151 lines
6.5 KiB
Diff
151 lines
6.5 KiB
Diff
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diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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index be9eca6..ec40c96 100644
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--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -15,7 +15,7 @@ subject to the following restrictions:
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/**
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- * @mainpage Bullet Documentation
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+ * @page Bullet Documentation
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*
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* @section intro_sec Introduction
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* 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 ).
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diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
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index 36dd043..57eb817 100644
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--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
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+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
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@@ -579,14 +579,10 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape( btCollisionS
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btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
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btCompoundShape* compoundShape = createCompoundShape();
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- btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
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-
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btAlignedObjectArray<btCollisionShape*> childShapes;
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for (int i=0;i<compoundData->m_numChildShapes;i++)
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{
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- btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
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-
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btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
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btCollisionShape* childShape = convertCollisionShape(cd);
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diff --git a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
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index 57fc119..31faf1d 100644
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--- a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
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+++ b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
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@@ -29,14 +29,11 @@ subject to the following restrictions:
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static btVector3
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getNormalizedVector(const btVector3& v)
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{
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- btScalar l = v.length();
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- btVector3 n = v;
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- if (l < SIMD_EPSILON) {
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- n.setValue(0,0,0);
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- } else {
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- n /= l;
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- }
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+ btVector3 n(0, 0, 0);
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+ if (v.length() > SIMD_EPSILON) {
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+ n = v.normalized();
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+ }
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return n;
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}
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diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
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index 27ccefe..8e4456e 100644
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--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
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+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -37,8 +37,13 @@ struct btSimdScalar
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{
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}
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-
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+/* workaround for clang 3.4 ( == apple clang 5.1 ) issue, friction would fail with forced inlining */
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+#if (defined(__clang__) && defined(__apple_build_version__) && (__clang_major__ == 5) && (__clang_minor__ == 1)) \
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+|| (defined(__clang__) && !defined(__apple_build_version__) && (__clang_major__ == 3) && (__clang_minor__ == 4))
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+ inline __attribute__ ((noinline)) btSimdScalar(float fl)
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+#else
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SIMD_FORCE_INLINE btSimdScalar(float fl)
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+#endif
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:m_vec128 (_mm_set1_ps(fl))
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{
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}
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diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
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index 5d62da7..fcd312e 100644
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--- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
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+++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -28,7 +28,6 @@
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#include "btMultiBodyJointFeedback.h"
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#include "LinearMath/btTransformUtil.h"
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#include "LinearMath/btSerializer.h"
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-#include "Bullet3Common/b3Logging.h"
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// #define INCLUDE_GYRO_TERM
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///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals
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@@ -1732,7 +1731,6 @@ void btMultiBody::goToSleep()
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void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep)
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{
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- int num_links = getNumLinks();
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extern bool gDisableDeactivation;
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if (!m_canSleep || gDisableDeactivation)
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{
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diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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index 8a034b3..4f66b20 100644
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--- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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+++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -809,7 +809,6 @@ static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodyS
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}
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#endif
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-#include "Bullet3Common/b3Logging.h"
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void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
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{
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#if 1
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diff --git a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
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index bcf0c79..8992ddb 100644
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--- a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
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+++ b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
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@@ -185,7 +185,6 @@ struct btSparseSdf
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{
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++nprobes;
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++ncells;
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- int sz = sizeof(Cell);
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if (ncells>m_clampCells)
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{
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static int numResets=0;
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diff --git a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
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index d58ac95..3fd77df 100644
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--- a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
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+++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
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@@ -2665,6 +2665,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
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}
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vertices.resize(0);
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+ original_vertex_index.resize(0);
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edges.resize(0);
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faces.resize(0);
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@@ -2675,6 +2676,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
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{
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btConvexHullInternal::Vertex* v = oldVertices[copied];
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vertices.push_back(hull.getCoordinates(v));
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+ original_vertex_index.push_back(v->point.index);
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btConvexHullInternal::Edge* firstEdge = v->edges;
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if (firstEdge)
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{
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diff --git a/extern/bullet2/src/LinearMath/btConvexHullComputer.h b/extern/bullet2/src/LinearMath/btConvexHullComputer.h
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index 7240ac4..6871ce8 100644
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--- a/extern/bullet2/src/LinearMath/btConvexHullComputer.h
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+++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.h
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@@ -67,6 +67,7 @@ class btConvexHullComputer
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// Vertices of the output hull
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btAlignedObjectArray<btVector3> vertices;
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+ btAlignedObjectArray<int> original_vertex_index;
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// Edges of the output hull
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btAlignedObjectArray<Edge> edges;
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