update to bullet 2.87

Engine/lib/bullet/src/LinearMath/CMakeLists.txt

@@ -11,6 +11,7 @@ SET(LinearMath_SRCS
 	btPolarDecomposition.cpp
 	btQuickprof.cpp
 	btSerializer.cpp
+	btSerializer64.cpp
 	btThreads.cpp
 	btVector3.cpp
 )

Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h

@@ -475,16 +475,37 @@ protected:
 		}
 		return index;
 	}
+    
+    // If the key is not in the array, return -1 instead of 0,
+    // since 0 also means the first element in the array.
+    int	findLinearSearch2(const T& key) const
+    {
+        int index=-1;
+        int i;
+        
+        for (i=0;i<size();i++)
+        {
+            if (m_data[i] == key)
+            {
+                index = i;
+                break;
+            }
+        }
+        return index;
+    }
 
+    void removeAtIndex(int index)
+    {
+        if (index<size())
+        {
+            swap( index,size()-1);
+            pop_back();
+        }
+    }
 	void	remove(const T& key)
 	{
-
 		int findIndex = findLinearSearch(key);
-		if (findIndex<size())
-		{
-			swap( findIndex,size()-1);
-			pop_back();
-		}
+        removeAtIndex(findIndex);
 	}
 
 	//PCK: whole function

Engine/lib/bullet/src/LinearMath/btConvexHullComputer.cpp

@@ -1277,8 +1277,21 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 
 				return;
 			}
+			{
+				Vertex* v = originalVertices[start];
+							v->edges = NULL;
+							v->next = v;
+							v->prev = v;
+
+							result.minXy = v;
+							result.maxXy = v;
+							result.minYx = v;
+							result.maxYx = v;
+			}
+			
+			return;
 		}
-		// lint -fallthrough
+		
 		case 1:
 		{
 			Vertex* v = originalVertices[start];

Engine/lib/bullet/src/LinearMath/btHashMap.h

@@ -52,7 +52,7 @@ struct btHashString
 	{
 			int ret = 0 ;
 
-			while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
+			while( ! (ret = *(const unsigned char *)src - *(const unsigned char *)dst) && *dst)
 					++src, ++dst;
 
 			if ( ret < 0 )
@@ -79,6 +79,11 @@ class btHashInt
 {
 	int	m_uid;
 public:
+
+	btHashInt()
+	{
+	}
+
 	btHashInt(int uid)	:m_uid(uid)
 	{
 	}
@@ -100,9 +105,10 @@ public:
 	//to our success
 	SIMD_FORCE_INLINE	unsigned int getHash()const
 	{
-		int key = m_uid;
+		unsigned int key = m_uid;
 		// Thomas Wang's hash
 		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		
 		return key;
 	}
 };
@@ -115,7 +121,7 @@ class btHashPtr
 	union
 	{
 		const void*	m_pointer;
-		int	m_hashValues[2];
+		unsigned int	m_hashValues[2];
 	};
 
 public:
@@ -140,8 +146,7 @@ public:
 	{
 		const bool VOID_IS_8 = ((sizeof(void*)==8));
 		
-		int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
-	
+		unsigned int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
 		// Thomas Wang's hash
 		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
 		return key;
@@ -174,7 +179,7 @@ public:
         //to our success
         SIMD_FORCE_INLINE       unsigned int getHash()const
         {
-                int key = m_uid;
+                unsigned int key = m_uid;
                 // Thomas Wang's hash
                 key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
                 return key;
@@ -206,7 +211,7 @@ public:
 	//to our success
 	SIMD_FORCE_INLINE	unsigned int getHash()const
 	{
-		int key = m_uid;
+		unsigned int key = m_uid;
 		// Thomas Wang's hash
 		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
 		return key;
@@ -384,28 +389,38 @@ protected:
 	const Value* getAtIndex(int index) const
 	{
 		btAssert(index < m_valueArray.size());
-
-		return &m_valueArray[index];
+		btAssert(index>=0);
+		if (index>=0 && index < m_valueArray.size())
+		{
+			return &m_valueArray[index];
+		}
+		return 0;
 	}
 
 	Value* getAtIndex(int index)
 	{
 		btAssert(index < m_valueArray.size());
-
-		return &m_valueArray[index];
+		btAssert(index>=0);
+		if (index>=0 && index < m_valueArray.size())
+		{
+			return &m_valueArray[index];
+		}
+		return 0;
 	}
 
     Key getKeyAtIndex(int index)
     {
         btAssert(index < m_keyArray.size());
-        return m_keyArray[index];
+		btAssert(index>=0);
+		return m_keyArray[index];
     }
     
     const Key getKeyAtIndex(int index) const
     {
         btAssert(index < m_keyArray.size());
-        return m_keyArray[index];
-    }
+		btAssert(index>=0);
+		return m_keyArray[index];
+   }
 
 
 	Value* operator[](const Key& key) {

Engine/lib/bullet/src/LinearMath/btIDebugDraw.h

@@ -469,6 +469,10 @@ class	btIDebugDraw
 		drawLine(transform*pt2,transform*pt3,color);
 	}
 
+	virtual void clearLines()
+	{
+	}
+
 	virtual void flushLines()
 	{
 	}

Engine/lib/bullet/src/LinearMath/btMatrix3x3.h

@@ -647,92 +647,49 @@ public:
 		return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z();
 	}
 
