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, 25 insertions, 47 deletions

diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
index 5ef8db19396..19d0543ef9e 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
@@ -21,6 +21,7 @@ subject to the following restrictions:
 
 
 #include "LinearMath/btQuickprof.h"
+#include "LinearMath/btPolarDecomposition.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
@@ -614,32 +615,8 @@ private:
 //
 static inline int			PolarDecompose(	const btMatrix3x3& m,btMatrix3x3& q,btMatrix3x3& s)
 {
-	static const btScalar	half=(btScalar)0.5;
-	static const btScalar	accuracy=(btScalar)0.0001;
-	static const int		maxiterations=16;
-	int						i=0;
-	btScalar				det=0;
-	q	=	Mul(m,1/btVector3(m[0][0],m[1][1],m[2][2]).length());
-	det	=	q.determinant();
-	if(!btFuzzyZero(det))
-	{
-		for(;i<maxiterations;++i)
-		{
-			q=Mul(Add(q,Mul(q.adjoint(),1/det).transpose()),half);
-			const btScalar	ndet=q.determinant();
-			if(Sq(ndet-det)>accuracy) det=ndet; else break;
-		}
-		/* Final orthogonalization	*/ 
-		Orthogonalize(q);
-		/* Compute 'S'				*/ 
-		s=q.transpose()*m;
-	}
-	else
-	{
-		q.setIdentity();
-		s.setIdentity();
-	}
-	return(i);
+	static const btPolarDecomposition polar;  
+	return polar.decompose(m, q, s);
 }
 
 //
@@ -666,7 +643,7 @@ struct btSoftColliders
 			threshold	=(btScalar)0;
 		}
 		bool				SolveContact(	const btGjkEpaSolver2::sResults& res,
-			btSoftBody::Body ba,btSoftBody::Body bb,
+			btSoftBody::Body ba,const btSoftBody::Body bb,
 			btSoftBody::CJoint& joint)
 		{
 			if(res.distance<m_margin)
@@ -702,7 +679,7 @@ struct btSoftColliders
 				joint.m_normal		=	norm;
 //				printf("normal=%f,%f,%f\n",res.normal.getX(),res.normal.getY(),res.normal.getZ());
 				joint.m_delete		=	false;
-				joint.m_friction	=	fv.length2()<(-rvac*friction)?1:friction;
+				joint.m_friction	=	fv.length2()<(rvac*friction*rvac*friction)?1:friction;
 				joint.m_massmatrix	=	ImpulseMatrix(	ba.invMass(),ba.invWorldInertia(),joint.m_rpos[0],
 					bb.invMass(),bb.invWorldInertia(),joint.m_rpos[1]);
 
@@ -717,30 +694,30 @@ struct btSoftColliders
 	struct	CollideCL_RS : ClusterBase
 	{
 		btSoftBody*		psb;
-		
-		btCollisionObject*	m_colObj;
+		const btCollisionObjectWrapper*	m_colObjWrap;
+
 		void		Process(const btDbvtNode* leaf)
 		{
 			btSoftBody::Cluster*		cluster=(btSoftBody::Cluster*)leaf->data;
 			btSoftClusterCollisionShape	cshape(cluster);
 			
-			const btConvexShape*		rshape=(const btConvexShape*)m_colObj->getCollisionShape();
+			const btConvexShape*		rshape=(const btConvexShape*)m_colObjWrap->getCollisionShape();
 
 			///don't collide an anchored cluster with a static/kinematic object
-			if(m_colObj->isStaticOrKinematicObject() && cluster->m_containsAnchor)
+			if(m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject() && cluster->m_containsAnchor)
 				return;
 
