runtime: merge bullet3 into src (pt. 01)

3rdparty/bullet3/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h

@@ -180,8 +180,8 @@ class btAxisSweep3Internal : public btBroadphaseInterface
 	{
 		/*		printf("btAxisSweep3.h\n");
 		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
-		printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(),
-			m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ());
+		printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.x,m_worldAabbMin.y,m_worldAabbMin.z,
+			m_worldAabbMax.x,m_worldAabbMax.y,m_worldAabbMax.z);
 			*/
 	}
 };
@@ -320,10 +320,10 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy,
 	vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos;
 	vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos + 1;
 
-	aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()), (btScalar)(vecInMin[1]) / (m_quantize.getY()), (btScalar)(vecInMin[2]) / (m_quantize.getZ()));
+	aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.x), (btScalar)(vecInMin[1]) / (m_quantize.y), (btScalar)(vecInMin[2]) / (m_quantize.z));
 	aabbMin += m_worldAabbMin;
 
-	aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()), (btScalar)(vecInMax[1]) / (m_quantize.getY()), (btScalar)(vecInMax[2]) / (m_quantize.getZ()));
+	aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.x), (btScalar)(vecInMax[1]) / (m_quantize.y), (btScalar)(vecInMax[2]) / (m_quantize.z));
 	aabbMax += m_worldAabbMin;
 }
 
@@ -442,9 +442,9 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const b
 	clampedPoint.setMax(m_worldAabbMin);
 	clampedPoint.setMin(m_worldAabbMax);
 	btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
-	out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax);
-	out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax);
-	out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax);
+	out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.x & m_bpHandleMask) | isMax);
+	out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.y & m_bpHandleMask) | isMax);
+	out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.z & m_bpHandleMask) | isMax);
 #else
 	btVector3 v = (point - m_worldAabbMin) * m_quantize;
 	out[0] = (v[0] <= 0) ? (BP_FP_INT_TYPE)isMax : (v[0] >= m_handleSentinel) ? (BP_FP_INT_TYPE)((m_handleSentinel & m_bpHandleMask) | isMax) : (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0] & m_bpHandleMask) | isMax);

3rdparty/bullet3/src/BulletCollision/BroadphaseCollision/btDbvt.cpp

@@ -52,8 +52,8 @@ static DBVT_INLINE btDbvtVolume merge(const btDbvtVolume& a,
 static DBVT_INLINE btScalar size(const btDbvtVolume& a)
 {
 	const btVector3 edges = a.Lengths();
-	return (edges.x() * edges.y() * edges.z() +
-			edges.x() + edges.y() + edges.z());
+	return (edges.x * edges.y * edges.z +
+			edges.x + edges.y + edges.z);
 }
 
 //
@@ -829,7 +829,7 @@ struct btDbvtBenchmark
 	static btTransform RandTransform(btScalar cs)
 	{
 		btTransform t;
-		t.setOrigin(RandVector3(cs));
+		t.m_origin = (RandVector3(cs));
 		t.setRotation(btQuaternion(RandUnit() * SIMD_PI * 2, RandUnit() * SIMD_PI * 2, RandUnit() * SIMD_PI * 2).normalized());
 		return (t);
 	}

3rdparty/bullet3/src/BulletCollision/BroadphaseCollision/btDbvt.h

@@ -520,29 +520,29 @@ DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3& e)
 //
 DBVT_INLINE void btDbvtAabbMm::SignedExpand(const btVector3& e)
 {
-	if (e.x() > 0)
-		mx.setX(mx.x() + e[0]);
+	if (e.x > 0)
+		mx.x = (mx.x + e[0]);
 	else
-		mi.setX(mi.x() + e[0]);
-	if (e.y() > 0)
-		mx.setY(mx.y() + e[1]);
+		mi.x = (mi.x + e[0]);
+	if (e.y > 0)
+		mx.y = (mx.y + e[1]);
 	else
-		mi.setY(mi.y() + e[1]);
-	if (e.z() > 0)
-		mx.setZ(mx.z() + e[2]);
+		mi.y = (mi.y + e[1]);
+	if (e.z > 0)
+		mx.z = (mx.z + e[2]);
 	else
-		mi.setZ(mi.z() + e[2]);
+		mi.z = (mi.z + e[2]);
 }
 
