Merge pull request #2459 from erwincoumans/master

bump up to Bullet version 2.89 and update serialization structures

Extras/Serialize/BulletFileLoader/autogenerated/bullet.h

@@ -19,11 +19,10 @@
 // Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
 #ifndef __BULLET_H__
 #define __BULLET_H__
-namespace Bullet
+namespace Bullet {
-{
+
 // put an empty struct in the case
-typedef struct bInvalidHandle
+typedef struct bInvalidHandle {
-{
 	int unused;
 }bInvalidHandle;
 
@@ -124,6 +123,7 @@ public:
         void *m_data;
     };
 
+
 // -------------------------------------------------- //
     class btPhysicsSystem
     {
@@ -133,6 +133,7 @@ public:
         PointerArray m_constraints;
     };
 
+
 // -------------------------------------------------- //
     class ListBase
     {
@@ -141,6 +142,7 @@ public:
         void *last;
     };
 
+
 // -------------------------------------------------- //
     class btVector3FloatData
     {
@@ -148,6 +150,7 @@ public:
         float m_floats[4];
     };
 
+
 // -------------------------------------------------- //
     class btVector3DoubleData
     {
@@ -155,6 +158,7 @@ public:
         double m_floats[4];
     };
 
+
 // -------------------------------------------------- //
     class btQuaternionFloatData
     {
@@ -162,6 +166,7 @@ public:
         float m_floats[4];
     };
 
+
 // -------------------------------------------------- //
     class btQuaternionDoubleData
     {
@@ -169,6 +174,7 @@ public:
         double m_floats[4];
     };
 
+
 // -------------------------------------------------- //
     class btMatrix3x3FloatData
     {
@@ -176,6 +182,7 @@ public:
         btVector3FloatData m_el[3];
     };
 
+
 // -------------------------------------------------- //
     class btMatrix3x3DoubleData
     {
@@ -183,6 +190,7 @@ public:
         btVector3DoubleData m_el[3];
     };
 
+
 // -------------------------------------------------- //
     class btTransformFloatData
     {
@@ -191,6 +199,7 @@ public:
         btVector3FloatData m_origin;
     };
 
+
 // -------------------------------------------------- //
     class btTransformDoubleData
     {
@@ -199,6 +208,7 @@ public:
         btVector3DoubleData m_origin;
     };
 
+
 // -------------------------------------------------- //
     class btBvhSubtreeInfoData
     {
@@ -209,6 +219,7 @@ public:
         short m_quantizedAabbMax[3];
     };
 
+
 // -------------------------------------------------- //
     class btOptimizedBvhNodeFloatData
     {
@@ -221,6 +232,7 @@ public:
         char m_pad[4];
     };
 
+
 // -------------------------------------------------- //
     class btOptimizedBvhNodeDoubleData
     {
@@ -233,6 +245,7 @@ public:
         char m_pad[4];
     };
 
+
 // -------------------------------------------------- //
     class btQuantizedBvhNodeData
     {
@@ -242,6 +255,7 @@ public:
         int m_escapeIndexOrTriangleIndex;
     };
 
+
 // -------------------------------------------------- //
     class btQuantizedBvhFloatData
     {
@@ -260,6 +274,7 @@ public:
         int m_numSubtreeHeaders;
     };
 
+
 // -------------------------------------------------- //
     class btQuantizedBvhDoubleData
     {
@@ -278,6 +293,7 @@ public:
         btBvhSubtreeInfoData *m_subTreeInfoPtr;
     };
 
+
 // -------------------------------------------------- //
     class btCollisionShapeData
     {
@@ -287,6 +303,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btStaticPlaneShapeData
     {
@@ -298,6 +315,7 @@ public:
         char m_pad[4];
     };
 
+
 // -------------------------------------------------- //
     class btConvexInternalShapeData
     {
@@ -309,6 +327,7 @@ public:
         int m_padding;
     };
 
+
 // -------------------------------------------------- //
     class btPositionAndRadius
     {
@@ -317,6 +336,7 @@ public:
         float m_radius;
     };
 
+
 // -------------------------------------------------- //
     class btMultiSphereShapeData
     {
@@ -327,6 +347,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btIntIndexData
     {
@@ -334,6 +355,7 @@ public:
         int m_value;
     };
 
+
 // -------------------------------------------------- //
     class btShortIntIndexData
     {
@@ -342,6 +364,7 @@ public:
         char m_pad[2];
     };
 
+
 // -------------------------------------------------- //
     class btShortIntIndexTripletData
     {
@@ -350,6 +373,7 @@ public:
         char m_pad[2];
     };
 
