bullet: Update to current svn, r2636

Apply patches in patches directory, remove patches that were applied
upstream.
If you made changes without adding a patch, please check.

Fixes [#32233] exporting bullet format results in corrupt files.

1 files changed, 33 insertions, 21 deletions

diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index d877f09944f..2ceaab750fa 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -20,6 +20,7 @@ subject to the following restrictions:
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "btManifoldPoint.h"
+class btCollisionObject;
 #include "LinearMath/btAlignedAllocator.h"
 
 struct btCollisionResult;
@@ -57,9 +58,8 @@ ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
 	btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
 
 	/// this two body pointers can point to the physics rigidbody class.
-	/// void* will allow any rigidbody class
-	void* m_body0;
-	void* m_body1;
+	const btCollisionObject* m_body0;
+	const btCollisionObject* m_body1;
 
 	int	m_cachedPoints;
 
@@ -83,7 +83,7 @@ public:
 
 	btPersistentManifold();
 
-	btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
+	btPersistentManifold(const btCollisionObject* body0,const btCollisionObject* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
 		: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
 	m_body0(body0),m_body1(body1),m_cachedPoints(0),
 		m_contactBreakingThreshold(contactBreakingThreshold),
@@ -91,13 +91,10 @@ public:
 	{
 	}
 
-	SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
-	SIMD_FORCE_INLINE void* getBody1() { return m_body1;}
+	SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0;}
+	SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1;}
 
-	SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;}
-	SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;}
-
-	void	setBodies(void* body0,void* body1)
+	void	setBodies(const btCollisionObject* body0,const btCollisionObject* body1)
 	{
 		m_body0 = body0;
 		m_body1 = body1;
@@ -110,6 +107,12 @@ public:
 #endif //
 	
 	SIMD_FORCE_INLINE int	getNumContacts() const { return m_cachedPoints;}
+	/// the setNumContacts API is usually not used, except when you gather/fill all contacts manually
+	void setNumContacts(int cachedPoints)
+	{
+		m_cachedPoints = cachedPoints;
+	}
+
 
 	SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
 	{
@@ -131,9 +134,22 @@ public:
 		return m_contactProcessingThreshold;
 	}
 	
+	void setContactBreakingThreshold(btScalar contactBreakingThreshold)
+	{
+		m_contactBreakingThreshold = contactBreakingThreshold;
+	}
+
+	void setContactProcessingThreshold(btScalar	contactProcessingThreshold)
+	{
+		m_contactProcessingThreshold = contactProcessingThreshold;
+	}
+	
+	
+
+
 	int getCacheEntry(const btManifoldPoint& newPoint) const;
 
-	int addManifoldPoint( const btManifoldPoint& newPoint);
+	int addManifoldPoint( const btManifoldPoint& newPoint, bool isPredictive=false);
 
 	void removeContactPoint (int index)
 	{
@@ -146,10 +162,6 @@ public:
 			m_pointCache[index] = m_pointCache[lastUsedIndex]; 
 			//get rid of duplicated userPersistentData pointer
 			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
-			m_pointCache[lastUsedIndex].mConstraintRow[0].m_accumImpulse = 0.f;
-			m_pointCache[lastUsedIndex].mConstraintRow[1].m_accumImpulse = 0.f;
-			m_pointCache[lastUsedIndex].mConstraintRow[2].m_accumImpulse = 0.f;
-
 			m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
 			m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
 			m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
@@ -167,9 +179,9 @@ public:
 #define MAINTAIN_PERSISTENCY 1
 #ifdef MAINTAIN_PERSISTENCY
 		int	lifeTime = m_pointCache[insertIndex].getLifeTime();
-		btScalar	appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse;
-		btScalar	appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse;
-		btScalar	appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse;
+		btScalar	appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
+		btScalar	appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
+		btScalar	appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
 //		bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
 		
 		
@@ -184,9 +196,9 @@ public:
 		m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
 		m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
 		
-		m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse =  appliedImpulse;
-		m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse = appliedLateralImpulse1;
-		m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse = appliedLateralImpulse2;
+		m_pointCache[insertIndex].m_appliedImpulse =  appliedImpulse;
+		m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
+		m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
 
 
 		m_pointCache[insertIndex].m_lifeTime = lifeTime;