 //
 DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
 {
-	return ((mi.x() <= a.mi.x()) &&
-			(mi.y() <= a.mi.y()) &&
-			(mi.z() <= a.mi.z()) &&
-			(mx.x() >= a.mx.x()) &&
-			(mx.y() >= a.mx.y()) &&
-			(mx.z() >= a.mx.z()));
+	return ((mi.x <= a.mi.x) &&
+			(mi.y <= a.mi.y) &&
+			(mi.z <= a.mi.z) &&
+			(mx.x >= a.mx.x) &&
+			(mx.y >= a.mx.y) &&
+			(mx.z >= a.mx.z));
 }
 
 //
@@ -552,36 +552,36 @@ DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n, btScalar o, int s) co
 	switch (s)
 	{
 		case (0 + 0 + 0):
-			px = btVector3(mi.x(), mi.y(), mi.z());
-			pi = btVector3(mx.x(), mx.y(), mx.z());
+			px = btVector3(mi.x, mi.y, mi.z);
+			pi = btVector3(mx.x, mx.y, mx.z);
 			break;
 		case (1 + 0 + 0):
-			px = btVector3(mx.x(), mi.y(), mi.z());
-			pi = btVector3(mi.x(), mx.y(), mx.z());
+			px = btVector3(mx.x, mi.y, mi.z);
+			pi = btVector3(mi.x, mx.y, mx.z);
 			break;
 		case (0 + 2 + 0):
-			px = btVector3(mi.x(), mx.y(), mi.z());
-			pi = btVector3(mx.x(), mi.y(), mx.z());
+			px = btVector3(mi.x, mx.y, mi.z);
+			pi = btVector3(mx.x, mi.y, mx.z);
 			break;
 		case (1 + 2 + 0):
-			px = btVector3(mx.x(), mx.y(), mi.z());
-			pi = btVector3(mi.x(), mi.y(), mx.z());
+			px = btVector3(mx.x, mx.y, mi.z);
+			pi = btVector3(mi.x, mi.y, mx.z);
 			break;
 		case (0 + 0 + 4):
-			px = btVector3(mi.x(), mi.y(), mx.z());
-			pi = btVector3(mx.x(), mx.y(), mi.z());
+			px = btVector3(mi.x, mi.y, mx.z);
+			pi = btVector3(mx.x, mx.y, mi.z);
 			break;
 		case (1 + 0 + 4):
-			px = btVector3(mx.x(), mi.y(), mx.z());
-			pi = btVector3(mi.x(), mx.y(), mi.z());
+			px = btVector3(mx.x, mi.y, mx.z);
+			pi = btVector3(mi.x, mx.y, mi.z);
 			break;
 		case (0 + 2 + 4):
-			px = btVector3(mi.x(), mx.y(), mx.z());
-			pi = btVector3(mx.x(), mi.y(), mi.z());
+			px = btVector3(mi.x, mx.y, mx.z);
+			pi = btVector3(mx.x, mi.y, mi.z);
 			break;
 		case (1 + 2 + 4):
-			px = btVector3(mx.x(), mx.y(), mx.z());
-			pi = btVector3(mi.x(), mi.y(), mi.z());
+			px = btVector3(mx.x, mx.y, mx.z);
+			pi = btVector3(mi.x, mi.y, mi.z);
 			break;
 	}
 	if ((btDot(n, px) + o) < 0) return (-1);
@@ -593,9 +593,9 @@ DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n, btScalar o, int s) co
 DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v, unsigned signs) const
 {
 	const btVector3* b[] = {&mx, &mi};
-	const btVector3 p(b[(signs >> 0) & 1]->x(),
-					  b[(signs >> 1) & 1]->y(),
-					  b[(signs >> 2) & 1]->z());
+	const btVector3 p(b[(signs >> 0) & 1]->x,
+					  b[(signs >> 1) & 1]->y,
+					  b[(signs >> 2) & 1]->z);
 	return (btDot(p, v));
 }
 
@@ -631,25 +631,25 @@ DBVT_INLINE bool Intersect(const btDbvtAabbMm& a,
 #endif
 	return ((pu[0] | pu[1] | pu[2]) == 0);
 #else
-	return ((a.mi.x() <= b.mx.x()) &&
-			(a.mx.x() >= b.mi.x()) &&
-			(a.mi.y() <= b.mx.y()) &&
-			(a.mx.y() >= b.mi.y()) &&
-			(a.mi.z() <= b.mx.z()) &&
-			(a.mx.z() >= b.mi.z()));
+	return ((a.mi.x <= b.mx.x) &&
+			(a.mx.x >= b.mi.x) &&
+			(a.mi.y <= b.mx.y) &&
+			(a.mx.y >= b.mi.y) &&
+			(a.mi.z <= b.mx.z) &&
+			(a.mx.z >= b.mi.z));
 #endif
 }
 
