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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;
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