+	///extractRotation is from "A robust method to extract the rotational part of deformations"
+	///See http://dl.acm.org/citation.cfm?doid=2994258.2994269
+	SIMD_FORCE_INLINE void extractRotation(btQuaternion &q,btScalar tolerance = 1.0e-9, int maxIter=100)
+	{
+		int iter =0;
+		btScalar w;
+		const btMatrix3x3& A=*this;
+		for(iter = 0; iter < maxIter; iter++)
+		{
+			btMatrix3x3 R(q);
+			btVector3 omega = (R.getColumn(0).cross(A.getColumn(0)) + R.getColumn(1).cross(A.getColumn(1)) 
+				+ R.getColumn(2).cross(A.getColumn(2))
+				) * (btScalar(1.0) / btFabs(R.getColumn(0).dot(A.getColumn(0)) + R.getColumn
+				(1).dot(A.getColumn(1)) + R.getColumn(2).dot(A.getColumn(2))) +
+					tolerance);
+			w = omega.norm();
+			if(w < tolerance)
+				break;
+			q = btQuaternion(btVector3((btScalar(1.0) / w) * omega),w) *
+				q;
+			q.normalize();
+		}
+	}
 
-	/**@brief diagonalizes this matrix by the Jacobi method.
+
+
+	/**@brief diagonalizes this matrix
 	* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
 	* coordinate system, i.e., old_this = rot * new_this * rot^T. 
 	* @param threshold See iteration
-	* @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied 
-	* by the sum of the absolute values of the diagonal, or when maxSteps have been executed. 
-	* 
-	* Note that this matrix is assumed to be symmetric. 
+	* @param maxIter The iteration stops when we hit the given tolerance or when maxIter have been executed. 
 	*/
-	void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps)
+	void diagonalize(btMatrix3x3& rot, btScalar tolerance = 1.0e-9, int maxIter=100)
 	{
-		rot.setIdentity();
-		for (int step = maxSteps; step > 0; step--)
-		{
-			// find off-diagonal element [p][q] with largest magnitude
-			int p = 0;
-			int q = 1;
-			int r = 2;
-			btScalar max = btFabs(m_el[0][1]);
-			btScalar v = btFabs(m_el[0][2]);
-			if (v > max)
-			{
-				q = 2;
-				r = 1;
-				max = v;
-			}
-			v = btFabs(m_el[1][2]);
-			if (v > max)
-			{
-				p = 1;
-				q = 2;
-				r = 0;
-				max = v;
-			}
-
-			btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2]));
-			if (max <= t)
-			{
-				if (max <= SIMD_EPSILON * t)
-				{
-					return;
-				}
-				step = 1;
-			}
-
-			// compute Jacobi rotation J which leads to a zero for element [p][q] 
-			btScalar mpq = m_el[p][q];
-			btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq);
-			btScalar theta2 = theta * theta;
-			btScalar cos;
-			btScalar sin;
-			if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON))
-			{
-				t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2))
-					: 1 / (theta - btSqrt(1 + theta2));
-				cos = 1 / btSqrt(1 + t * t);
-				sin = cos * t;
-			}
-			else
-			{
-				// approximation for large theta-value, i.e., a nearly diagonal matrix
-				t = 1 / (theta * (2 + btScalar(0.5) / theta2));
-				cos = 1 - btScalar(0.5) * t * t;
-				sin = cos * t;
-			}
-
-			// apply rotation to matrix (this = J^T * this * J)
-			m_el[p][q] = m_el[q][p] = 0;
-			m_el[p][p] -= t * mpq;
-			m_el[q][q] += t * mpq;
-			btScalar mrp = m_el[r][p];
-			btScalar mrq = m_el[r][q];
-			m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq;
-			m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp;
-
-			// apply rotation to rot (rot = rot * J)
-			for (int i = 0; i < 3; i++)
-			{
-				btVector3& row = rot[i];
-				mrp = row[p];
-				mrq = row[q];
-				row[p] = cos * mrp - sin * mrq;
-				row[q] = cos * mrq + sin * mrp;
-			}
-		}
+		btQuaternion r;
+		r = btQuaternion::getIdentity();
+		extractRotation(r,tolerance,maxIter);
+		rot.setRotation(r);
+		btMatrix3x3 rotInv = btMatrix3x3(r.inverse());
+		btMatrix3x3 old = *this;
+		setValue(old.tdotx( rotInv[0]), old.tdoty( rotInv[0]), old.tdotz( rotInv[0]),
+		old.tdotx( rotInv[1]), old.tdoty( rotInv[1]), old.tdotz( rotInv[1]),
+		old.tdotx( rotInv[2]), old.tdoty( rotInv[2]), old.tdotz( rotInv[2]));
 	}
 
 