 //
 DBVT_INLINE bool Intersect(const btDbvtAabbMm& a,
 						   const btVector3& b)
 {
-	return ((b.x() >= a.mi.x()) &&
-			(b.y() >= a.mi.y()) &&
-			(b.z() >= a.mi.z()) &&
-			(b.x() <= a.mx.x()) &&
-			(b.y() <= a.mx.y()) &&
-			(b.z() <= a.mx.z()));
+	return ((b.x >= a.mi.x) &&
+			(b.y >= a.mi.y) &&
+			(b.z >= a.mi.z) &&
+			(b.x <= a.mx.x) &&
+			(b.y <= a.mx.y) &&
+			(b.z <= a.mx.z));
 }
 
 //////////////////////////////////////
@@ -659,7 +659,7 @@ DBVT_INLINE btScalar Proximity(const btDbvtAabbMm& a,
 							   const btDbvtAabbMm& b)
 {
 	const btVector3 d = (a.mi + a.mx) - (b.mi + b.mx);
-	return (btFabs(d.x()) + btFabs(d.y()) + btFabs(d.z()));
+	return (btFabs(d.x) + btFabs(d.y) + btFabs(d.z));
 }
 
 //
@@ -774,12 +774,12 @@ DBVT_INLINE void Merge(const btDbvtAabbMm& a,
 DBVT_INLINE bool NotEqual(const btDbvtAabbMm& a,
 						  const btDbvtAabbMm& b)
 {
-	return ((a.mi.x() != b.mi.x()) ||
-			(a.mi.y() != b.mi.y()) ||
-			(a.mi.z() != b.mi.z()) ||
-			(a.mx.x() != b.mx.x()) ||
-			(a.mx.y() != b.mx.y()) ||
-			(a.mx.z() != b.mx.z()));
+	return ((a.mi.x != b.mi.x) ||
+			(a.mi.y != b.mi.y) ||
+			(a.mi.z != b.mi.z) ||
+			(a.mx.x != b.mx.x) ||
+			(a.mx.y != b.mx.y) ||
+			(a.mx.z != b.mx.z));
 }
 
 //
@@ -1362,9 +1362,9 @@ inline void btDbvt::collideKDOP(const btDbvtNode* root,
 		btAssert(count < int(sizeof(signs) / sizeof(signs[0])));
 		for (int i = 0; i < count; ++i)
 		{
-			signs[i] = ((normals[i].x() >= 0) ? 1 : 0) +
-					   ((normals[i].y() >= 0) ? 2 : 0) +
-					   ((normals[i].z() >= 0) ? 4 : 0);
+			signs[i] = ((normals[i].x >= 0) ? 1 : 0) +
+					   ((normals[i].y >= 0) ? 2 : 0) +
+					   ((normals[i].z >= 0) ? 4 : 0);
 		}
 		stack.reserve(SIMPLE_STACKSIZE);
 		stack.push_back(sStkNP(root, 0));
@@ -1429,9 +1429,9 @@ inline void btDbvt::collideOCL(const btDbvtNode* root,
 		btAssert(count < int(sizeof(signs) / sizeof(signs[0])));
 		for (int i = 0; i < count; ++i)
 		{
-			signs[i] = ((normals[i].x() >= 0) ? 1 : 0) +
-					   ((normals[i].y() >= 0) ? 2 : 0) +
-					   ((normals[i].z() >= 0) ? 4 : 0);
+			signs[i] = ((normals[i].x >= 0) ? 1 : 0) +
+					   ((normals[i].y >= 0) ? 2 : 0) +
+					   ((normals[i].z >= 0) ? 4 : 0);
 		}
 		stock.reserve(SIMPLE_STACKSIZE);
 		stack.reserve(SIMPLE_STACKSIZE);

3rdparty/bullet3/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h

@@ -329,61 +329,61 @@ btQuantizedBvh
 	{
 		btAssert(m_useQuantization);
 
-		btAssert(point.getX() <= m_bvhAabbMax.getX());
-		btAssert(point.getY() <= m_bvhAabbMax.getY());
-		btAssert(point.getZ() <= m_bvhAabbMax.getZ());
+		btAssert(point.x <= m_bvhAabbMax.x);
+		btAssert(point.y <= m_bvhAabbMax.y);
+		btAssert(point.z <= m_bvhAabbMax.z);
 
