Upgrade Bullet to version 2.83.

I tried to carefully preserve all patches since the last upgrade.

Improves T47195, cloth collision detection bug.

Differential Revision: https://developer.blender.org/D1739

2 files changed, 150 insertions, 127 deletions

diff --git a/extern/bullet2/patches/blender.patch b/extern/bullet2/patches/blender.patch
new file mode 100644
index 00000000000..d8e52ec32e8
--- /dev/null
+++ b/extern/bullet2/patches/blender.patch
@@ -0,0 +1,150 @@
+diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+index be9eca6..ec40c96 100644
+--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
++++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+@@ -15,7 +15,7 @@ subject to the following restrictions:
+ 
+ 
+ /**
+- * @mainpage Bullet Documentation
++ * @page Bullet Documentation
+  *
+  * @section intro_sec Introduction
+  * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
+diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
+index 36dd043..57eb817 100644
+--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
++++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
+@@ -579,14 +579,10 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
+ 				btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
+ 				btCompoundShape* compoundShape = createCompoundShape();
+ 
+-				btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
+-
+ 
+ 				btAlignedObjectArray<btCollisionShape*> childShapes;
+ 				for (int i=0;i<compoundData->m_numChildShapes;i++)
+ 				{
+-					btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
+-
+ 					btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
+ 
+ 					btCollisionShape* childShape = convertCollisionShape(cd);
+diff --git a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
+index 57fc119..31faf1d 100644
+--- a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
++++ b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
+@@ -29,14 +29,11 @@ subject to the following restrictions:
+ static btVector3
+ getNormalizedVector(const btVector3& v)
+ {
+-	btScalar l = v.length();
+-	btVector3 n = v;
+-	if (l < SIMD_EPSILON) {
+-		n.setValue(0,0,0);
+-	} else {
+-		n /= l;
+-	}
++	btVector3 n(0, 0, 0);
+ 
++	if (v.length() > SIMD_EPSILON) {
++		n = v.normalized();
++	}
+ 	return n;
+ }
+ 
+diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
+index 27ccefe..8e4456e 100644
+--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
++++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
+@@ -37,8 +37,13 @@ struct	btSimdScalar
+ 	{
+ 
+ 	}
+-
++/* workaround for clang 3.4 ( == apple clang 5.1 ) issue, friction would fail with forced inlining */
++#if (defined(__clang__) && defined(__apple_build_version__) &&  (__clang_major__ == 5) && (__clang_minor__ == 1)) \
++|| (defined(__clang__) && !defined(__apple_build_version__) && (__clang_major__ == 3) && (__clang_minor__ == 4))
++	inline __attribute__ ((noinline)) btSimdScalar(float	fl)
++#else
+ 	SIMD_FORCE_INLINE	btSimdScalar(float	fl)
++#endif
+ 	:m_vec128 (_mm_set1_ps(fl))
+ 	{
+ 	}
+diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
+index 5d62da7..fcd312e 100644
+--- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
++++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
+@@ -28,7 +28,6 @@
+ #include "btMultiBodyJointFeedback.h"
+ #include "LinearMath/btTransformUtil.h"
+ #include "LinearMath/btSerializer.h"
+-#include "Bullet3Common/b3Logging.h"
+ // #define INCLUDE_GYRO_TERM 
+ 
+ ///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals
+@@ -1732,7 +1731,6 @@ void btMultiBody::goToSleep()
+ 
+ void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep)
+ {
+-	int num_links = getNumLinks();
+ 	extern bool gDisableDeactivation;
+     if (!m_canSleep || gDisableDeactivation) 
+ 	{
+diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+index 8a034b3..4f66b20 100644
+--- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
++++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+@@ -809,7 +809,6 @@ static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodyS
+ }
+ #endif
+ 
+-#include "Bullet3Common/b3Logging.h"
+ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
+ {
+ #if 1 
+diff --git a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
+index bcf0c79..8992ddb 100644
+--- a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
++++ b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
+@@ -185,7 +185,6 @@ struct	btSparseSdf
+ 		{
+ 			++nprobes;		
+ 			++ncells;
+-			int sz = sizeof(Cell);
+ 			if (ncells>m_clampCells)
+ 			{
+ 				static int numResets=0;
+diff --git a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
+index d58ac95..3fd77df 100644
+--- a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
++++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
+@@ -2665,6 +2665,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
+ 	}
+ 
+ 	vertices.resize(0);
++	original_vertex_index.resize(0);
+ 	edges.resize(0);
+ 	faces.resize(0);
+ 
+@@ -2675,6 +2676,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
+ 	{
+ 		btConvexHullInternal::Vertex* v = oldVertices[copied];
+ 		vertices.push_back(hull.getCoordinates(v));
++		original_vertex_index.push_back(v->point.index);
+ 		btConvexHullInternal::Edge* firstEdge = v->edges;
+ 		if (firstEdge)
+ 		{
