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Merge pull request #77349 from akien-mga/3.x-bullet-3.25

Browse source 
[3.x] bullet: Sync with upstream 3.25
This commit is contained in:
Rémi Verschelde 2023-05-23 19:05:35 +02:00
commit 474265701f
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GPG key ID: C3336907360768E1
12 changed files with 125 additions and 97 deletions
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4
thirdparty/README.md vendored
View file

@ -20,7 +20,7 @@ Files extracted from upstream source:
## bullet
- Upstream: https://github.com/bulletphysics/bullet3
- Version: 3.24 (7dee3436e747958e7088dfdcea0e4ae031ce619e, 2022)
- Version: 3.25 (2c204c49e56ed15ec5fcfa71d199ab6d6570b3f5, 2022)
- License: zlib
Files extracted from upstream source:
@ -29,8 +29,6 @@ Files extracted from upstream source:
and CMakeLists.txt and premake4.lua files
- `LICENSE.txt`, and `VERSION` as `VERSION.txt`
Includes some patches in the `patches` folder which have been sent upstream.
## certs

5
thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp vendored
View file

@ -103,7 +103,8 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId,
if (m_convexBodyWrap->getCollisionShape()->isConvex())
{
#ifndef BT_DISABLE_CONVEX_CONCAVE_EARLY_OUT
#ifdef BT_ENABLE_CONVEX_CONCAVE_EARLY_OUT
//todo: check this issue https://github.com/bulletphysics/bullet3/issues/4263
//an early out optimisation if the object is separated from the triangle
//projected on the triangle normal)
{
@ -139,7 +140,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId,
if (dist > contact_threshold)
return;
}
#endif //BT_DISABLE_CONVEX_CONCAVE_EARLY_OUT
#endif //BT_ENABLE_CONVEX_CONCAVE_EARLY_OUT
btTriangleShape tm(triangle[0], triangle[1], triangle[2]);
tm.setMargin(m_collisionMarginTriangle);

12
thirdparty/bullet/BulletCollision/Gimpact/btBoxCollision.h vendored
View file

@ -229,10 +229,12 @@ public:
m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
m_min[3] = 0.f;
m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
m_max[3] = 0.f;
}
btAABB(const btVector3 &V1,
@ -243,10 +245,12 @@ public:
m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
m_min[3] = 0.f;
m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
m_max[3] = 0.f;
m_min[0] -= margin;
m_min[1] -= margin;
@ -275,9 +279,11 @@ public:
m_min[0] = SIMD_INFINITY;
m_min[1] = SIMD_INFINITY;
m_min[2] = SIMD_INFINITY;
m_min[3] = 0.f;
m_max[0] = -SIMD_INFINITY;
m_max[1] = -SIMD_INFINITY;
m_max[2] = -SIMD_INFINITY;
m_max[3] = 0.f;
}
SIMD_FORCE_INLINE void increment_margin(btScalar margin)
@ -295,10 +301,12 @@ public:
m_min[0] = other.m_min[0] - margin;
m_min[1] = other.m_min[1] - margin;
m_min[2] = other.m_min[2] - margin;
m_min[3] = 0.f;
m_max[0] = other.m_max[0] + margin;
m_max[1] = other.m_max[1] + margin;
m_max[2] = other.m_max[2] + margin;
m_max[3] = 0.f;
}
template <typename CLASS_POINT>
@ -310,10 +318,12 @@ public:
m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
m_min[3] = 0.f;
m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
m_max[3] = 0.f;
}
template <typename CLASS_POINT>
@ -325,10 +335,12 @@ public:
m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
m_min[3] = 0.f;
m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
m_max[3] = 0.f;
m_min[0] -= margin;
m_min[1] -= margin;