Engine/lib/bullet/src/LinearMath/btQuaternion.h

@@ -141,11 +141,11 @@ public:
    * @param yaw Angle around Z
    * @param pitch Angle around Y
    * @param roll Angle around X */
-	void setEulerZYX(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
+	void setEulerZYX(const btScalar& yawZ, const btScalar& pitchY, const btScalar& rollX)
 	{
-		btScalar halfYaw = btScalar(yaw) * btScalar(0.5);  
-		btScalar halfPitch = btScalar(pitch) * btScalar(0.5);  
-		btScalar halfRoll = btScalar(roll) * btScalar(0.5);  
+		btScalar halfYaw = btScalar(yawZ) * btScalar(0.5);  
+		btScalar halfPitch = btScalar(pitchY) * btScalar(0.5);  
+		btScalar halfRoll = btScalar(rollX) * btScalar(0.5);  
 		btScalar cosYaw = btCos(halfYaw);
 		btScalar sinYaw = btSin(halfYaw);
 		btScalar cosPitch = btCos(halfPitch);
@@ -157,6 +157,28 @@ public:
                          cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z
                          cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx
 	}
+
+	  /**@brief Get the euler angles from this quaternion
+	   * @param yaw Angle around Z
+	   * @param pitch Angle around Y
+	   * @param roll Angle around X */
+	void getEulerZYX(btScalar& yawZ, btScalar& pitchY, btScalar& rollX) const
+	{
+		btScalar squ;
+		btScalar sqx;
+		btScalar sqy;
+		btScalar sqz;
+		btScalar sarg;
+		sqx = m_floats[0] * m_floats[0];
+		sqy = m_floats[1] * m_floats[1];
+		sqz = m_floats[2] * m_floats[2];
+		squ = m_floats[3] * m_floats[3];
+		rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
+		sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
+		pitchY = sarg <= btScalar(-1.0) ? btScalar(-0.5) * SIMD_PI: (sarg >= btScalar(1.0) ? btScalar(0.5) * SIMD_PI : btAsin(sarg));
+		yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
+	}
+
   /**@brief Add two quaternions
    * @param q The quaternion to add to this one */
 	SIMD_FORCE_INLINE	btQuaternion& operator+=(const btQuaternion& q)
@@ -333,7 +355,15 @@ public:
 	{
 		return btSqrt(length2());
 	}
-
+	btQuaternion& safeNormalize()
+	{
+		btScalar l2 = length2();
+		if (l2>SIMD_EPSILON)
+		{
+			normalize();
+		}
+		return *this;
+	}
   /**@brief Normalize the quaternion 
    * Such that x^2 + y^2 + z^2 +w^2 = 1 */
 	btQuaternion& normalize() 

Engine/lib/bullet/src/LinearMath/btQuickprof.cpp

@@ -14,11 +14,9 @@
 // Ogre (www.ogre3d.org).
 
 #include "btQuickprof.h"
-
-
-#if BT_THREADSAFE
 #include "btThreads.h"
-#endif //#if BT_THREADSAFE
+
+
 
 
 #ifdef __CELLOS_LV2__
@@ -30,6 +28,10 @@
 #if defined (SUNOS) || defined (__SUNOS__)
 #include <stdio.h>
 #endif
+#ifdef __APPLE__
+#include <mach/mach_time.h>
+#include <TargetConditionals.h>
+#endif
 
 #if defined(WIN32) || defined(_WIN32)
 
@@ -55,6 +57,12 @@
 
 #else //_WIN32
 #include <sys/time.h>
+
+#ifdef BT_LINUX_REALTIME
+//required linking against rt (librt)
+#include <time.h>
+#endif //BT_LINUX_REALTIME
+
 #endif //_WIN32
 
 #define mymin(a,b) (a > b ? a : b)
@@ -65,12 +73,14 @@ struct btClockData
 #ifdef BT_USE_WINDOWS_TIMERS
 	LARGE_INTEGER mClockFrequency;
 	LONGLONG mStartTick;
-	LONGLONG mPrevElapsedTime;
 	LARGE_INTEGER mStartTime;
 #else
 #ifdef __CELLOS_LV2__
 	uint64_t	mStartTime;
 #else
+#ifdef __APPLE__
+    uint64_t mStartTimeNano;
+#endif
 	struct timeval mStartTime;
 #endif
 #endif //__CELLOS_LV2__
@@ -111,7 +121,6 @@ void btClock::reset()
 #ifdef BT_USE_WINDOWS_TIMERS
 	QueryPerformanceCounter(&m_data->mStartTime);
 	m_data->mStartTick = GetTickCount64();
-	m_data->mPrevElapsedTime = 0;
 #else
 #ifdef __CELLOS_LV2__
 
@@ -121,6 +130,9 @@ void btClock::reset()
 	SYS_TIMEBASE_GET( newTime );
 	m_data->mStartTime = newTime;
 #else
+#ifdef __APPLE__
+    m_data->mStartTimeNano = mach_absolute_time();
+#endif
 	gettimeofday(&m_data->mStartTime, 0);
 #endif
 #endif
@@ -128,7 +140,7 @@ void btClock::reset()
 
