void setAccumulatedHingeAngle(btScalar accAngle);
- virtual void getInfo1 (btConstraintInfo1* info);
-
-};
-
-struct btHingeConstraintFloatData
-{
- btTypedConstraintData m_typeConstraintData;
- btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
- btTransformFloatData m_rbBFrame;
- int m_useReferenceFrameA;
- int m_angularOnly;
-
- int m_enableAngularMotor;
- float m_motorTargetVelocity;
- float m_maxMotorImpulse;
-
- float m_lowerLimit;
- float m_upperLimit;
- float m_limitSoftness;
- float m_biasFactor;
- float m_relaxationFactor;
-
-};
-
-
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btHingeConstraintDoubleData2
-{
- btTypedConstraintDoubleData m_typeConstraintData;
- btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
- btTransformDoubleData m_rbBFrame;
- int m_useReferenceFrameA;
- int m_angularOnly;
- int m_enableAngularMotor;
- double m_motorTargetVelocity;
- double m_maxMotorImpulse;
-
- double m_lowerLimit;
- double m_upperLimit;
- double m_limitSoftness;
- double m_biasFactor;
- double m_relaxationFactor;
- char m_padding1[4];
-
-};
-
-
-
-
-SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const
-{
- return sizeof(btHingeConstraintData);
-}
-
- ///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
- btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer;
- btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer);
-
- m_rbAFrame.serialize(hingeData->m_rbAFrame);
- m_rbBFrame.serialize(hingeData->m_rbBFrame);
-
- hingeData->m_angularOnly = m_angularOnly;
- hingeData->m_enableAngularMotor = m_enableAngularMotor;
- hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse);
- hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity);
- hingeData->m_useReferenceFrameA = m_useReferenceFrameA;
-#ifdef _BT_USE_CENTER_LIMIT_
- hingeData->m_lowerLimit = float(m_limit.getLow());
- hingeData->m_upperLimit = float(m_limit.getHigh());
- hingeData->m_limitSoftness = float(m_limit.getSoftness());
- hingeData->m_biasFactor = float(m_limit.getBiasFactor());
- hingeData->m_relaxationFactor = float(m_limit.getRelaxationFactor());
-#else
- hingeData->m_lowerLimit = float(m_lowerLimit);
- hingeData->m_upperLimit = float(m_upperLimit);
- hingeData->m_limitSoftness = float(m_limitSoftness);
- hingeData->m_biasFactor = float(m_biasFactor);
- hingeData->m_relaxationFactor = float(m_relaxationFactor);
-#endif
-
- // Fill padding with zeros to appease msan.
-#ifdef BT_USE_DOUBLE_PRECISION
- hingeData->m_padding1[0] = 0;
- hingeData->m_padding1[1] = 0;
- hingeData->m_padding1[2] = 0;
- hingeData->m_padding1[3] = 0;
-#endif
-
- return btHingeConstraintDataName;
-}
-
-#endif //BT_HINGECONSTRAINT_H
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