142
thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp vendored
View file

@ -169,9 +169,12 @@ btVectorXu btLemkeAlgorithm::solve(unsigned int maxloops /* = 0*/)
/*the column becomes part of the basis*/
basis[pivotRowIndex] = pivotColIndexOld;
pivotRowIndex = findLexicographicMinimum(A, pivotColIndex);
bool isRayTermination = false;
pivotRowIndex = findLexicographicMinimum(A, pivotColIndex, z0Row, isRayTermination);
if (isRayTermination)
{
break; // ray termination
}
if (z0Row == pivotRowIndex)
{ //if z0 leaves the basis the solution is found --> one last elimination step is necessary
GaussJordanEliminationStep(A, pivotRowIndex, pivotColIndex, basis);
@ -217,79 +220,100 @@ btVectorXu btLemkeAlgorithm::solve(unsigned int maxloops /* = 0*/)
return solutionVector;
}
int btLemkeAlgorithm::findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex)
int btLemkeAlgorithm::findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex, const int& z0Row, bool& isRayTermination)
{
int RowIndex = 0;
isRayTermination = false;
btAlignedObjectArray<int> activeRows;
bool firstRow = true;
btScalar currentMin = 0.0;
int dim = A.rows();
btAlignedObjectArray<btVectorXu> Rows;
for (int row = 0; row < dim; row++)
{
btVectorXu vec(dim + 1);
vec.setZero(); //, INIT, 0.)
Rows.push_back(vec);
btScalar a = A(row, pivotColIndex);
if (a > 0)
{
Rows[row][0] = A(row, 2 * dim + 1) / a;
Rows[row][1] = A(row, 2 * dim) / a;
for (int j = 2; j < dim + 1; j++)
Rows[row][j] = A(row, j - 1) / a;
const btScalar denom = A(row, pivotColIndex);
#ifdef BT_DEBUG_OSTREAM
// if (DEBUGLEVEL) {
// cout << "Rows(" << row << ") = " << Rows[row] << endl;
// }
#endif
if (denom > btMachEps())
{
const btScalar q = A(row, dim + dim + 1) / denom;
if (firstRow)
{
currentMin = q;
activeRows.push_back(row);
firstRow = false;
}
else if (fabs(currentMin - q) < btMachEps())
{
activeRows.push_back(row);
}
for (int i = 0; i < Rows.size(); i++)
else if (currentMin > q)
{
if (Rows[i].nrm2() > 0.)
{
int j = 0;
for (; j < Rows.size(); j++)
{
if (i != j)
{
if (Rows[j].nrm2() > 0.)
{
btVectorXu test(dim + 1);
for (int ii = 0; ii < dim + 1; ii++)
{
test[ii] = Rows[j][ii] - Rows[i][ii];
}
//=Rows[j] - Rows[i]
if (!LexicographicPositive(test))
break;
currentMin = q;
activeRows.clear();
activeRows.push_back(row);
}
}
}
if (j == Rows.size())
if (activeRows.size() == 0)
{
RowIndex += i;
break;
isRayTermination = true;
return 0;
}
}
}
return RowIndex;
}
bool btLemkeAlgorithm::LexicographicPositive(const btVectorXu& v)
else if (activeRows.size() == 1)
{
int i = 0;
// if (DEBUGLEVEL)
// cout << "v " << v << endl;
return activeRows[0];
}
while (i < v.size() - 1 && fabs(v[i]) < btMachEps())
i++;
if (v[i] > 0)
return true;
// if there are multiple rows, check if they contain the row for z_0.
for (int i = 0; i < activeRows.size(); i++)
{
if (activeRows[i] == z0Row)
{
return z0Row;
}
}
return false;
// look through the columns of the inverse of the basic matrix from left to right until the tie is broken.
for (int col = 0; col < dim ; col++)
{
btAlignedObjectArray<int> activeRowsCopy(activeRows);
activeRows.clear();
firstRow = true;
for (int i = 0; i<activeRowsCopy.size();i++)
{
const int row = activeRowsCopy[i];
// denom is positive here as an invariant.
const btScalar denom = A(row, pivotColIndex);
const btScalar ratio = A(row, col) / denom;
if (firstRow)
{
currentMin = ratio;
activeRows.push_back(row);
firstRow = false;
}
else if (fabs(currentMin - ratio) < btMachEps())
{
activeRows.push_back(row);
}
else if (currentMin > ratio)
{
currentMin = ratio;
activeRows.clear();
activeRows.push_back(row);
}
}
if (activeRows.size() == 1)
{
return activeRows[0];
}
}
// must not reach here.
isRayTermination = true;
return 0;
}
void btLemkeAlgorithm::GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis)