+
 // -------------------------------------------------- //
     class btCharIndexTripletData
     {
@@ -358,6 +382,7 @@ public:
         char m_pad;
     };
 
+
 // -------------------------------------------------- //
     class btMeshPartData
     {
@@ -372,6 +397,7 @@ public:
         int m_numVertices;
     };
 
+
 // -------------------------------------------------- //
     class btStridingMeshInterfaceData
     {
@@ -382,6 +408,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btTriangleMeshShapeData
     {
@@ -395,6 +422,7 @@ public:
         char m_pad3[4];
     };
 
+
 // -------------------------------------------------- //
     class btScaledTriangleMeshShapeData
     {
@@ -403,6 +431,7 @@ public:
         btVector3FloatData m_localScaling;
     };
 
+
 // -------------------------------------------------- //
     class btCompoundShapeChildData
     {
@@ -413,6 +442,7 @@ public:
         float m_childMargin;
     };
 
+
 // -------------------------------------------------- //
     class btCompoundShapeData
     {
@@ -423,6 +453,7 @@ public:
         float m_collisionMargin;
     };
 
+
 // -------------------------------------------------- //
     class btCylinderShapeData
     {
@@ -432,6 +463,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btConeShapeData
     {
@@ -441,6 +473,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btCapsuleShapeData
     {
@@ -450,6 +483,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btTriangleInfoData
     {
@@ -460,6 +494,7 @@ public:
         float m_edgeV2V0Angle;
     };
 
+
 // -------------------------------------------------- //
     class btTriangleInfoMapData
     {
@@ -480,6 +515,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btPersistentManifoldDoubleData
     {
@@ -493,6 +529,7 @@ public:
         btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
         double m_pointCacheDistance[4];
         double m_pointCacheAppliedImpulse[4];
+        double m_pointCachePrevRHS[4];
         double m_pointCacheCombinedFriction[4];
         double m_pointCacheCombinedRollingFriction[4];
         double m_pointCacheCombinedSpinningFriction[4];
@@ -524,6 +561,7 @@ public:
         btCollisionObjectDoubleData *m_body1;
     };
 
+
 // -------------------------------------------------- //
     class btPersistentManifoldFloatData
     {
@@ -537,6 +575,7 @@ public:
         btVector3FloatData m_pointCacheLateralFrictionDir2[4];
         float m_pointCacheDistance[4];
         float m_pointCacheAppliedImpulse[4];
+        float m_pointCachePrevRHS[4];
         float m_pointCacheCombinedFriction[4];
         float m_pointCacheCombinedRollingFriction[4];
         float m_pointCacheCombinedSpinningFriction[4];
@@ -568,6 +607,7 @@ public:
         btCollisionObjectFloatData *m_body1;
     };
 
+
 // -------------------------------------------------- //
     class btGImpactMeshShapeData
     {
@@ -579,6 +619,7 @@ public:
         int m_gimpactSubType;
     };
 
+
 // -------------------------------------------------- //
     class btConvexHullShapeData
     {
@@ -590,6 +631,7 @@ public:
         char m_padding3[4];
     };
 
+
 // -------------------------------------------------- //
     class btCollisionObjectDoubleData
     {
@@ -625,6 +667,7 @@ public:
         int m_uniqueId;
     };
 
+
 // -------------------------------------------------- //
     class btCollisionObjectFloatData
     {
@@ -660,6 +703,7 @@ public:
         int m_uniqueId;
     };
 
+
 // -------------------------------------------------- //
     class btContactSolverInfoDoubleData
     {
@@ -678,6 +722,7 @@ public:
         double m_splitImpulseTurnErp;
         double m_linearSlop;
         double m_warmstartingFactor;
+        double m_articulatedWarmstartingFactor;
         double m_maxGyroscopicForce;
         double m_singleAxisRollingFrictionThreshold;
         int m_numIterations;
@@ -688,6 +733,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btContactSolverInfoFloatData
     {
@@ -706,6 +752,7 @@ public:
         float m_splitImpulseTurnErp;
         float m_linearSlop;
         float m_warmstartingFactor;
+        float m_articulatedWarmstartingFactor;
         float m_maxGyroscopicForce;
         float m_singleAxisRollingFrictionThreshold;
         int m_numIterations;
@@ -716,6 +763,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btDynamicsWorldDoubleData
     {
@@ -724,6 +772,7 @@ public:
         btVector3DoubleData m_gravity;
     };
 
+
 // -------------------------------------------------- //
     class btDynamicsWorldFloatData
     {
@@ -732,6 +781,7 @@ public:
         btVector3FloatData m_gravity;
     };
 
