bullet: Sync with upstream 3.25

Remove upstreamed patch.

thirdparty/README.md

@@ -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
 

thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -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);

thirdparty/bullet/BulletCollision/Gimpact/btBoxCollision.h

@@ -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;

thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp

@@ -169,9 +169,12 @@ btVectorXu btLemkeAlgorithm::solve(unsigned int maxloops /* = 0*/)
 
 			/*the column becomes part of the basis*/
 			basis[pivotRowIndex] = pivotColIndexOld;
-
+			bool isRayTermination = false;
-			pivotRowIndex = findLexicographicMinimum(A, pivotColIndex);
+			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);
+		const btScalar denom = A(row, pivotColIndex);
-		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;
 
-#ifdef BT_DEBUG_OSTREAM
+		if (denom > btMachEps())
-				//		if (DEBUGLEVEL) {
+		{
-				//	  cout << "Rows(" << row << ") = " << Rows[row] << endl;
+			const btScalar q = A(row, dim + dim + 1) / denom;
-				// }
+			if (firstRow)
-#endif
+			{
+				currentMin = q;
+				activeRows.push_back(row);
+				firstRow = false;
 			}
+			else if (fabs(currentMin - q) < btMachEps())
+			{
+				activeRows.push_back(row);
 			}
-
+			else if (currentMin > q)
-	for (int i = 0; i < Rows.size(); i++)
 			{
-		if (Rows[i].nrm2() > 0.)
+				currentMin = q;
-		{
+				activeRows.clear();
-			int j = 0;
+				activeRows.push_back(row);
-			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;
 			}
 		}
 	}
 
-			if (j == Rows.size())
+	if (activeRows.size() == 0)
 	{
-				RowIndex += i;
+		isRayTermination = true;
-				break;
+		return 0;
 	}
-		}
+	else if (activeRows.size() == 1)
-	}
-
-	return RowIndex;
-}
-
-bool btLemkeAlgorithm::LexicographicPositive(const btVectorXu& v)
 	{
-	int i = 0;
+		return activeRows[0];
-	//  if (DEBUGLEVEL)
+	}
-	//  cout << "v " << v << endl;
 
-	while (i < v.size() - 1 && fabs(v[i]) < btMachEps())
+	// if there are multiple rows, check if they contain the row for z_0.
-		i++;
+	for (int i = 0; i < activeRows.size(); i++)
-	if (v[i] > 0)
+	{
-		return true;
+		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)

thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h

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

thirdparty/bullet/BulletSoftBody/btSoftBody.cpp

@@ -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());
 }
 

thirdparty/bullet/LinearMath/btConvexHull.cpp

@@ -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;
 

thirdparty/bullet/LinearMath/btScalar.h

@@ -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()
 {

thirdparty/bullet/LinearMath/btSerializer.h

@@ -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;

thirdparty/bullet/VERSION.txt

@@ -1 +1 @@
-3.24
+3.25

thirdparty/bullet/patches/fix-unused-but-set-warning.patch

@@ -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();
- 			}
-