Merge pull request TorqueGameEngines#826 from Ragora/adjustment-bulle…

…t-update

Adjustment: Update Bullet version to 3.24

Engine/lib/bullet/.ci/docker/env.list

@@ -0,0 +1,7 @@
+TRAVIS_OS_NAME
+TRAVIS_PULL_REQUEST
+
+BUILD_NAME
+CC
+CXX
+SUDO

Engine/lib/bullet/.ci/docker/ubuntu-bionic

@@ -0,0 +1,19 @@
+FROM ubuntu:bionic
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    clang \
+    cmake \
+    curl \
+    git \
+    libgl-dev \
+    libglu-dev \
+    libpython3-dev \
+    lsb-release \
+    pkg-config \
+    python3 \
+    python3-dev \
+    python3-distutils \
+    software-properties-common \
+    sudo

Engine/lib/bullet/.ci/docker/ubuntu-xenial

@@ -0,0 +1,18 @@
+FROM ubuntu:xenial
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    clang \
+    cmake \
+    curl \
+    git \
+    libgl-dev \
+    libglu-dev \
+    libpython3-dev \
+    lsb-release \
+    pkg-config \
+    python3 \
+    python3-dev \
+    software-properties-common \
+    sudo

Engine/lib/bullet/.ci/script.sh

@@ -0,0 +1,31 @@
+#!/usr/bin/env bash
+set -ex
+
+echo "CXX="$CXX
+echo "CC="$CC
+if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then
+  $SUDO apt-get update
+  $SUDO apt-get install -y python3
+  $SUDO apt-get install -y python3-pip
+  $SUDO apt-get install python3-dev
+  $SUDO pip3 install -U wheel
+  $SUDO pip3 install -U setuptools
+  python3 setup.py install --user
+  python3 examples/pybullet/unittests/unittests.py --verbose
+  python3 examples/pybullet/unittests/userDataTest.py --verbose
+  python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose
+fi
+cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
+make -j8
+ctest -j8 --output-on-failure
+
+# Build again with double precision
+cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
+make -j8
+ctest -j8 --output-on-failure
+
+# Build again with shared libraries
+cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
+make -j8
+ctest -j8 --output-on-failure
+$SUDO make install

Engine/lib/bullet/.github/workflows/cmake.yml

@@ -0,0 +1,38 @@
+name: CMake
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      # Build your program with the given configuration
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      # Execute tests defined by the CMake configuration.  
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest -C ${{env.BUILD_TYPE}}
+

Engine/lib/bullet/.gitignore

@@ -0,0 +1,42 @@
+/bin
+/build3/gmake
+/build3/vs2010
+/build_cmake/
+
+*.pyc
+
+# Python
+__pycache__/
+*.py[cod]
+
+# Pip
+pip-selfcheck.json
+*.whl
+*.egg
+*.egg-info
+
+# Setuptools
+/build
+/dist
+*.eggs
+
+# CMake
+CMakeFiles/
+CMakeCache.txt
+cmake_install.cmake
+CTestTestFile.cmake
+
+# Visual Studio build files
+*.vcxproj
+*.vcxproj.filters
+*.sln
+
+# Apple Finder metadata
+*.DS_Store
+
+# vim temp files
+*.swp
+
+.vscode/
+.idea/
+cmake-build-debug/

Engine/lib/bullet/.style.yapf

@@ -0,0 +1,5 @@
+[style]
+based_on_style = google
+column_limit = 99
+indent_width = 2
+

Engine/lib/bullet/CMakeLists.txt

@@ -24,18 +24,22 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
 #MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG})
 
 OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
+SET(CLAMP_VELOCITIES "0" CACHE STRING "Clamp rigid bodies' velocity to this value, if larger than zero. Useful to prevent floating point errors or in general runaway velocities in complex scenarios")
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
 OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
-OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
+OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
+OPTION(USE_OPENVR "Use OpenVR for virtual reality" OFF)
 
-OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
-IF (BULLET2_USE_THREAD_LOCKS)
+OPTION(ENABLE_VHACD "Use VHACD in BulletRobotics and pybullet" ON)
+
+OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
+IF (BULLET2_MULTITHREADING)
     OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
     OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
     IF (MSVC)
         OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
     ENDIF (MSVC)
-ENDIF (BULLET2_USE_THREAD_LOCKS)
+ENDIF (BULLET2_MULTITHREADING)
 
 
 IF(NOT WIN32)
@@ -55,14 +59,14 @@ IF(NOT WIN32)
 ENDIF(NOT WIN32)
 
 OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
-OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
 
 #statically linking VC++ isn't supported for WindowsPhone/WindowsStore
 IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
 	OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" ON)
 ELSE ()
 	OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF)
 ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
+OPTION(USE_MSVC_RELEASE_RUNTIME_ALWAYS "Use MSVC Release Runtime Library even in Debug" OFF)
 
 #SET(CMAKE_EXE_LINKER_FLAGS_INIT    "/STACK:10000000 /INCREMENTAL:NO")
 #SET(CMAKE_EXE_LINKER_FLAGS    "/STACK:10000000 /INCREMENTAL:NO")
@@ -75,11 +79,11 @@ IF(MSVC)
 		#MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT})
 		SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO")
 
