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diff --git a/thirdparty/bullet/src/BulletSoftBody/btSparseSDF.h b/thirdparty/bullet/src/BulletSoftBody/btSparseSDF.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.
-*/
-///btSparseSdf implementation by Nathanael Presson
-
-#ifndef BT_SPARSE_SDF_H
-#define BT_SPARSE_SDF_H
-
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-
-// Modified Paul Hsieh hash
-template <const int DWORDLEN>
-unsigned int HsiehHash(const void* pdata)
-{
- const unsigned short* data=(const unsigned short*)pdata;
- unsigned hash=DWORDLEN<<2,tmp;
- for(int i=0;i<DWORDLEN;++i)
- {
- hash += data[0];
- tmp = (data[1]<<11)^hash;
- hash = (hash<<16)^tmp;
- data += 2;
- hash += hash>>11;
- }
- hash^=hash<<3;hash+=hash>>5;
- hash^=hash<<4;hash+=hash>>17;
- hash^=hash<<25;hash+=hash>>6;
- return(hash);
-}
-
-template <const int CELLSIZE>
-struct btSparseSdf
-{
- //
- // Inner types
- //
- struct IntFrac
- {
- int b;
- int i;
- btScalar f;
- };
- struct Cell
- {
- btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
- int c[3];
- int puid;
- unsigned hash;
- const btCollisionShape* pclient;
- Cell* next;
- };
- //
- // Fields
- //
-
- btAlignedObjectArray<Cell*> cells;
- btScalar voxelsz;
- int puid;
- int ncells;
- int m_clampCells;
- int nprobes;
- int nqueries;
-
- //
- // Methods
- //
-
- //
- void Initialize(int hashsize=2383, int clampCells = 256*1024)
- {
- //avoid a crash due to running out of memory, so clamp the maximum number of cells allocated
- //if this limit is reached, the SDF is reset (at the cost of some performance during the reset)
- m_clampCells = clampCells;
- cells.resize(hashsize,0);
- Reset();
- }
- //
- void Reset()
- {
- for(int i=0,ni=cells.size();i<ni;++i)
- {
- Cell* pc=cells[i];
- cells[i]=0;
- while(pc)
- {
- Cell* pn=pc->next;
- delete pc;
- pc=pn;
- }
- }
- voxelsz =0.25;
- puid =0;
- ncells =0;
- nprobes =1;
- nqueries =1;
- }
- //
- void GarbageCollect(int lifetime=256)
- {
- const int life=puid-lifetime;
- for(int i=0;i<cells.size();++i)
- {
- Cell*& root=cells[i];
- Cell* pp=0;
- Cell* pc=root;
- while(pc)
- {
- Cell* pn=pc->next;
- if(pc->puid<life)
- {
- if(pp) pp->next=pn; else root=pn;
- delete pc;pc=pp;--ncells;
- }
- pp=pc;pc=pn;
- }
- }
- //printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
- nqueries=1;
- nprobes=1;
- ++puid; ///@todo: Reset puid's when int range limit is reached */
- /* else setup a priority list... */
- }
- //
- int RemoveReferences(btCollisionShape* pcs)
- {
- int refcount=0;
- for(int i=0;i<cells.size();++i)
- {
- Cell*& root=cells[i];
- Cell* pp=0;
- Cell* pc=root;
- while(pc)
- {
- Cell* pn=pc->next;
- if(pc->pclient==pcs)
- {
- if(pp) pp->next=pn; else root=pn;
- delete pc;pc=pp;++refcount;
- }
- pp=pc;pc=pn;
- }
- }
- return(refcount);
- }
- //
- btScalar Evaluate( const btVector3& x,
- const btCollisionShape* shape,
- btVector3& normal,
- btScalar margin)
- {
- /* Lookup cell */
- const btVector3 scx=x/voxelsz;
- const IntFrac ix=Decompose(scx.x());
- const IntFrac iy=Decompose(scx.y());
- const IntFrac iz=Decompose(scx.z());
- const unsigned h=Hash(ix.b,iy.b,iz.b,shape);
- Cell*& root=cells[static_cast<int>(h%cells.size())];
- Cell* c=root;
- ++nqueries;
- while(c)
- {
- ++nprobes;