+
 // -------------------------------------------------- //
     class btRigidBodyFloatData
     {
@@ -759,6 +809,7 @@ public:
         int m_additionalDamping;
     };
 
+
 // -------------------------------------------------- //
     class btRigidBodyDoubleData
     {
@@ -787,6 +838,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btConstraintInfo1
     {
@@ -795,6 +847,7 @@ public:
         int nub;
     };
 
+
 // -------------------------------------------------- //
     class btTypedConstraintFloatData
     {
@@ -814,6 +867,7 @@ public:
         int m_isEnabled;
     };
 
+
 // -------------------------------------------------- //
     class btTypedConstraintData
     {
@@ -833,6 +887,7 @@ public:
         int m_isEnabled;
     };
 
+
 // -------------------------------------------------- //
     class btTypedConstraintDoubleData
     {
@@ -853,6 +908,7 @@ public:
         char padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btPoint2PointConstraintFloatData
     {
@@ -862,6 +918,7 @@ public:
         btVector3FloatData m_pivotInB;
     };
 
+
 // -------------------------------------------------- //
     class btPoint2PointConstraintDoubleData2
     {
@@ -871,6 +928,7 @@ public:
         btVector3DoubleData m_pivotInB;
     };
 
+
 // -------------------------------------------------- //
     class btPoint2PointConstraintDoubleData
     {
@@ -880,6 +938,7 @@ public:
         btVector3DoubleData m_pivotInB;
     };
 
+
 // -------------------------------------------------- //
     class btHingeConstraintDoubleData
     {
@@ -899,6 +958,7 @@ public:
         float m_relaxationFactor;
     };
 
+
 // -------------------------------------------------- //
     class btHingeConstraintFloatData
     {
@@ -918,6 +978,7 @@ public:
         float m_relaxationFactor;
     };
 
+
 // -------------------------------------------------- //
     class btHingeConstraintDoubleData2
     {
@@ -938,6 +999,7 @@ public:
         char m_padding1[4];
     };
 
+
 // -------------------------------------------------- //
     class btConeTwistConstraintDoubleData
     {
@@ -954,6 +1016,7 @@ public:
         double m_damping;
     };
 
+
 // -------------------------------------------------- //
     class btConeTwistConstraintData
     {
@@ -971,6 +1034,7 @@ public:
         char m_pad[4];
     };
 
+
 // -------------------------------------------------- //
     class btGeneric6DofConstraintData
     {
@@ -986,6 +1050,7 @@ public:
         int m_useOffsetForConstraintFrame;
     };
 
+
 // -------------------------------------------------- //
     class btGeneric6DofConstraintDoubleData2
     {
@@ -1001,6 +1066,7 @@ public:
         int m_useOffsetForConstraintFrame;
     };
 
+
 // -------------------------------------------------- //
     class btGeneric6DofSpringConstraintData
     {
@@ -1012,6 +1078,7 @@ public:
         float m_springDamping[6];
     };
 
+
 // -------------------------------------------------- //
     class btGeneric6DofSpringConstraintDoubleData2
     {
@@ -1023,6 +1090,7 @@ public:
         double m_springDamping[6];
     };
 
+
 // -------------------------------------------------- //
     class btGeneric6DofSpring2ConstraintData
     {
@@ -1070,6 +1138,7 @@ public:
         int m_rotateOrder;
     };
 
+
 // -------------------------------------------------- //
     class btGeneric6DofSpring2ConstraintDoubleData2
     {
@@ -1117,6 +1186,7 @@ public:
         int m_rotateOrder;
     };
 
+
 // -------------------------------------------------- //
     class btSliderConstraintData
     {
@@ -1132,6 +1202,7 @@ public:
         int m_useOffsetForConstraintFrame;
     };
 
+
 // -------------------------------------------------- //
     class btSliderConstraintDoubleData
     {
@@ -1147,6 +1218,7 @@ public:
         int m_useOffsetForConstraintFrame;
     };
 
+
 // -------------------------------------------------- //
     class btGearConstraintFloatData
     {
@@ -1158,6 +1230,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btGearConstraintDoubleData
     {
@@ -1168,6 +1241,7 @@ public:
         double m_ratio;
     };
 
+
 // -------------------------------------------------- //
     class SoftBodyMaterialData
     {
@@ -1178,6 +1252,7 @@ public:
         int m_flags;
     };
 
+
 // -------------------------------------------------- //
     class SoftBodyNodeData
     {
@@ -1194,6 +1269,7 @@ public:
         int m_pad;
     };
 
