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, 16 insertions, 35 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
index 179e79d7911..2ade61b2f69 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
@@ -20,68 +20,49 @@ class	btRigidBody;
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btMatrix3x3.h"
 #include "btJacobianEntry.h"
+#include "LinearMath/btAlignedObjectArray.h"
 
 //#define NO_FRICTION_TANGENTIALS 1
 #include "btSolverBody.h"
 
 
 ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED64 (struct)	btSolverConstraint
+ATTRIBUTE_ALIGNED16 (struct)	btSolverConstraint
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btVector3		m_relpos1CrossNormal;
-	btVector3		m_contactNormal;
+	btVector3		m_contactNormal1;
 
 	btVector3		m_relpos2CrossNormal;
-	//btVector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
+	btVector3		m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
 
 	btVector3		m_angularComponentA;
 	btVector3		m_angularComponentB;
 	
 	mutable btSimdScalar	m_appliedPushImpulse;
 	mutable btSimdScalar	m_appliedImpulse;
-	
-	
+
 	btScalar	m_friction;
 	btScalar	m_jacDiagABInv;
-	union
-	{
-		int	m_numConsecutiveRowsPerKernel;
-		btScalar	m_unusedPadding0;
-	};
-
-	int	m_overrideNumSolverIterations;
-
-	union
-	{
-		int			m_frictionIndex;
-		btScalar	m_unusedPadding1;
-	};
-	union
-	{
-		btRigidBody*	m_solverBodyA;
-		int				m_companionIdA;
-	};
-	union
-	{
-		btRigidBody*	m_solverBodyB;
-		int				m_companionIdB;
-	};
+	btScalar		m_rhs;
+	btScalar		m_cfm;
 	
-	union
+    btScalar		m_lowerLimit;
+	btScalar		m_upperLimit;
+	btScalar		m_rhsPenetration;
+    union
 	{
 		void*		m_originalContactPoint;
 		btScalar	m_unusedPadding4;
 	};
 
-	btScalar		m_rhs;
-	btScalar		m_cfm;
-	btScalar		m_lowerLimit;
-	btScalar		m_upperLimit;
-
-	btScalar		m_rhsPenetration;
+	int	m_overrideNumSolverIterations;
+    int			m_frictionIndex;
+	int m_solverBodyIdA;
+	int m_solverBodyIdB;
 
+    
 	enum		btSolverConstraintType
 	{
 		BT_SOLVER_CONTACT_1D = 0,