+diff --git a/extern/bullet2/src/LinearMath/btConvexHullComputer.h b/extern/bullet2/src/LinearMath/btConvexHullComputer.h
+index 7240ac4..6871ce8 100644
+--- a/extern/bullet2/src/LinearMath/btConvexHullComputer.h
++++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.h
+@@ -67,6 +67,7 @@ class btConvexHullComputer
+ 
+ 		// Vertices of the output hull
+ 		btAlignedObjectArray<btVector3> vertices;
++		btAlignedObjectArray<int> original_vertex_index;
+ 
+ 		// Edges of the output hull
+ 		btAlignedObjectArray<Edge> edges;
diff --git a/extern/bullet2/patches/convex_hull.patch b/extern/bullet2/patches/convex_hull.patch
deleted file mode 100644
index 1b2978221fb..00000000000
--- a/extern/bullet2/patches/convex_hull.patch
+++ /dev/null
@@ -1,127 +0,0 @@
-Index: extern/bullet2/src/Bullet-C-Api.h
-===================================================================
---- extern/bullet2/src/Bullet-C-Api.h	(revision 51556)
-+++ extern/bullet2/src/Bullet-C-Api.h	(working copy)
-@@ -167,6 +167,16 @@ extern "C" {
- 	// needed for source/blender/blenkernel/intern/collision.c
- 	double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]);
- 
-+
-+	/* Convex Hull */
-+	PL_DECLARE_HANDLE(plConvexHull);
-+	plConvexHull plConvexHullCompute(float (*coords)[3], int count);
-+	int plConvexHullNumVertices(plConvexHull hull);
-+	int plConvexHullNumFaces(plConvexHull hull);
-+	void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3], int *original_index);
-+	int plConvexHullGetFaceSize(plConvexHull hull, int n);
-+	void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices);
-+
- #ifdef __cplusplus
- }
- #endif
-Index: extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
-===================================================================
---- extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp	(revision 51556)
-+++ extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp	(working copy)
-@@ -23,7 +23,7 @@ subject to the following restrictions:
- #include "Bullet-C-Api.h"
- #include "btBulletDynamicsCommon.h"
- #include "LinearMath/btAlignedAllocator.h"
--
-+#include "LinearMath/btConvexHullComputer.h"
- 
- 
- #include "LinearMath/btVector3.h"
-@@ -403,3 +403,60 @@ double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float
- 	return -1.0f;	
- }
- 
-+// Convex hull
-+plConvexHull plConvexHullCompute(float (*coords)[3], int count)
-+{
-+	btConvexHullComputer *computer = new btConvexHullComputer;
-+	computer->compute(reinterpret_cast< float* >(coords),
-+					  sizeof(*coords), count, 0, 0);
-+	return reinterpret_cast<plConvexHull>(computer);
-+}
-+
-+int plConvexHullNumVertices(plConvexHull hull)
-+{
-+	btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
-+	return computer->vertices.size();
-+}
-+
-+int plConvexHullNumFaces(plConvexHull hull)
-+{
-+	btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
-+	return computer->faces.size();
-+}
-+
-+void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3],
-+						   int *original_index)
-+{
-+	btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
-+	const btVector3 &v(computer->vertices[n]);
-+	coords[0] = v[0];
-+	coords[1] = v[1];
-+	coords[2] = v[2];
-+	(*original_index) = computer->original_vertex_index[n];
-+}
-+
-+int plConvexHullGetFaceSize(plConvexHull hull, int n)
-+{
-+	btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
-+	const btConvexHullComputer::Edge *e_orig, *e;
-+	int count;
-+
-+	for (e_orig = &computer->edges[computer->faces[n]], e = e_orig, count = 0;
-+		 count == 0 || e != e_orig;
-+		 e = e->getNextEdgeOfFace(), count++);
-+	return count;
-+}
-+
-+void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices)
-+{
-+	btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
-+	const btConvexHullComputer::Edge *e_orig, *e;
-+	int count;
-+
-+	for (e_orig = &computer->edges[computer->faces[n]], e = e_orig, count = 0;
-+		 count == 0 || e != e_orig;
-+		 e = e->getNextEdgeOfFace(), count++)
-+	{
-+		vertices[count] = e->getTargetVertex();
-+	}
-+}
-Index: extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
-===================================================================
---- extern/bullet2/src/LinearMath/btConvexHullComputer.cpp	(revision 51556)
-+++ extern/bullet2/src/LinearMath/btConvexHullComputer.cpp	(working copy)
-@@ -2661,6 +2661,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
- 	}
- 
- 	vertices.resize(0);
-+	original_vertex_index.resize(0);
- 	edges.resize(0);
- 	faces.resize(0);
- 
-@@ -2671,6 +2672,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
- 	{
- 		btConvexHullInternal::Vertex* v = oldVertices[copied];
- 		vertices.push_back(hull.getCoordinates(v));
-+		original_vertex_index.push_back(v->point.index);
- 		btConvexHullInternal::Edge* firstEdge = v->edges;
- 		if (firstEdge)
- 		{
-Index: extern/bullet2/src/LinearMath/btConvexHullComputer.h
-===================================================================
---- extern/bullet2/src/LinearMath/btConvexHullComputer.h	(revision 51556)
-+++ extern/bullet2/src/LinearMath/btConvexHullComputer.h	(working copy)
-@@ -67,6 +67,7 @@ class btConvexHullComputer
- 
- 		// Vertices of the output hull
- 		btAlignedObjectArray<btVector3> vertices;
-+		btAlignedObjectArray<int> original_vertex_index;
- 
- 		// Edges of the output hull
- 		btAlignedObjectArray<Edge> edges;