 /// Returns the time in ms since the last call to reset or since
 /// the btClock was created.
-unsigned long int btClock::getTimeMilliseconds()
+unsigned long long int btClock::getTimeMilliseconds()
 {
 #ifdef BT_USE_WINDOWS_TIMERS
 	LARGE_INTEGER currentTime;
@@ -138,27 +150,6 @@ unsigned long int btClock::getTimeMilliseconds()
 		// Compute the number of millisecond ticks elapsed.
 	unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
 		m_data->mClockFrequency.QuadPart);
-		// Check for unexpected leaps in the Win32 performance counter.
-		// (This is caused by unexpected data across the PCI to ISA
-		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long elapsedTicks = (unsigned long)(GetTickCount64() - m_data->mStartTick);
-		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
-		if (msecOff < -100 || msecOff > 100)
-		{
-			// Adjust the starting time forwards.
-			LONGLONG msecAdjustment = mymin(msecOff *
-				m_data->mClockFrequency.QuadPart / 1000, elapsedTime -
-				m_data->mPrevElapsedTime);
-			m_data->mStartTime.QuadPart += msecAdjustment;
-			elapsedTime -= msecAdjustment;
-
-			// Recompute the number of millisecond ticks elapsed.
-			msecTicks = (unsigned long)(1000 * elapsedTime /
-				m_data->mClockFrequency.QuadPart);
-		}
-
-		// Store the current elapsed time for adjustments next time.
-		m_data->mPrevElapsedTime = elapsedTime;
 
 		return msecTicks;
 #else
@@ -184,41 +175,19 @@ unsigned long int btClock::getTimeMilliseconds()
 
 	/// Returns the time in us since the last call to reset or since
 	/// the Clock was created.
-unsigned long int btClock::getTimeMicroseconds()
+unsigned long long int btClock::getTimeMicroseconds()
 {
 #ifdef BT_USE_WINDOWS_TIMERS
-		LARGE_INTEGER currentTime;
+	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx	
+		LARGE_INTEGER currentTime, elapsedTime;
+		
 		QueryPerformanceCounter(&currentTime);
-		LONGLONG elapsedTime = currentTime.QuadPart -
+		elapsedTime.QuadPart = currentTime.QuadPart - 
 			m_data->mStartTime.QuadPart;
+		elapsedTime.QuadPart *= 1000000;
+		elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
 
-		// Compute the number of millisecond ticks elapsed.
-		unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
-			m_data->mClockFrequency.QuadPart);
-
-		// Check for unexpected leaps in the Win32 performance counter.
-		// (This is caused by unexpected data across the PCI to ISA
-		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long elapsedTicks = (unsigned long)(GetTickCount64() - m_data->mStartTick);
-		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
-		if (msecOff < -100 || msecOff > 100)
-		{
-			// Adjust the starting time forwards.
-			LONGLONG msecAdjustment = mymin(msecOff *
-				m_data->mClockFrequency.QuadPart / 1000, elapsedTime -
-				m_data->mPrevElapsedTime);
-			m_data->mStartTime.QuadPart += msecAdjustment;
-			elapsedTime -= msecAdjustment;
-		}
-
-		// Store the current elapsed time for adjustments next time.
-		m_data->mPrevElapsedTime = elapsedTime;
-
-		// Convert to microseconds.
-		unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime /
-			m_data->mClockFrequency.QuadPart);
-
-		return usecTicks;
+		return (unsigned long long) elapsedTime.QuadPart;
 #else
 
 #ifdef __CELLOS_LV2__
@@ -240,6 +209,66 @@ unsigned long int btClock::getTimeMicroseconds()
 #endif
 }
 
+unsigned long long int btClock::getTimeNanoseconds()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
+		LARGE_INTEGER currentTime, elapsedTime;
+		
+		QueryPerformanceCounter(&currentTime);
+		elapsedTime.QuadPart = currentTime.QuadPart - 
+			m_data->mStartTime.QuadPart;
+		elapsedTime.QuadPart *= 1000000000;
+		elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
+
+		return (unsigned long long) elapsedTime.QuadPart;
+#else
+
+#ifdef __CELLOS_LV2__
+		uint64_t freq=sys_time_get_timebase_frequency();
+		double dFreq=((double) freq)/ 1e9;
+		typedef uint64_t  ClockSize;
+		ClockSize newTime;
+		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+		SYS_TIMEBASE_GET( newTime );
+
+		return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+#else
+#ifdef __APPLE__
+    uint64_t ticks = mach_absolute_time() - m_data->mStartTimeNano;
+    static long double conversion = 0.0L;
+    if( 0.0L == conversion )
+    {
+        // attempt to get conversion to nanoseconds
+        mach_timebase_info_data_t info;
+        int err = mach_timebase_info( &info );
+        if( err )
+        {
+            btAssert(0);
+            conversion = 1.;
+        }
+        conversion = info.numer / info.denom;
+    }
+    return (ticks * conversion);
+
+    
+#else//__APPLE__
+    
+#ifdef BT_LINUX_REALTIME
+    timespec ts;
+    clock_gettime(CLOCK_REALTIME,&ts);
+    return 1000000000*ts.tv_sec + ts.tv_nsec;
+#else
+    	struct timeval currentTime;
+		gettimeofday(&currentTime, 0);
+		return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1e9 +
+			(currentTime.tv_usec - m_data->mStartTime.tv_usec)*1000;
+#endif //BT_LINUX_REALTIME
+
+#endif//__APPLE__
+#endif//__CELLOS_LV2__
+#endif 
+}
 
