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Merge remote-tracking branch 'origin/master'

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merge origin/master
This commit is contained in:
Xuchen Han
2019-12-18 23:18:16 -08:00
parent 89553c44e7 4414136f32
commit 4ab0387262
37 changed files with 28200 additions and 57 deletions
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16
src/Bullet3Common/b3Logging.h
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@@ -14,20 +14,8 @@ extern "C"
//#define b3Printf b3OutputPrintfVarArgsInternal
//#define b3Printf(...) printf(__VA_ARGS__)
//#define b3Printf(...)
#define b3Warning(...) \
do \
{ \
b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__); \
b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); \
} while (0)
#define b3Error(...) \
do \
{ \
b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__); \
b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \
} while (0)
#define b3Warning(...) do{ b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);} while (0)
#define b3Error(...)do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);} while (0)
#ifndef B3_NO_PROFILE
void b3EnterProfileZone(const char* name);

26
src/Bullet3Common/b3Scalar.h
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@@ -71,7 +71,17 @@ inline int b3GetVersion()
#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION))
#if (defined(_M_IX86) || defined(_M_X64))
#ifdef __clang__
//#define B3_NO_SIMD_OPERATOR_OVERLOADS
#define B3_DISABLE_SSE
#endif //__clang__
#ifndef B3_DISABLE_SSE
#define B3_USE_SSE
#endif //B3_DISABLE_SSE
#ifdef B3_USE_SSE
//B3_USE_SSE_IN_API is disabled under Windows by default, because
//it makes it harder to integrate Bullet into your application under Windows
@@ -92,17 +102,7 @@ inline int b3GetVersion()
#ifdef B3_DEBUG
#ifdef _MSC_VER
#include <stdio.h>
#define b3Assert(x) \
{ \
if (!(x)) \
{ \
b3Error( \
"Assert "__FILE__ \
":%u (" #x ")\n", \
__LINE__); \
__debugbreak(); \
} \
}
#define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }}
#else //_MSC_VER
#include <assert.h>
#define b3Assert assert
@@ -297,7 +297,7 @@ static int b3NanMask = 0x7F800001;
static int b3InfinityMask = 0x7F800000;
#define B3_INFINITY_MASK (*(float *)&b3InfinityMask)
#endif
#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS
inline __m128 operator+(const __m128 A, const __m128 B)
{
return _mm_add_ps(A, B);
@@ -312,7 +312,7 @@ inline __m128 operator*(const __m128 A, const __m128 B)
{
return _mm_mul_ps(A, B);
}
#endif //B3_NO_SIMD_OPERATOR_OVERLOADS
#define b3CastfTo128i(a) (_mm_castps_si128(a))
#define b3CastfTo128d(a) (_mm_castps_pd(a))
#define b3CastiTo128f(a) (_mm_castsi128_ps(a))

7
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -187,13 +187,6 @@ btBroadphasePair
BT_DECLARE_ALIGNED_ALLOCATOR();
btBroadphasePair(const btBroadphasePair& other)
: m_pProxy0(other.m_pProxy0),
m_pProxy1(other.m_pProxy1),
m_algorithm(other.m_algorithm),
m_internalInfo1(other.m_internalInfo1)
{
}
btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1)
{
//keep them sorted, so the std::set operations work

1
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -131,7 +131,6 @@ subject to the following restrictions:
struct btDbvtAabbMm
{
DBVT_INLINE btDbvtAabbMm(){}
DBVT_INLINE btDbvtAabbMm(const btDbvtAabbMm& other): mi(other.mi), mx(other.mx){}
DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); }
DBVT_INLINE btVector3 Lengths() const { return (mx - mi); }
DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); }

2
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
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@@ -68,7 +68,7 @@ public:
virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0;
virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo)
virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/)
{
processAllOverlappingPairs(callback, dispatcher);
}

4
src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
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@@ -292,8 +292,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionSha
}
break;
}
#endif //SUPPORT_GIMPACT_SHAPE_IMPORT \
//The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API \
#endif //SUPPORT_GIMPACT_SHAPE_IMPORT
//The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API
//so deal with this
case CAPSULE_SHAPE_PROXYTYPE:
{

6
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -503,9 +503,9 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw);
//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif //ZERO_MARGIN \
//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); \
//if (l2>SIMD_EPSILON)
#endif //ZERO_MARGIN
//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
//if (l2>SIMD_EPSILON)
{
sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld; //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();

7
src/LinearMath/btScalar.h
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@@ -110,11 +110,16 @@ inline int btIsDoublePrecision()
#if defined (_M_ARM)
//Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however)
#elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
#ifdef __clang__
#define __BT_DISABLE_SSE__
#endif
#ifndef __BT_DISABLE_SSE__
#if _MSC_VER>1400
#define BT_USE_SIMD_VECTOR3
#endif
#define BT_USE_SSE
#endif//__BT_DISABLE_SSE__
#ifdef BT_USE_SSE
#if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default)