-		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags ${CMAKE_EXE_LINKER_FLAGS_DEBUG})
+		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags "${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
 		SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" )
 		MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
 
-		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS})
+		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 "${CMAKE_EXE_LINKER_FLAGS}")
 
 		SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2})
 		STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}")
@@ -94,7 +98,7 @@ IF(MSVC)
 	ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING)
 
 	IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
-		#We statically link to reduce dependancies
+		#We statically link to reduce dependencies
 		FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
 			IF(${flag_var} MATCHES "/MD")
 				STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
@@ -105,10 +109,25 @@ IF(MSVC)
 		ENDFOREACH(flag_var)
 	ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
 
+	IF (USE_MSVC_RELEASE_RUNTIME_ALWAYS)
+		FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
+			IF(${flag_var} MATCHES "/MDd")
+				STRING(REGEX REPLACE "/MDd" "/MD" ${flag_var} "${${flag_var}}")
+			ENDIF(${flag_var} MATCHES "/MDd")
+			IF(${flag_var} MATCHES "/MTd")
+				STRING(REGEX REPLACE "/MTd" "/MT" ${flag_var} "${${flag_var}}")
+			ENDIF(${flag_var} MATCHES "/MTd")
+			# Need to remove _DEBUG too otherwise things like _ITERATOR_DEBUG_LEVEL mismatch
+			IF(${flag_var} MATCHES "-D_DEBUG")
+				STRING(REGEX REPLACE "-D_DEBUG" "" ${flag_var} "${${flag_var}}")
+			ENDIF(${flag_var} MATCHES "-D_DEBUG")
+		ENDFOREACH(flag_var)
+	ENDIF (USE_MSVC_RELEASE_RUNTIME_ALWAYS)
+
 	IF (CMAKE_CL_64)
 	  ADD_DEFINITIONS(-D_WIN64)
 	ELSE()
-	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
+	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	OFF)
 	  option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
 
 	  IF (USE_MSVC_SSE)
@@ -212,25 +231,33 @@ IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
 ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
 ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
 
+IF (CLAMP_VELOCITIES)
+ADD_DEFINITIONS( -DBT_CLAMP_VELOCITY_TO=${CLAMP_VELOCITIES})
+ENDIF (CLAMP_VELOCITIES)
+
 IF (USE_DOUBLE_PRECISION)
 ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
 SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
 ENDIF (USE_DOUBLE_PRECISION)
 
-IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ENDIF ()
 
 IF(USE_GRAPHICAL_BENCHMARK)
 ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
 ENDIF (USE_GRAPHICAL_BENCHMARK)
 
-IF(BULLET2_USE_THREAD_LOCKS)
+IF(BULLET2_MULTITHREADING)
 	ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
 	IF (NOT MSVC)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 	ENDIF (NOT MSVC)
-ENDIF (BULLET2_USE_THREAD_LOCKS)
+	IF (NOT WIN32)
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
+	ENDIF (NOT WIN32)
+ENDIF (BULLET2_MULTITHREADING)
 
 IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
     ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
@@ -301,25 +328,26 @@ IF (APPLE)
 ENDIF()
 
 OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
+
 # Optional Python configuration
-# builds pybullet automatically if all the requirements are met
-SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
-SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 )
-SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
-SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
-OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF)
-IF(EXACT_PYTHON_VERSION)
-  set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
-ENDIF(EXACT_PYTHON_VERSION)
-# first find the python interpreter
-FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
-# python library should exactly match that of the interpreter
-FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
-SET(DEFAULT_BUILD_PYBULLET OFF)
-IF(PYTHONLIBS_FOUND)
-	SET(DEFAULT_BUILD_PYBULLET ON)
-ENDIF(PYTHONLIBS_FOUND)
-OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET})
+# Will not probe environment for Python configuration (which can abort the
+# build process) unless you explicitly turn on BUILD_PYBULLET.
+OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
+IF(BUILD_PYBULLET)
+	SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
+	SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 )
+	SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
+	SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
+	OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF)
+	IF(EXACT_PYTHON_VERSION)
+	    set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
+	ENDIF(EXACT_PYTHON_VERSION)
+	# first find the python interpreter
+	FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
+	# python library should exactly match that of the interpreter
+	# the following can result in fatal error if you don't have the right python configuration
+	FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
+ENDIF(BUILD_PYBULLET)
 
 OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
 OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
@@ -365,6 +393,13 @@ IF(BUILD_PYBULLET)
 
 ENDIF(BUILD_PYBULLET)
 
+IF(NOT WIN32 AND NOT APPLE)
+    OPTION(BUILD_EGL "Build OpenGL/EGL" ON)
+    IF(BUILD_EGL)
+        ADD_DEFINITIONS(-DBT_USE_EGL)
+    ENDIF(BUILD_EGL)
+ENDIF()
+
 IF(BUILD_BULLET3)
 	 IF(APPLE)
 		MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}")
@@ -455,6 +490,7 @@ IF (BUILD_UNIT_TESTS)
 ENDIF()
 
 set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
+list (APPEND BULLET_DEFINITIONS ${BULLET_DOUBLE_DEF})
 list (APPEND BULLET_LIBRARIES LinearMath)
 list (APPEND BULLET_LIBRARIES Bullet3Common)
 list (APPEND BULLET_LIBRARIES BulletInverseDynamics)