 
 /// Returns the time in s since the last call to reset or since 
@@ -258,7 +287,7 @@ static btClock gProfileClock;
 
 inline void Profile_Get_Ticks(unsigned long int * ticks)
 {
-	*ticks = gProfileClock.getTimeMicroseconds();
+	*ticks = (unsigned long int)gProfileClock.getTimeMicroseconds();
 }
 
 inline float Profile_Get_Tick_Rate(void)
@@ -370,6 +399,7 @@ bool	CProfileNode::Return( void )
 	if ( --RecursionCounter == 0 && TotalCalls != 0 ) {
 		unsigned long int time;
 		Profile_Get_Ticks(&time);
+
 		time-=StartTime;
 		TotalTime += (float)time / Profile_Get_Tick_Rate();
 	}
@@ -437,11 +467,71 @@ void	CProfileIterator::Enter_Parent( void )
 **
 ***************************************************************************************************/
 
-CProfileNode	CProfileManager::Root( "Root", NULL );
-CProfileNode *	CProfileManager::CurrentNode = &CProfileManager::Root;
+
+
+
+CProfileNode	gRoots[BT_QUICKPROF_MAX_THREAD_COUNT]={
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL)
+};
+
+
+CProfileNode* gCurrentNodes[BT_QUICKPROF_MAX_THREAD_COUNT]=
+{
+	&gRoots[ 0],	&gRoots[ 1],	&gRoots[ 2],	&gRoots[ 3],
+	&gRoots[ 4],	&gRoots[ 5],	&gRoots[ 6],	&gRoots[ 7],
+	&gRoots[ 8],	&gRoots[ 9],	&gRoots[10],	&gRoots[11],
+	&gRoots[12],	&gRoots[13],	&gRoots[14],	&gRoots[15],
+	&gRoots[16],	&gRoots[17],	&gRoots[18],	&gRoots[19],
+	&gRoots[20],	&gRoots[21],	&gRoots[22],	&gRoots[23],
+	&gRoots[24],	&gRoots[25],	&gRoots[26],	&gRoots[27],
+	&gRoots[28],	&gRoots[29],	&gRoots[30],	&gRoots[31],
+	&gRoots[32],	&gRoots[33],	&gRoots[34],	&gRoots[35],
+	&gRoots[36],	&gRoots[37],	&gRoots[38],	&gRoots[39],
+	&gRoots[40],	&gRoots[41],	&gRoots[42],	&gRoots[43],
+	&gRoots[44],	&gRoots[45],	&gRoots[46],	&gRoots[47],
+	&gRoots[48],	&gRoots[49],	&gRoots[50],	&gRoots[51],
+	&gRoots[52],	&gRoots[53],	&gRoots[54],	&gRoots[55],
+	&gRoots[56],	&gRoots[57],	&gRoots[58],	&gRoots[59],
+	&gRoots[60],	&gRoots[61],	&gRoots[62],	&gRoots[63],
+};
+
+
 int				CProfileManager::FrameCounter = 0;
 unsigned long int			CProfileManager::ResetTime = 0;
 
+CProfileIterator *	CProfileManager::Get_Iterator( void )
+{ 
+
+		int threadIndex = btQuickprofGetCurrentThreadIndex2();
+		if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+			return 0;
+
+		return new CProfileIterator( &gRoots[threadIndex]); 
+}
+
+void						CProfileManager::CleanupMemory(void)
+{
+	for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
+	{
+		gRoots[i].CleanupMemory();
+	}
+}
+
 
 /***********************************************************************************************
  * CProfileManager::Start_Profile -- Begin a named profile                                    *
@@ -458,19 +548,15 @@ unsigned long int			CProfileManager::ResetTime = 0;
  *=============================================================================================*/
 void	CProfileManager::Start_Profile( const char * name )
 {
-#if BT_THREADSAFE
-    // profile system is not designed for profiling multiple threads
-    // disable collection on all but the main thread
-    if ( !btIsMainThread() )
-    {
-        return;
-    }
-#endif //#if BT_THREADSAFE
-	if (name != CurrentNode->Get_Name()) {
-		CurrentNode = CurrentNode->Get_Sub_Node( name );
+	int threadIndex = btQuickprofGetCurrentThreadIndex2();
+	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+		return;
+
+	if (name != gCurrentNodes[threadIndex]->Get_Name()) {
+		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Sub_Node( name );
 	}
 
-	CurrentNode->Call();
+	gCurrentNodes[threadIndex]->Call();
 }
 
 
@@ -479,22 +565,22 @@ void	CProfileManager::Start_Profile( const char * name )
  *=============================================================================================*/
 void	CProfileManager::Stop_Profile( void )
 {
-#if BT_THREADSAFE
-    // profile system is not designed for profiling multiple threads
-    // disable collection on all but the main thread
-    if ( !btIsMainThread() )
-    {
-        return;
-    }
-#endif //#if BT_THREADSAFE
+	int threadIndex = btQuickprofGetCurrentThreadIndex2();
+	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+		return;
+
 	// Return will indicate whether we should back up to our parent (we may
 	// be profiling a recursive function)
-	if (CurrentNode->Return()) {
-		CurrentNode = CurrentNode->Get_Parent();
+	if (gCurrentNodes[threadIndex]->Return()) {
+		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Parent();
 	}
 }
 
