bullet: Update to version 2.82 (bullet revision 2705)

    
Remove patch that has been applied upstream.

Fixes several bugs.

5 files changed, 38 insertions, 27 deletions

diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 9ff2d9f1173..fb8a4068e23 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -87,7 +87,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 	btTypedConstraint**		m_sortedConstraints;
 	int						m_numConstraints;
 	btIDebugDraw*			m_debugDrawer;
-	btStackAlloc*			m_stackAlloc;
 	btDispatcher*			m_dispatcher;
 	
 	btAlignedObjectArray<btCollisionObject*> m_bodies;
@@ -104,7 +103,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 		m_sortedConstraints(NULL),
 		m_numConstraints(0),
 		m_debugDrawer(NULL),
-		m_stackAlloc(stackAlloc),
 		m_dispatcher(dispatcher)
 	{
 
@@ -135,7 +133,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 		if (islandId<0)
 		{
 			///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
-			m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+			m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
 		} else
 		{
 				//also add all non-contact constraints/joints for this island
@@ -163,7 +161,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 
 			if (m_solverInfo->m_minimumSolverBatchSize<=1)
 			{
-				m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+				m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
 			} else
 			{
 				
@@ -190,7 +188,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 		btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
 		btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
 			
-		m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+		m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher);
 		m_bodies.resize(0);
 		m_manifolds.resize(0);
 		m_constraints.resize(0);
@@ -210,7 +208,9 @@ m_gravity(0,-10,0),
 m_localTime(0),
 m_synchronizeAllMotionStates(false),
 m_applySpeculativeContactRestitution(false),
-m_profileTimings(0)
+m_profileTimings(0),
+m_fixedTimeStep(0),
+m_latencyMotionStateInterpolation(true)
 
 {
 	if (!m_constraintSolver)
@@ -232,7 +232,7 @@ m_profileTimings(0)
 
 	{
 		void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16);
-		m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, m_stackAlloc, dispatcher);
+		m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, 0, dispatcher);
 	}
 }
 
@@ -359,7 +359,9 @@ void	btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
 		{
 			btTransform interpolatedTransform;
 			btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
-				body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
+				body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),
+				(m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(),
+				interpolatedTransform);
 			body->getMotionState()->setWorldTransform(interpolatedTransform);
 		}
 	}
@@ -403,6 +405,7 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 	if (maxSubSteps)
 	{
 		//fixed timestep with interpolation
+		m_fixedTimeStep = fixedTimeStep;
 		m_localTime += timeStep;
 		if (m_localTime >= fixedTimeStep)
 		{
@@ -413,7 +416,8 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 	{
 		//variable timestep
 		fixedTimeStep = timeStep;
-		m_localTime = timeStep;
+		m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
+		m_fixedTimeStep = 0;
 		if (btFuzzyZero(timeStep))
 		{
 			numSimulationSubSteps = 0;
@@ -724,7 +728,7 @@ void	btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 
 	m_solverIslandCallback->processConstraints();
 
-	m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
+	m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
 }
 
 
@@ -746,12 +750,7 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
             if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
                 ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
             {
-                if (colObj0->isActive() || colObj1->isActive())
-                {
-                    
-                    getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
-                                                                       (colObj1)->getIslandTag());
-                }
+				getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
             }
         }
     }
@@ -770,12 +769,7 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 				if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
 					((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
 				{
-					if (colObj0->isActive() || colObj1->isActive())
-					{
-
-						getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
-							(colObj1)->getIslandTag());
-					}
+					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
 				}
 			}
 		}
@@ -1131,7 +1125,6 @@ void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 		{
 			//don't integrate/update velocities here, it happens in the constraint solver
 
-			//damping
 			body->applyDamping(timeStep);
 
 			body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index fa934c49d2b..d8a34b7da3d 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -53,6 +53,7 @@ protected:
 
 	//for variable timesteps
 	btScalar	m_localTime;
+	btScalar	m_fixedTimeStep;
 	//for variable timesteps
 
 	bool	m_ownsIslandManager;
@@ -64,6 +65,8 @@ protected:
 	
 	int	m_profileTimings;
 
+	bool	m_latencyMotionStateInterpolation;
+
 	btAlignedObjectArray<btPersistentManifold*>	m_predictiveManifolds;
 
 	virtual void	predictUnconstraintMotion(btScalar timeStep);
@@ -74,7 +77,7 @@ protected:
 
 	virtual void	solveConstraints(btContactSolverInfo& solverInfo);
 	
-	void	updateActivationState(btScalar timeStep);
+	virtual void	updateActivationState(btScalar timeStep);
 
 	void	updateActions(btScalar timeStep);
 
@@ -216,6 +219,16 @@ public:
 	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
 	virtual	void	serialize(btSerializer* serializer);
 
+	///Interpolate motion state between previous and current transform, instead of current and next transform.
+	///This can relieve discontinuities in the rendering, due to penetrations
+	void setLatencyMotionStateInterpolation(bool latencyInterpolation )
+	{
+		m_latencyMotionStateInterpolation = latencyInterpolation;
+	}
+	bool getLatencyMotionStateInterpolation() const
+	{
+		return m_latencyMotionStateInterpolation;
+	}
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index 7d5c621f850..35dd1400fe7 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -33,7 +33,8 @@ enum btDynamicsWorldType
 	BT_SIMPLE_DYNAMICS_WORLD=1,
 	BT_DISCRETE_DYNAMICS_WORLD=2,
 	BT_CONTINUOUS_DYNAMICS_WORLD=3,
-	BT_SOFT_RIGID_DYNAMICS_WORLD=4
+	BT_SOFT_RIGID_DYNAMICS_WORLD=4,
+	BT_GPU_DYNAMICS_WORLD=5
 };
 
 ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
index f0e07f942af..ed90fb44115 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -363,11 +363,13 @@ public:
 
 	inline void setLinearVelocity(const btVector3& lin_vel)
 	{ 
+		m_updateRevision++;
 		m_linearVelocity = lin_vel; 
 	}
 
 	inline void setAngularVelocity(const btVector3& ang_vel) 
 	{ 
+		m_updateRevision++;
 		m_angularVelocity = ang_vel; 
 	}
 
@@ -484,11 +486,13 @@ public:
 
 	void	setAngularFactor(const btVector3& angFac)
 	{
+		m_updateRevision++;
 		m_angularFactor = angFac;
 	}
 
 	void	setAngularFactor(btScalar angFac)
 	{
+		m_updateRevision++;
 		m_angularFactor.setValue(angFac,angFac,angFac);
 	}
 	const btVector3&	getAngularFactor() const
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
index 5fc2f3cf8f7..35dd38840f6 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -78,8 +78,8 @@ int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
 		btContactSolverInfo infoGlobal;
 		infoGlobal.m_timeStep = timeStep;
 		m_constraintSolver->prepareSolve(0,numManifolds);
-		m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
-		m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
+		m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
+		m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
 	}
 
 	///integrate transforms