1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
|
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/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index 0623e35..02ea503 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -13,9 +13,9 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-#if defined (_WIN32) || defined (__i386__)
-#define BT_USE_SSE_IN_API
-#endif
+//#if defined (_WIN32) || defined (__i386__)
+//#define BT_USE_SSE_IN_API
+//#endif
#include "btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
index b56d729..88018b4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -13,9 +13,9 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-#if defined (_WIN32) || defined (__i386__)
-#define BT_USE_SSE_IN_API
-#endif
+//#if defined (_WIN32) || defined (__i386__)
+//#define BT_USE_SSE_IN_API
+//#endif
#include "btConvexShape.h"
#include "btTriangleShape.h"
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
index a7362ea..6abfdff 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
@@ -13,9 +13,9 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-#if defined (_WIN32) || defined (__i386__)
-#define BT_USE_SSE_IN_API
-#endif
+//#if defined (_WIN32) || defined (__i386__)
+//#define BT_USE_SSE_IN_API
+//#endif
#include "btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index 4854f37..9095c59 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -12,9 +12,9 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
-#if defined (_WIN32) || defined (__i386__)
-#define BT_USE_SSE_IN_API
-#endif
+//#if defined (_WIN32) || defined (__i386__)
+//#define BT_USE_SSE_IN_API
+//#endif
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "btConvexPolyhedron.h"
diff --git a/extern/bullet2/src/LinearMath/btVector3.cpp b/extern/bullet2/src/LinearMath/btVector3.cpp
index e05bdcc..dbcf2b6 100644
--- a/extern/bullet2/src/LinearMath/btVector3.cpp
+++ b/extern/bullet2/src/LinearMath/btVector3.cpp
@@ -15,9 +15,9 @@
This source version has been altered.
*/
-#if defined (_WIN32) || defined (__i386__)
-#define BT_USE_SSE_IN_API
-#endif
+//#if defined (_WIN32) || defined (__i386__)
+//#define BT_USE_SSE_IN_API
+//#endif
#include "btVector3.h"
|