 
+
+
+
+
 /***********************************************************************************************
  * CProfileManager::Reset -- Reset the contents of the profiling system                       *
  *                                                                                             *
@@ -503,8 +589,11 @@ void	CProfileManager::Stop_Profile( void )
 void	CProfileManager::Reset( void )
 {
 	gProfileClock.reset();
-	Root.Reset();
-    Root.Call();
+	int threadIndex = btQuickprofGetCurrentThreadIndex2();
+	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
+		return;
+	gRoots[threadIndex].Reset();
+	gRoots[threadIndex].Call();
 	FrameCounter = 0;
 	Profile_Get_Ticks(&ResetTime);
 }
@@ -594,4 +683,107 @@ void	CProfileManager::dumpAll()
 
 
 
+unsigned int btQuickprofGetCurrentThreadIndex2()
+{
+#if BT_THREADSAFE
+    return btGetCurrentThreadIndex();
+#else // #if BT_THREADSAFE
+	const unsigned int kNullIndex = ~0U;
+#ifdef _WIN32
+    #if defined(__MINGW32__) || defined(__MINGW64__)
+        static __thread unsigned int sThreadIndex = kNullIndex;
+    #else
+        __declspec( thread ) static unsigned int sThreadIndex = kNullIndex;
+    #endif
+#else
+#ifdef __APPLE__
+	#if TARGET_OS_IPHONE
+		unsigned int sThreadIndex = 0;
+		return -1;
+	#else
+		static __thread unsigned int sThreadIndex = kNullIndex;
+	#endif
+#else//__APPLE__
+#if __linux__
+	static __thread unsigned int sThreadIndex = kNullIndex;
+#else
+	unsigned int sThreadIndex = 0;
+	return -1;
+#endif
+#endif//__APPLE__
+	
+#endif
+	static int gThreadCounter=0;
+
+	if ( sThreadIndex == kNullIndex )
+	{
+		sThreadIndex = gThreadCounter++;
+	}
+	return sThreadIndex;
+#endif // #else // #if BT_THREADSAFE
+}
+
+void	btEnterProfileZoneDefault(const char* name)
+{
+	CProfileManager::Start_Profile( name ); 
+}
+void	btLeaveProfileZoneDefault()
+{
+	CProfileManager::Stop_Profile(); 
+}
+
+
+#else
+void	btEnterProfileZoneDefault(const char* name)
+{
+}
+void	btLeaveProfileZoneDefault()
+{
+}
 #endif //BT_NO_PROFILE
+
+
+
+
+
+static btEnterProfileZoneFunc* bts_enterFunc = btEnterProfileZoneDefault;
+static btLeaveProfileZoneFunc* bts_leaveFunc = btLeaveProfileZoneDefault;
+
+void btEnterProfileZone(const char* name)
+{
+	(bts_enterFunc)(name);
+}
+void btLeaveProfileZone()
+{
+	(bts_leaveFunc)();
+}
+
+btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc()
+{
+	return bts_enterFunc ;
+}
+btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc()
+{
+	return bts_leaveFunc;
+}
+
+
+void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc)
+{
+	bts_enterFunc = enterFunc;
+}
+void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc)
+{
+	bts_leaveFunc = leaveFunc;
+}
+
+CProfileSample::CProfileSample( const char * name )
+{ 
+	btEnterProfileZone(name);
+}
+
+CProfileSample::~CProfileSample( void )					
+{ 
+	btLeaveProfileZone();
+}
+

Engine/lib/bullet/src/LinearMath/btQuickprof.h

@@ -36,12 +36,14 @@ public:
 
 	/// Returns the time in ms since the last call to reset or since 
 	/// the btClock was created.
-	unsigned long int getTimeMilliseconds();
+	unsigned long long int getTimeMilliseconds();
 
 	/// Returns the time in us since the last call to reset or since 
 	/// the Clock was created.
-	unsigned long int getTimeMicroseconds();
+	unsigned long long int getTimeMicroseconds();
 	
+	unsigned long long int getTimeNanoseconds();
+
 	/// Returns the time in s since the last call to reset or since 
 	/// the Clock was created.
 	btScalar getTimeSeconds();
@@ -52,10 +54,28 @@ private:
 
 #endif //USE_BT_CLOCK
 
+typedef void (btEnterProfileZoneFunc)(const char* msg);
+typedef void (btLeaveProfileZoneFunc)();
 
+btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc();
+btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc();
+
+
+
+void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc);
+void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
+
+#ifndef BT_NO_PROFILE // FIX redefinition
 //To disable built-in profiling, please comment out next line
-#define BT_NO_PROFILE 1
+//#define BT_NO_PROFILE 1
+#endif //BT_NO_PROFILE
+
 #ifndef BT_NO_PROFILE
+//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined, 
+//otherwise returns thread index in range [0..maxThreads]
+unsigned int btQuickprofGetCurrentThreadIndex2();
+const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
+
 #include <stdio.h>//@todo remove this, backwards compatibility
 
 #include "btAlignedAllocator.h"
@@ -151,21 +171,21 @@ public:
 	static	void						Start_Profile( const char * name );
 	static	void						Stop_Profile( void );
 
-	static	void						CleanupMemory(void)
-	{
-		Root.CleanupMemory();
-	}
+	static	void						CleanupMemory(void);
+//	{
+//		Root.CleanupMemory();
+//	}
 
 	static	void						Reset( void );
 	static	void						Increment_Frame_Counter( void );
 	static	int						Get_Frame_Count_Since_Reset( void )		{ return FrameCounter; }
 	static	float						Get_Time_Since_Reset( void );
 