3
thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h vendored
View file

@ -71,8 +71,7 @@ public:
}
protected:
int findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex);
bool LexicographicPositive(const btVectorXu& v);
int findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex, const int& z0Row, bool& isRayTermination);
void GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis);
bool greaterZero(const btVectorXu& vector);
bool validBasis(const btAlignedObjectArray<int>& basis);

11
thirdparty/bullet/BulletSoftBody/btSoftBody.cpp vendored
View file

@ -2807,7 +2807,7 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr
//
// Compute barycentric coordinates (u, v, w) for
// point p with respect to triangle (a, b, c)
static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVector3& c, btVector3& bary)
static void getBarycentric(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, btVector3& bary)
{
btVector3 v0 = b - a, v1 = c - a, v2 = p - a;
btScalar d00 = v0.dot(v0);
@ -2816,8 +2816,17 @@ static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVec
btScalar d20 = v2.dot(v0);
btScalar d21 = v2.dot(v1);
btScalar denom = d00 * d11 - d01 * d01;
// In the case of a degenerate triangle, pick a vertex.
if (btFabs(denom) < SIMD_EPSILON)
{
bary.setY(btScalar(0.0));
bary.setZ(btScalar(0.0));
}
else
{
bary.setY((d11 * d20 - d01 * d21) / denom);
bary.setZ((d00 * d21 - d01 * d20) / denom);
}
bary.setX(btScalar(1) - bary.getY() - bary.getZ());
}

4
thirdparty/bullet/LinearMath/btConvexHull.cpp vendored
View file

@ -678,7 +678,9 @@ HullError HullLibrary::CreateConvexHull(const HullDesc &desc, // describes the
if (vcount < 8) vcount = 8;
btAlignedObjectArray<btVector3> vertexSource;
vertexSource.resize(static_cast<int>(vcount));
btVector3 zero;
zero.setZero();
vertexSource.resize(static_cast<int>(vcount), zero);
btVector3 scale;

2
thirdparty/bullet/LinearMath/btScalar.h vendored
View file

@ -25,7 +25,7 @@ subject to the following restrictions:
#include <float.h>
/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
#define BT_BULLET_VERSION 324
#define BT_BULLET_VERSION 325
inline int btGetVersion()
{

4
thirdparty/bullet/LinearMath/btSerializer.h vendored
View file

@ -481,7 +481,7 @@ public:
buffer[9] = '3';
buffer[10] = '2';
buffer[11] = '4';
buffer[11] = '5';
}
virtual void startSerialization()
@ -512,7 +512,7 @@ public:
currentPtr += BT_HEADER_LENGTH;
for (int i = 0; i < m_chunkPtrs.size(); i++)
{
int curLength = sizeof(btChunk) + m_chunkPtrs[i]->m_length;
int curLength = (int)sizeof(btChunk) + m_chunkPtrs[i]->m_length;
memcpy(currentPtr, m_chunkPtrs[i], curLength);
btAlignedFree(m_chunkPtrs[i]);
currentPtr += curLength;

2
thirdparty/bullet/VERSION.txt vendored
View file

@ -1 +1 @@
3.24
3.25

17
thirdparty/bullet/patches/fix-unused-but-set-warning.patch vendored
View file

@ -1,17 +0,0 @@
diff --git a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
index ae1288d9e6..243b80f8ae 100644
--- a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
+++ b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h
@@ -233,9 +233,9 @@ struct btSparseSdf
//int sz = sizeof(Cell);
if (ncells > m_clampCells)
{
- static int numResets = 0;
- numResets++;
- // printf("numResets=%d\n",numResets);
+ //static int numResets = 0;
+ //numResets++;
+ //printf("numResets=%d\n",numResets);
Reset();
}