remove some debug globals from third_party/bullet

There are some debug global variables that prevent using bullet safely on multi-threaded environments (tsan failures).

PATCH from marioprats@

examples/SoftDemo/SoftDemo.cpp

@@ -291,10 +291,6 @@ void SoftDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int
 
 
 ////////////////////////////////////
-
-extern int gNumManifold;
-extern int gOverlappingPairs;
-
 ///for mouse picking
 void pickingPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
 {
@@ -1727,13 +1723,6 @@ void SoftDemo::clientMoveAndDisplay()
 	btProfiler::endBlock("render"); 
 #endif 
 	glFlush();
-	//some additional debugging info
-#ifdef PRINT_CONTACT_STATISTICS
-	printf("num manifolds: %i\n",gNumManifold);
-	printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
-	
-#endif //PRINT_CONTACT_STATISTICS
-
 
 	swapBuffers();
 

src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h

@@ -628,7 +628,6 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* /*dispatcher*
 }       
 
 
-extern int gOverlappingPairs;
 //#include <stdio.h>
 
 template <typename BP_FP_INT_TYPE>
@@ -695,10 +694,9 @@ void	btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
 				pair.m_pProxy0 = 0;
 				pair.m_pProxy1 = 0;
 				m_invalidPair++;
-				gOverlappingPairs--;
+      }
-			} 
 
-		}
+    }
 
 	///if you don't like to skip the invalid pairs in the array, execute following code:
 	#define CLEAN_INVALID_PAIRS 1

src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp

@@ -23,11 +23,6 @@ subject to the following restrictions:
 
 #include <stdio.h>
 
-int	gOverlappingPairs = 0;
-
-int gRemovePairs =0;
-int gAddedPairs =0;
-int gFindPairs =0;
 
 
 
@@ -134,7 +129,6 @@ void	btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroad
 
 btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
-	gFindPairs++;
 	if(proxy0->m_uniqueId>proxy1->m_uniqueId)
 		btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
@@ -271,7 +265,6 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 
 void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
 {
-	gRemovePairs++;
 	if(proxy0->m_uniqueId>proxy1->m_uniqueId)
 		btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
@@ -386,8 +379,6 @@ void	btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
 		if (callback->processOverlap(*pair))
 		{
 			removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher);
-
-			gOverlappingPairs--;
 		} else
 		{
 			i++;
@@ -499,7 +490,6 @@ void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 		int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
 		if (findIndex < m_overlappingPairArray.size())
 		{
-			gOverlappingPairs--;
 			btBroadphasePair& pair = m_overlappingPairArray[findIndex];
 			void* userData = pair.m_internalInfo1;
 			cleanOverlappingPair(pair,dispatcher);
@@ -533,10 +523,7 @@ btBroadphasePair*	btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP
 	void* mem = &m_overlappingPairArray.expandNonInitializing();
 	btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
 
-	gOverlappingPairs++;
+  if (m_ghostPairCallback)
-	gAddedPairs++;
-	
-	if (m_ghostPairCallback)
 		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
 	return pair;
 	
@@ -590,7 +577,6 @@ void	btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
 			pair->m_pProxy1 = 0;
 			m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
 			m_overlappingPairArray.pop_back();
-			gOverlappingPairs--;
 		} else
 		{
 			i++;
@@ -623,7 +609,6 @@ void	btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,b
 			pair.m_algorithm->~btCollisionAlgorithm();
 			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
 			pair.m_algorithm=0;
-			gRemovePairs--;
 		}
 	}
 }

src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h

@@ -49,10 +49,6 @@ struct btOverlapFilterCallback
 
 
 
-extern int gRemovePairs;
-extern int gAddedPairs;
-extern int gFindPairs;
-
 const int BT_NULL_PAIR=0xffffffff;
 
 ///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
@@ -133,8 +129,6 @@ public:
 	// no new pair is created and the old one is returned.
 	virtual btBroadphasePair* 	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
 	{
-		gAddedPairs++;
-
 		if (!needsBroadphaseCollision(proxy0,proxy1))
 			return 0;
 

src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp

@@ -24,8 +24,6 @@ subject to the following restrictions:
 
 #include <new>
 
-extern int gOverlappingPairs;
-
 void	btSimpleBroadphase::validate()
 {
 	for (int i=0;i<m_numHandles;i++)
@@ -315,7 +313,6 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 					pair.m_pProxy0 = 0;
 					pair.m_pProxy1 = 0;
 					m_invalidPair++;
-					gOverlappingPairs--;
 				}
 
 			}

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -27,8 +27,6 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-int gNumManifold = 0;
-
 #ifdef BT_DEBUG
 #include <stdio.h>
 #endif
@@ -77,8 +75,6 @@ btCollisionDispatcher::~btCollisionDispatcher()
 
 btPersistentManifold*	btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1) 
 { 
-	gNumManifold++;
-	
 	//btAssert(gNumManifold < 65535);
 	
 
@@ -121,7 +117,6 @@ void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
 void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
 {
 	
-	gNumManifold--;
 
 	//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
 	clearManifold(manifold);

src/LinearMath/btAlignedAllocator.cpp

@@ -15,10 +15,6 @@ subject to the following restrictions:
 
 #include "btAlignedAllocator.h"
 
-int gNumAlignedAllocs = 0;
-int gNumAlignedFree = 0;
-int gTotalBytesAlignedAllocs = 0;//detect memory leaks
-
 static void *btAllocDefault(size_t size)
 {
 	return malloc(size);
@@ -163,9 +159,6 @@ void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filen
 //		printf("big alloc!%d\n", size);
 //	}
 
- gTotalBytesAlignedAllocs += size;
- gNumAlignedAllocs++;
-
  
 int sz4prt = 4*sizeof(void *);
 	
@@ -190,7 +183,6 @@ int sz4prt = 4*sizeof(void *);
    ret = (void *)(real);//??
  }
 
- printf("allocation %d at address %x, from %s,line %d, size %d (total allocated = %d)\n",allocId,real, filename,line,size,gTotalBytesAlignedAllocs);
 	allocId++;
 	
  int* ptr = (int*)ret;
@@ -204,7 +196,6 @@ void    btAlignedFreeInternal   (void* ptr,int line,char* filename)
  void* real;
 
  if (ptr) {
-	 gNumAlignedFree++;
 
 	 btDebugPtrMagic p;
 	 p.vptr = ptr;
@@ -230,11 +221,6 @@ void    btAlignedFreeInternal   (void* ptr,int line,char* filename)
 	 }
 	 
 
-	gTotalBytesAlignedAllocs -= size;
-
-	 int diff = gNumAlignedAllocs-gNumAlignedFree;
-	printf("free %d at address %x, from %s,line %d, size %d (total remain = %d in %d non-freed allocations)\n",allocId,real, filename,line,size, gTotalBytesAlignedAllocs, diff);
-
    sFreeFunc(real);
  } else
  {
@@ -246,7 +232,6 @@ void    btAlignedFreeInternal   (void* ptr,int line,char* filename)
 
 void*	btAlignedAllocInternal	(size_t size, int alignment)
 {
-	gNumAlignedAllocs++;
 	void* ptr;
 	ptr = sAlignedAllocFunc(size, alignment);
 //	printf("btAlignedAllocInternal %d, %x\n",size,ptr);
@@ -260,7 +245,6 @@ void	btAlignedFreeInternal	(void* ptr)
 		return;
 	}
 
-	gNumAlignedFree++;
 //	printf("btAlignedFreeInternal %x\n",ptr);
 	sAlignedFreeFunc(ptr);
 }