-	static	CProfileIterator *	Get_Iterator( void )	
-	{ 
-		
-		return new CProfileIterator( &Root ); 
-	}
+	static	CProfileIterator *	Get_Iterator( void );	
+//	{ 
+//		
+//		return new CProfileIterator( &Root ); 
+//	}
 	static	void						Release_Iterator( CProfileIterator * iterator ) { delete ( iterator); }
 
 	static void	dumpRecursive(CProfileIterator* profileIterator, int spacing);
@@ -173,37 +193,27 @@ public:
 	static void	dumpAll();
 
 private:
-	static	CProfileNode			Root;
-	static	CProfileNode *			CurrentNode;
+
 	static	int						FrameCounter;
 	static	unsigned long int					ResetTime;
 };
 
 
+
+
+#endif //#ifndef BT_NO_PROFILE
+
 ///ProfileSampleClass is a simple way to profile a function's scope
 ///Use the BT_PROFILE macro at the start of scope to time
 class	CProfileSample {
 public:
-	CProfileSample( const char * name )
-	{ 
-		CProfileManager::Start_Profile( name ); 
-	}
+	CProfileSample( const char * name );
 
-	~CProfileSample( void )					
-	{ 
-		CProfileManager::Stop_Profile(); 
-	}
+	~CProfileSample( void );
 };
 
-
 #define	BT_PROFILE( name )			CProfileSample __profile( name )
 
-#else
-
-#define	BT_PROFILE( name )
-
-#endif //#ifndef BT_NO_PROFILE
-
 
 
 #endif //BT_QUICK_PROF_H

Engine/lib/bullet/src/LinearMath/btSerializer.h

@@ -26,7 +26,7 @@ subject to the following restrictions:
 
 
 
-///only the 32bit versions for now
+
 extern char sBulletDNAstr[];
 extern int sBulletDNAlen;
 extern char sBulletDNAstr64[];
@@ -505,7 +505,7 @@ public:
 
 			buffer[9] = '2';
 			buffer[10] = '8';
-			buffer[11] = '5';
+			buffer[11] = '7';
 