- if( (c->hash==h) &&
- (c->c[0]==ix.b) &&
- (c->c[1]==iy.b) &&
- (c->c[2]==iz.b) &&
- (c->pclient==shape))
- { break; }
- else
- { c=c->next; }
- }
- if(!c)
- {
- ++nprobes;
- ++ncells;
- //int sz = sizeof(Cell);
- if (ncells>m_clampCells)
- {
- static int numResets=0;
- numResets++;
-// printf("numResets=%d\n",numResets);
- Reset();
- }
-
- c=new Cell();
- c->next=root;root=c;
- c->pclient=shape;
- c->hash=h;
- c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
- BuildCell(*c);
- }
- c->puid=puid;
- /* Extract infos */
- const int o[]={ ix.i,iy.i,iz.i};
- const btScalar d[]={ c->d[o[0]+0][o[1]+0][o[2]+0],
- c->d[o[0]+1][o[1]+0][o[2]+0],
- c->d[o[0]+1][o[1]+1][o[2]+0],
- c->d[o[0]+0][o[1]+1][o[2]+0],
- c->d[o[0]+0][o[1]+0][o[2]+1],
- c->d[o[0]+1][o[1]+0][o[2]+1],
- c->d[o[0]+1][o[1]+1][o[2]+1],
- c->d[o[0]+0][o[1]+1][o[2]+1]};
- /* Normal */
-#if 1
- const btScalar gx[]={ d[1]-d[0],d[2]-d[3],
- d[5]-d[4],d[6]-d[7]};
- const btScalar gy[]={ d[3]-d[0],d[2]-d[1],
- d[7]-d[4],d[6]-d[5]};
- const btScalar gz[]={ d[4]-d[0],d[5]-d[1],
- d[7]-d[3],d[6]-d[2]};
- normal.setX(Lerp( Lerp(gx[0],gx[1],iy.f),
- Lerp(gx[2],gx[3],iy.f),iz.f));
- normal.setY(Lerp( Lerp(gy[0],gy[1],ix.f),
- Lerp(gy[2],gy[3],ix.f),iz.f));
- normal.setZ(Lerp( Lerp(gz[0],gz[1],ix.f),
- Lerp(gz[2],gz[3],ix.f),iy.f));
- normal = normal.normalized();
-#else
- normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
-#endif
- /* Distance */
- const btScalar d0=Lerp(Lerp(d[0],d[1],ix.f),
- Lerp(d[3],d[2],ix.f),iy.f);
- const btScalar d1=Lerp(Lerp(d[4],d[5],ix.f),
- Lerp(d[7],d[6],ix.f),iy.f);
- return(Lerp(d0,d1,iz.f)-margin);
- }
- //
- void BuildCell(Cell& c)
- {
- const btVector3 org=btVector3( (btScalar)c.c[0],
- (btScalar)c.c[1],
- (btScalar)c.c[2]) *
- CELLSIZE*voxelsz;
- for(int k=0;k<=CELLSIZE;++k)
- {
- const btScalar z=voxelsz*k+org.z();
- for(int j=0;j<=CELLSIZE;++j)
- {
- const btScalar y=voxelsz*j+org.y();
- for(int i=0;i<=CELLSIZE;++i)
- {
- const btScalar x=voxelsz*i+org.x();
- c.d[i][j][k]=DistanceToShape( btVector3(x,y,z),
- c.pclient);
- }
- }
- }
- }
- //
- static inline btScalar DistanceToShape(const btVector3& x,
- const btCollisionShape* shape)
- {
- btTransform unit;
- unit.setIdentity();
- if(shape->isConvex())
- {
- btGjkEpaSolver2::sResults res;
- const btConvexShape* csh=static_cast<const btConvexShape*>(shape);
- return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
- }
- return(0);
- }
- //
- static inline IntFrac Decompose(btScalar x)
- {
- /* That one need a lot of improvements... */
- /* Remove test, faster floor... */
- IntFrac r;
- x/=CELLSIZE;
- const int o=x<0?(int)(-x+1):0;
- x+=o;r.b=(int)x;
- const btScalar k=(x-r.b)*CELLSIZE;
- r.i=(int)k;r.f=k-r.i;r.b-=o;
- return(r);
- }
- //
- static inline btScalar Lerp(btScalar a,btScalar b,btScalar t)
- {
- return(a+(b-a)*t);
- }
-
-
-
- //
- static inline unsigned int Hash(int x,int y,int z,const btCollisionShape* shape)
- {
- struct btS
- {
- int x,y,z;
- void* p;
- };
-
- btS myset;
-
- myset.x=x;myset.y=y;myset.z=z;myset.p=(void*)shape;
- const void* ptr = &myset;
-
- unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);
-
-
- return result;
- }
-};
-
-
-#endif //BT_SPARSE_SDF_H
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