-		btAssert(point.getX() >= m_bvhAabbMin.getX());
-		btAssert(point.getY() >= m_bvhAabbMin.getY());
-		btAssert(point.getZ() >= m_bvhAabbMin.getZ());
+		btAssert(point.x >= m_bvhAabbMin.x);
+		btAssert(point.y >= m_bvhAabbMin.y);
+		btAssert(point.z >= m_bvhAabbMin.z);
 
 		btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
 		///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
 		///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
 		///@todo: double-check this
 		if (isMax)
 		{
-			out[0] = (unsigned short)(((unsigned short)(v.getX() + btScalar(1.)) | 1));
-			out[1] = (unsigned short)(((unsigned short)(v.getY() + btScalar(1.)) | 1));
-			out[2] = (unsigned short)(((unsigned short)(v.getZ() + btScalar(1.)) | 1));
+			out[0] = (unsigned short)(((unsigned short)(v.x + btScalar(1.)) | 1));
+			out[1] = (unsigned short)(((unsigned short)(v.y + btScalar(1.)) | 1));
+			out[2] = (unsigned short)(((unsigned short)(v.z + btScalar(1.)) | 1));
 		}
 		else
 		{
-			out[0] = (unsigned short)(((unsigned short)(v.getX()) & 0xfffe));
-			out[1] = (unsigned short)(((unsigned short)(v.getY()) & 0xfffe));
-			out[2] = (unsigned short)(((unsigned short)(v.getZ()) & 0xfffe));
+			out[0] = (unsigned short)(((unsigned short)(v.x) & 0xfffe));
+			out[1] = (unsigned short)(((unsigned short)(v.y) & 0xfffe));
+			out[2] = (unsigned short)(((unsigned short)(v.z) & 0xfffe));
 		}
 
 #ifdef DEBUG_CHECK_DEQUANTIZATION
 		btVector3 newPoint = unQuantize(out);
 		if (isMax)
 		{
-			if (newPoint.getX() < point.getX())
+			if (newPoint.x < point.x)
 			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
+				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.x - point.x, newPoint.x, point.x);
 			}
-			if (newPoint.getY() < point.getY())
+			if (newPoint.y < point.y)
 			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
+				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.y - point.y, newPoint.y, point.y);
 			}
-			if (newPoint.getZ() < point.getZ())
+			if (newPoint.z < point.z)
 			{
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
+				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.z - point.z, newPoint.z, point.z);
 			}
 		}
 		else
 		{
-			if (newPoint.getX() > point.getX())
+			if (newPoint.x > point.x)
 			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
+				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.x - point.x, newPoint.x, point.x);
 			}
-			if (newPoint.getY() > point.getY())
+			if (newPoint.y > point.y)
 			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
+				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.y - point.y, newPoint.y, point.y);
 			}
-			if (newPoint.getZ() > point.getZ())
+			if (newPoint.z > point.z)
 			{
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
+				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.z - point.z, newPoint.z, point.z);
 			}
 		}
 #endif  //DEBUG_CHECK_DEQUANTIZATION
@@ -404,9 +404,9 @@ btQuantizedBvh
 	{
 		btVector3 vecOut;
 		vecOut.setValue(
-			(btScalar)(vecIn[0]) / (m_bvhQuantization.getX()),
-			(btScalar)(vecIn[1]) / (m_bvhQuantization.getY()),
-			(btScalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
+			(btScalar)(vecIn[0]) / (m_bvhQuantization.x),
+			(btScalar)(vecIn[1]) / (m_bvhQuantization.y),
+			(btScalar)(vecIn[2]) / (m_bvhQuantization.z));
 		vecOut += m_bvhAabbMin;
 		return vecOut;
 	}

3rdparty/bullet3/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp

@@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -38,18 +38,18 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input, Re
 	//move sphere into triangle space
 	btTransform sphereInTr = transformB.inverseTimes(transformA);
 
-	if (collide(sphereInTr.getOrigin(), point, normal, depth, timeOfImpact, m_contactBreakingThreshold))
+	if (collide(sphereInTr.m_origin, point, normal, depth, timeOfImpact, m_contactBreakingThreshold))
 	{
 		if (swapResults)
 		{
-			btVector3 normalOnB = transformB.getBasis() * normal;
+			btVector3 normalOnB = transformB.m_basis * normal;
 			btVector3 normalOnA = -normalOnB;
 			btVector3 pointOnA = transformB * point + normalOnB * depth;
 			output.addContactPoint(normalOnA, pointOnA, depth);
 		}
 		else
 		{
-			output.addContactPoint(transformB.getBasis() * normal, transformB * point, depth);
+			output.addContactPoint(transformB.m_basis * normal, transformB * point, depth);
 		}
 	}
 }