+
 // -------------------------------------------------- //
     class SoftBodyLinkData
     {
@@ -1204,6 +1280,7 @@ public:
         int m_bbending;
     };
 
+
 // -------------------------------------------------- //
     class SoftBodyFaceData
     {
@@ -1214,6 +1291,7 @@ public:
         float m_restArea;
     };
 
+
 // -------------------------------------------------- //
     class SoftBodyTetraData
     {
@@ -1227,6 +1305,7 @@ public:
         int m_pad;
     };
 
+
 // -------------------------------------------------- //
     class SoftRigidAnchorData
     {
@@ -1239,6 +1318,7 @@ public:
         float m_c2;
     };
 
+
 // -------------------------------------------------- //
     class SoftBodyConfigData
     {
@@ -1271,6 +1351,7 @@ public:
         int m_collisionFlags;
     };
 
+
 // -------------------------------------------------- //
     class SoftBodyPoseData
     {
@@ -1289,6 +1370,7 @@ public:
         int m_pad;
     };
 
+
 // -------------------------------------------------- //
     class SoftBodyClusterData
     {
@@ -1322,6 +1404,7 @@ public:
         int m_clusterIndex;
     };
 
+
 // -------------------------------------------------- //
     class btSoftBodyJointData
     {
@@ -1340,6 +1423,7 @@ public:
         int m_pad;
     };
 
+
 // -------------------------------------------------- //
     class btSoftBodyFloatData
     {
@@ -1365,6 +1449,7 @@ public:
         SoftBodyConfigData m_config;
     };
 
+
 // -------------------------------------------------- //
     class btMultiBodyLinkDoubleData
     {
@@ -1399,6 +1484,7 @@ public:
         char *m_paddingPtr;
     };
 
+
 // -------------------------------------------------- //
     class btMultiBodyLinkFloatData
     {
@@ -1433,6 +1519,7 @@ public:
         char *m_paddingPtr;
     };
 
+
 // -------------------------------------------------- //
     class btMultiBodyDoubleData
     {
@@ -1450,6 +1537,7 @@ public:
         btCollisionObjectDoubleData *m_baseCollider;
     };
 
+
 // -------------------------------------------------- //
     class btMultiBodyFloatData
     {
@@ -1466,6 +1554,7 @@ public:
         btCollisionObjectFloatData *m_baseCollider;
     };
 
+
 // -------------------------------------------------- //
     class btMultiBodyLinkColliderFloatData
     {
@@ -1476,6 +1565,7 @@ public:
         char m_padding[4];
     };
 
+
 // -------------------------------------------------- //
     class btMultiBodyLinkColliderDoubleData
     {
@@ -1486,5 +1576,6 @@ public:
         char m_padding[4];
     };
 
-}  // namespace Bullet
+
+}
 #endif//__BULLET_H__

VERSION

@@ -1 +1 @@
-2.88
+2.89

src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

@@ -155,15 +155,15 @@ struct btContactSolverInfoFloatData
 	float m_warmstartingFactor;
 	float m_articulatedWarmstartingFactor;
 	float m_maxGyroscopicForce;
-	float m_singleAxisRollingFrictionThreshold;
 
+	float m_singleAxisRollingFrictionThreshold;
 	int m_numIterations;
 	int m_solverMode;
 	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
 
+	int m_minimumSolverBatchSize;
 	int m_splitImpulse;
-	char m_padding[4];
+	
 };
 
 #endif  //BT_CONTACT_SOLVER_INFO

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -1436,8 +1436,6 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize
 
 	worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
 
-	// Fill padding with zeros to appease msan.
-	memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding));
 	
 #ifdef BT_USE_DOUBLE_PRECISION
 	const char* structType = "btDynamicsWorldDoubleData";

src/LinearMath/btScalar.h

@@ -25,13 +25,23 @@ subject to the following restrictions:
 #include <float.h>
 
 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 288
+#define BT_BULLET_VERSION 289
 
 inline int btGetVersion()
 {
 	return BT_BULLET_VERSION;
 }
 
+inline int btIsDoublePrecision()
+{
+  #ifdef BT_USE_DOUBLE_PRECISION
+  return true;
+  #else
+  return false;
+  #endif
+}
+
+
 // The following macro "BT_NOT_EMPTY_FILE" can be put into a file
 // in order suppress the MS Visual C++ Linker warning 4221
 //

src/LinearMath/btSerializer.h

@@ -481,7 +481,7 @@ public:
 
 		buffer[9] = '2';
 		buffer[10] = '8';
-		buffer[11] = '8';
+		buffer[11] = '9';
 	}
 
 	virtual void startSerialization()