Merge pull request #38253 from nekomatata/bullet-update-2.90

Update to bullet master (2.90)

modules/bullet/SCsub

@@ -175,6 +175,7 @@ if env["builtin_bullet"]:
         "BulletSoftBody/btDeformableContactProjection.cpp",
         "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp",
         "BulletSoftBody/btDeformableContactConstraint.cpp",
+        "BulletSoftBody/poly34.cpp",
         # clew
         "clew/clew.c",
         # LinearMath

platform/linuxbsd/detect.py

@@ -217,15 +217,17 @@ def configure(env):
         env.ParseConfig("pkg-config libpng16 --cflags --libs")
 
     if not env["builtin_bullet"]:
-        # We need at least version 2.89
+        # We need at least version 2.90
+        min_bullet_version = "2.90"
+
         import subprocess
 
         bullet_version = subprocess.check_output(["pkg-config", "bullet", "--modversion"]).strip()
-        if str(bullet_version) < "2.89":
+        if str(bullet_version) < min_bullet_version:
             # Abort as system bullet was requested but too old
             print(
                 "Bullet: System version {0} does not match minimal requirements ({1}). Aborting.".format(
-                    bullet_version, "2.89"
+                    bullet_version, min_bullet_version
                 )
             )
             sys.exit(255)

thirdparty/README.md

@@ -40,9 +40,12 @@ Files extracted from upstream source:
 ## bullet
 
 - Upstream: https://github.com/bulletphysics/bullet3
-- Version: 2.89
+- Version: 2.90 (master cd8cf7521cbb8b7808126a6adebd47bb83ea166a)
 - License: zlib
 
+Important: Synced with a pre-release version of bullet 2.90 from the master branch.
+Commit hash: cd8cf7521cbb8b7808126a6adebd47bb83ea166a
+
 Files extracted from upstream source:
 
 - src/* apart from CMakeLists.txt and premake4.lua files

thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h

@@ -203,8 +203,8 @@ struct btDbvntNode
 
     btDbvntNode(const btDbvtNode* n)
     : volume(n->volume)
-    , angle(0)
     , normal(0,0,0)
+    , angle(0)
     , data(n->data)
     {
         childs[0] = 0;

thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h

@@ -61,7 +61,8 @@ class btOverlappingPairCache : public btOverlappingPairCallback
 	virtual void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher) = 0;
 
 	virtual int getNumOverlappingPairs() const = 0;
-
+	virtual bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const = 0;
+	virtual btOverlapFilterCallback* getOverlapFilterCallback() = 0;
 	virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
 
 	virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
@@ -380,6 +381,14 @@ class btNullPairCache : public btOverlappingPairCache
 	{
 	}
 
+	bool needsBroadphaseCollision(btBroadphaseProxy*, btBroadphaseProxy*) const
+	{
+		return true;
+	}
+	btOverlapFilterCallback* getOverlapFilterCallback()
+	{
+		return 0;
+	}
 	virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
 	{
 	}

thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp

@@ -468,7 +468,7 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
 
 #ifdef RAYAABB2
 	btVector3 rayDir = (rayTarget - raySource);
-	rayDir.normalize();
+	rayDir.safeNormalize();// stephengold changed normalize to safeNormalize 2020-02-17
 	lambda_max = rayDir.dot(rayTarget - raySource);
 	///what about division by zero? --> just set rayDirection[i] to 1.0
 	btVector3 rayDirectionInverse;
@@ -554,7 +554,7 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 
 #ifdef RAYAABB2
 	btVector3 rayDirection = (rayTarget - raySource);
-	rayDirection.normalize();
+	rayDirection.safeNormalize();// stephengold changed normalize to safeNormalize 2020-02-17
 	lambda_max = rayDirection.dot(rayTarget - raySource);
 	///what about division by zero? --> just set rayDirection[i] to 1.0
 	rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];

thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h

@@ -46,8 +46,6 @@ class btCollisionDispatcher : public btDispatcher
 
 	btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
 
-	btManifoldResult m_defaultManifoldResult;
-
 	btNearCallback m_nearCallback;
 
 	btPoolAllocator* m_collisionAlgorithmPoolAllocator;
@@ -95,11 +93,15 @@ class btCollisionDispatcher : public btDispatcher
 
 	btPersistentManifold* getManifoldByIndexInternal(int index)
 	{
+		btAssert(index>=0);
+		btAssert(index<m_manifoldsPtr.size());
 		return m_manifoldsPtr[index];
 	}
 