 			btGjkEpaSolver2::sResults	res;		
 			if(btGjkEpaSolver2::SignedDistance(	&cshape,btTransform::getIdentity(),
-				rshape,m_colObj->getWorldTransform(),
+				rshape,m_colObjWrap->getWorldTransform(),
 				btVector3(1,0,0),res))
 			{
 				btSoftBody::CJoint	joint;
-				if(SolveContact(res,cluster,m_colObj,joint))//prb,joint))
+				if(SolveContact(res,cluster,m_colObjWrap->getCollisionObject(),joint))//prb,joint))
 				{
 					btSoftBody::CJoint*	pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
 					*pj=joint;psb->m_joints.push_back(pj);
-					if(m_colObj->isStaticOrKinematicObject())
+					if(m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject())
 					{
 						pj->m_erp	*=	psb->m_cfg.kSKHR_CL;
 						pj->m_split	*=	psb->m_cfg.kSK_SPLT_CL;
@@ -753,19 +730,19 @@ struct btSoftColliders
 				}
 			}
 		}
-		void		Process(btSoftBody* ps,btCollisionObject* colOb)
+		void		ProcessColObj(btSoftBody* ps,const btCollisionObjectWrapper* colObWrap)
 		{
 			psb			=	ps;
-			m_colObj			=	colOb;
+			m_colObjWrap			=	colObWrap;
 			idt			=	ps->m_sst.isdt;
-			m_margin		=	m_colObj->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin();
+			m_margin		=	m_colObjWrap->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin();
 			///Bullet rigid body uses multiply instead of minimum to determine combined friction. Some customization would be useful.
-			friction	=	btMin(psb->m_cfg.kDF,m_colObj->getFriction());
+			friction	=	btMin(psb->m_cfg.kDF,m_colObjWrap->getCollisionObject()->getFriction());
 			btVector3			mins;
 			btVector3			maxs;
 
 			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume;
-			colOb->getCollisionShape()->getAabb(colOb->getWorldTransform(),mins,maxs);
+			colObWrap->getCollisionShape()->getAabb(colObWrap->getWorldTransform(),mins,maxs);
 			volume=btDbvtVolume::FromMM(mins,maxs);
 			volume.Expand(btVector3(1,1,1)*m_margin);
 			ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root,volume,*this);
@@ -815,7 +792,7 @@ struct btSoftColliders
 				
 			}
 		}
-		void		Process(btSoftBody* psa,btSoftBody* psb)
+		void		ProcessSoftSoft(btSoftBody* psa,btSoftBody* psb)
 		{
 			idt			=	psa->m_sst.isdt;
 			//m_margin		=	(psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin())/2;
@@ -840,15 +817,16 @@ struct btSoftColliders
 		{
 			const btScalar			m=n.m_im>0?dynmargin:stamargin;
 			btSoftBody::RContact	c;
+
 			if(	(!n.m_battach)&&
-				psb->checkContact(m_colObj1,n.m_x,m,c.m_cti))
+				psb->checkContact(m_colObj1Wrap,n.m_x,m,c.m_cti))
 			{
 				const btScalar	ima=n.m_im;
 				const btScalar	imb= m_rigidBody? m_rigidBody->getInvMass() : 0.f;
 				const btScalar	ms=ima+imb;
 				if(ms>0)
 				{
-					const btTransform&	wtr=m_rigidBody?m_rigidBody->getWorldTransform() : m_colObj1->getWorldTransform();
+					const btTransform&	wtr=m_rigidBody?m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
 					static const btMatrix3x3	iwiStatic(0,0,0,0,0,0,0,0,0);
 					const btMatrix3x3&	iwi=m_rigidBody?m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
 					const btVector3		ra=n.m_x-wtr.getOrigin();
@@ -857,13 +835,13 @@ struct btSoftColliders
 					const btVector3		vr=vb-va;
 					const btScalar		dn=btDot(vr,c.m_cti.m_normal);
 					const btVector3		fv=vr-c.m_cti.m_normal*dn;
-					const btScalar		fc=psb->m_cfg.kDF*m_colObj1->getFriction();
+					const btScalar		fc=psb->m_cfg.kDF*m_colObj1Wrap->getCollisionObject()->getFriction();
 					c.m_node	=	&n;
 					c.m_c0		=	ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra);
 					c.m_c1		=	ra;
 					c.m_c2		=	ima*psb->m_sst.sdt;
-					c.m_c3		=	fv.length2()<(btFabs(dn)*fc)?0:1-fc;
-					c.m_c4		=	m_colObj1->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
+			        c.m_c3		=	fv.length2()<(dn*fc*dn*fc)?0:1-fc;
+					c.m_c4		=	m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
 					psb->m_rcontacts.push_back(c);
 					if (m_rigidBody)
 						m_rigidBody->activate();
@@ -871,7 +849,7 @@ struct btSoftColliders
 			}
 		}
 		btSoftBody*		psb;
-		btCollisionObject*	m_colObj1;
+		const btCollisionObjectWrapper*	m_colObj1Wrap;
 		btRigidBody*	m_rigidBody;
 		btScalar		dynmargin;
 		btScalar		stamargin;