 	const btPersistentManifold* getManifoldByIndexInternal(int index) const
 	{
+		btAssert(index>=0);
+		btAssert(index<m_manifoldsPtr.size());
 		return m_manifoldsPtr[index];
 	}
 

thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp

@@ -28,6 +28,7 @@ subject to the following restrictions:
 btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize)
 	: btCollisionDispatcher(config)
 {
+	m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
 	m_batchUpdating = false;
 	m_grainSize = grainSize;  // iterations per task
 }
@@ -65,6 +66,10 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionO
 		manifold->m_index1a = m_manifoldsPtr.size();
 		m_manifoldsPtr.push_back(manifold);
 	}
+	else
+	{
+		m_batchManifoldsPtr[btGetCurrentThreadIndex()].push_back(manifold);
+	}
 
 	return manifold;
 }
@@ -121,7 +126,7 @@ struct CollisionDispatcherUpdater : public btIParallelForBody
 
 void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher)
 {
-	int pairCount = pairCache->getNumOverlappingPairs();
+	const int pairCount = pairCache->getNumOverlappingPairs();
 	if (pairCount == 0)
 	{
 		return;
@@ -136,16 +141,17 @@ void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache*
 	btParallelFor(0, pairCount, m_grainSize, updater);
 	m_batchUpdating = false;
 
-	// reconstruct the manifolds array to ensure determinism
-	m_manifoldsPtr.resizeNoInitialize(0);
-
-	btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
-	for (int i = 0; i < pairCount; ++i)
+	// merge new manifolds, if any
+	for (int i = 0; i < m_batchManifoldsPtr.size(); ++i)
 	{
-		if (btCollisionAlgorithm* algo = pairs[i].m_algorithm)
+		btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchManifoldsPtr[i];
+
+		for (int j = 0; j < batchManifoldsPtr.size(); ++j)
 		{
-			algo->getAllContactManifolds(m_manifoldsPtr);
+			m_manifoldsPtr.push_back(batchManifoldsPtr[j]);
 		}
+
+		batchManifoldsPtr.resizeNoInitialize(0);
 	}
 
 	// update the indices (used when releasing manifolds)

thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h

@@ -30,6 +30,7 @@ class btCollisionDispatcherMt : public btCollisionDispatcher
 	virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE;
 
 protected:
+	btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*> > m_batchManifoldsPtr;
 	bool m_batchUpdating;
 	int m_grainSize;
 };

thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -139,7 +139,12 @@ struct btCompoundLeafCallback : btDbvt::ICollide
 
 		if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
 		{
-			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index);
+			btTransform preTransform = childTrans;
+			if (this->m_compoundColObjWrap->m_preTransform)
+			{
+				preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform));
+			}
+			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index);
 
 			btCollisionAlgorithm* algo = 0;
 			bool allocatedAlgorithm = false;

thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

@@ -46,7 +46,7 @@ struct btContactSolverInfoData
 	btScalar m_sor;          //successive over-relaxation term
 	btScalar m_erp;          //error reduction for non-contact constraints
 	btScalar m_erp2;         //error reduction for contact constraints
-    btScalar m_deformable_erp;          //error reduction for deformable constraints
+	btScalar m_deformable_erp;          //error reduction for deformable constraints
 	btScalar m_globalCfm;    //constraint force mixing for contacts and non-contacts
 	btScalar m_frictionERP;  //error reduction for friction constraints
 	btScalar m_frictionCFM;  //constraint force mixing for friction constraints
@@ -67,6 +67,7 @@ struct btContactSolverInfoData
 	bool m_jointFeedbackInWorldSpace;
 	bool m_jointFeedbackInJointFrame;
 	int m_reportSolverAnalytics;
+	int m_numNonContactInnerIterations;
 };
 
 struct btContactSolverInfo : public btContactSolverInfoData
@@ -82,7 +83,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_numIterations = 10;
 		m_erp = btScalar(0.2);
 		m_erp2 = btScalar(0.2);
-        m_deformable_erp = btScalar(0.);
+		m_deformable_erp = btScalar(0.1);
 		m_globalCfm = btScalar(0.);
 		m_frictionERP = btScalar(0.2);  //positional friction 'anchors' are disabled by default
 		m_frictionCFM = btScalar(0.);
@@ -104,6 +105,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_jointFeedbackInWorldSpace = false;
 		m_jointFeedbackInJointFrame = false;
 		m_reportSolverAnalytics = 0;
+		m_numNonContactInnerIterations = 1;   // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
 	}
 };
 

thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp

@@ -876,7 +876,10 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 		// will we not request a velocity with the wrong direction ?
 		// and the answer is not, because in practice during the solving the current velocity is subtracted from the m_constraintError
 		// so the sign of the force that is really matters
-		info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
+		if (m_flags & BT_6DOF_FLAGS_USE_INFINITE_ERROR)
+			info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
+		else
+			info->m_constraintError[srow] = vel + f / m * (rotational ? -1 : 1);
 
 		btScalar minf = f < fd ? f : fd;
 		btScalar maxf = f < fd ? fd : f;

thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h

@@ -265,6 +265,7 @@ enum bt6DofFlags2
 	BT_6DOF_FLAGS_ERP_STOP2 = 2,
 	BT_6DOF_FLAGS_CFM_MOTO2 = 4,
 	BT_6DOF_FLAGS_ERP_MOTO2 = 8,
+	BT_6DOF_FLAGS_USE_INFINITE_ERROR = (1<<16)
 };
 #define BT_6DOF_FLAGS_AXIS_SHIFT2 4  // bits per axis
 

thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -14,7 +14,9 @@ subject to the following restrictions:
 */
 
 //#define COMPUTE_IMPULSE_DENOM 1
-//#define BT_ADDITIONAL_DEBUG
+#ifdef BT_DEBUG
+#	define BT_ADDITIONAL_DEBUG
+#endif
 
 //It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
 
@@ -690,8 +692,10 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
 {
 #if BT_THREADSAFE
 	int solverBodyId = -1;
-	bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
-	if (isRigidBodyType && !body.isStaticOrKinematicObject())
+	const bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
+	const bool isStaticOrKinematic = body.isStaticOrKinematicObject();
+	const bool isKinematic = body.isKinematicObject();
+	if (isRigidBodyType && !isStaticOrKinematic)
 	{
 		// dynamic body
 		// Dynamic bodies can only be in one island, so it's safe to write to the companionId
@@ -704,7 +708,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
 			body.setCompanionId(solverBodyId);
 		}
 	}
-	else if (isRigidBodyType && body.isKinematicObject())
+	else if (isRigidBodyType && isKinematic)
 	{
 		//
 		// NOTE: must test for kinematic before static because some kinematic objects also

thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -800,6 +800,14 @@ class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConve
 		///don't do CCD when the collision filters are not matching
 		if (!ClosestConvexResultCallback::needsCollision(proxy0))
 			return false;
+		if (m_pairCache->getOverlapFilterCallback()) {
+			btBroadphaseProxy* proxy1 = m_me->getBroadphaseHandle();
+			bool collides = m_pairCache->needsBroadphaseCollision(proxy0, proxy1);
+			if (!collides)
+			{
+				return false;
+			}
+		}
 
 		btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
 

thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -136,8 +136,13 @@ void btRigidBody::setGravity(const btVector3& acceleration)
 
 void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
 {
-	m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
-	m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+#ifdef BT_USE_OLD_DAMPING_METHOD
+	m_linearDamping = btMax(lin_damping, btScalar(0.0));
+	m_angularDamping = btMax(ang_damping, btScalar(0.0));
+#else
+	m_linearDamping = btClamped(lin_damping, btScalar(0.0), btScalar(1.0));
+	m_angularDamping = btClamped(ang_damping, btScalar(0.0), btScalar(1.0));
+#endif
 }
 
 ///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
@@ -146,10 +151,9 @@ void btRigidBody::applyDamping(btScalar timeStep)
 	//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
 	//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
 
-//#define USE_OLD_DAMPING_METHOD 1
-#ifdef USE_OLD_DAMPING_METHOD
-	m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
-	m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+#ifdef BT_USE_OLD_DAMPING_METHOD
+	m_linearVelocity *= btMax((btScalar(1.0) - timeStep * m_linearDamping), btScalar(0.0));
+	m_angularVelocity *= btMax((btScalar(1.0) - timeStep * m_angularDamping), btScalar(0.0));
 #else
 	m_linearVelocity *= btPow(btScalar(1) - m_linearDamping, timeStep);
 	m_angularVelocity *= btPow(btScalar(1) - m_angularDamping, timeStep);
@@ -380,6 +384,9 @@ void btRigidBody::integrateVelocities(btScalar step)
 	{
 		m_angularVelocity *= (MAX_ANGVEL / step) / angvel;
 	}
+	#if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+	clampVelocity(m_angularVelocity);
+	#endif
 }
 
 btQuaternion btRigidBody::getOrientation() const