 		}
 

Engine/lib/bullet/src/LinearMath/btSerializer64.cpp

@@ -0,0 +1,599 @@
+char sBulletDNAstr64[]= {
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
+char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
+char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
+char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(115),char(0),char(42),char(102),char(105),char(114),char(115),char(116),char(0),char(42),char(108),char(97),char(115),
+char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51),
+char(93),char(0),char(109),char(95),char(98),char(97),char(115),char(105),char(115),char(0),char(109),char(95),char(111),char(114),char(105),char(103),char(105),char(110),char(0),char(109),
+char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),
+char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),
+char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(91),char(51),char(93),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),
+char(101),char(100),char(65),char(97),char(98),char(98),char(77),char(97),char(120),char(91),char(51),char(93),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),
+char(105),char(110),char(79),char(114),char(103),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),char(97),char(120),char(79),char(114),char(103),char(0),char(109),
+char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),char(80),char(97),
+char(114),char(116),char(0),char(109),char(95),char(116),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),
+char(95),char(112),char(97),char(100),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),
+char(120),char(79),char(114),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(98),
+char(118),char(104),char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(0),char(109),char(95),char(98),char(118),char(104),char(65),char(97),char(98),char(98),char(77),
+char(97),char(120),char(0),char(109),char(95),char(98),char(118),char(104),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),
+char(0),char(109),char(95),char(99),char(117),char(114),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(117),char(115),
+char(101),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(110),char(117),char(109),char(67),
+char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(76),char(101),char(97),char(102),char(78),char(111),char(100),char(101),char(115),char(0),char(109),
+char(95),char(110),char(117),char(109),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),
+char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(0),char(42),char(109),char(95),char(99),char(111),char(110),char(116),char(105),char(103),char(117),char(111),
+char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),
+char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),
+char(114),char(0),char(42),char(109),char(95),char(115),char(117),char(98),char(84),char(114),char(101),char(101),char(73),char(110),char(102),char(111),char(80),char(116),char(114),char(0),
+char(109),char(95),char(116),char(114),char(97),char(118),char(101),char(114),char(115),char(97),char(108),char(77),char(111),char(100),char(101),char(0),char(109),char(95),char(110),char(117),
+char(109),char(83),char(117),char(98),char(116),char(114),char(101),char(101),char(72),char(101),char(97),char(100),char(101),char(114),char(115),char(0),char(42),char(109),char(95),char(110),
+char(97),char(109),char(101),char(0),char(109),char(95),char(115),char(104),char(97),char(112),char(101),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(112),char(97),
+char(100),char(100),char(105),char(110),char(103),char(91),char(52),char(93),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),
+char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(108),char(111),char(99),char(97),char(108),char(83),char(99),char(97),
+char(108),char(105),char(110),char(103),char(0),char(109),char(95),char(112),char(108),char(97),char(110),char(101),char(78),char(111),char(114),char(109),char(97),char(108),char(0),char(109),
+char(95),char(112),char(108),char(97),char(110),char(101),char(67),char(111),char(110),char(115),char(116),char(97),char(110),char(116),char(0),char(109),char(95),char(105),char(109),char(112),
+char(108),char(105),char(99),char(105),char(116),char(83),char(104),char(97),char(112),char(101),char(68),char(105),char(109),char(101),char(110),char(115),char(105),char(111),char(110),char(115),
+char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(77),char(97),char(114),char(103),char(105),char(110),char(0),char(109),
+char(95),char(112),char(97),char(100),char(100),char(105),char(110),char(103),char(0),char(109),char(95),char(112),char(111),char(115),char(0),char(109),char(95),char(114),char(97),char(100),
+char(105),char(117),char(115),char(0),char(109),char(95),char(99),char(111),char(110),char(118),char(101),char(120),char(73),char(110),char(116),char(101),char(114),char(110),char(97),char(108),
+char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(42),char(109),char(95),char(108),char(111),char(99),char(97),char(108),char(80),char(111),
+char(115),char(105),char(116),char(105),char(111),char(110),char(65),char(114),char(114),char(97),char(121),char(80),char(116),char(114),char(0),char(109),char(95),char(108),char(111),char(99),
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+char(61),char(0),char(-74),char(0),char(20),char(0),char(-71),char(0),char(20),char(0),char(-70),char(0),char(8),char(0),char(-58),char(0),char(8),char(0),char(-57),char(0),
+char(8),char(0),char(-56),char(0),char(8),char(0),char(-62),char(0),char(8),char(0),char(-61),char(0),char(8),char(0),char(-60),char(0),char(8),char(0),char(127),char(0),
+char(69),char(0),char(11),char(0),char(59),char(0),char(-74),char(0),char(19),char(0),char(-71),char(0),char(19),char(0),char(-70),char(0),char(7),char(0),char(-58),char(0),
+char(7),char(0),char(-57),char(0),char(7),char(0),char(-56),char(0),char(7),char(0),char(-62),char(0),char(7),char(0),char(-61),char(0),char(7),char(0),char(-60),char(0),
+char(7),char(0),char(127),char(0),char(0),char(0),char(21),char(0),char(70),char(0),char(9),char(0),char(59),char(0),char(-74),char(0),char(19),char(0),char(-71),char(0),
+char(19),char(0),char(-70),char(0),char(13),char(0),char(-55),char(0),char(13),char(0),char(-54),char(0),char(13),char(0),char(-53),char(0),char(13),char(0),char(-52),char(0),
+char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(71),char(0),char(9),char(0),char(61),char(0),char(-74),char(0),char(20),char(0),char(-71),char(0),
+char(20),char(0),char(-70),char(0),char(14),char(0),char(-55),char(0),char(14),char(0),char(-54),char(0),char(14),char(0),char(-53),char(0),char(14),char(0),char(-52),char(0),
+char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(72),char(0),char(5),char(0),char(70),char(0),char(-49),char(0),char(4),char(0),char(-48),char(0),
+char(7),char(0),char(-47),char(0),char(7),char(0),char(-46),char(0),char(7),char(0),char(-45),char(0),char(73),char(0),char(5),char(0),char(71),char(0),char(-49),char(0),
+char(4),char(0),char(-48),char(0),char(8),char(0),char(-47),char(0),char(8),char(0),char(-46),char(0),char(8),char(0),char(-45),char(0),char(74),char(0),char(41),char(0),
+char(59),char(0),char(-74),char(0),char(19),char(0),char(-71),char(0),char(19),char(0),char(-70),char(0),char(13),char(0),char(-55),char(0),char(13),char(0),char(-54),char(0),
+char(13),char(0),char(-44),char(0),char(13),char(0),char(-43),char(0),char(13),char(0),char(-42),char(0),char(13),char(0),char(-41),char(0),char(13),char(0),char(-40),char(0),
+char(13),char(0),char(-39),char(0),char(13),char(0),char(-38),char(0),char(13),char(0),char(-37),char(0),char(13),char(0),char(-36),char(0),char(13),char(0),char(-35),char(0),
+char(13),char(0),char(-34),char(0),char(0),char(0),char(-33),char(0),char(0),char(0),char(-32),char(0),char(0),char(0),char(-31),char(0),char(0),char(0),char(-30),char(0),
+char(0),char(0),char(-29),char(0),char(0),char(0),char(-59),char(0),char(13),char(0),char(-53),char(0),char(13),char(0),char(-52),char(0),char(13),char(0),char(-28),char(0),
+char(13),char(0),char(-27),char(0),char(13),char(0),char(-26),char(0),char(13),char(0),char(-25),char(0),char(13),char(0),char(-24),char(0),char(13),char(0),char(-23),char(0),
+char(13),char(0),char(-22),char(0),char(13),char(0),char(-21),char(0),char(13),char(0),char(-20),char(0),char(13),char(0),char(-19),char(0),char(13),char(0),char(-18),char(0),
+char(0),char(0),char(-17),char(0),char(0),char(0),char(-16),char(0),char(0),char(0),char(-15),char(0),char(0),char(0),char(-14),char(0),char(0),char(0),char(-13),char(0),
+char(4),char(0),char(-12),char(0),char(75),char(0),char(41),char(0),char(61),char(0),char(-74),char(0),char(20),char(0),char(-71),char(0),char(20),char(0),char(-70),char(0),
+char(14),char(0),char(-55),char(0),char(14),char(0),char(-54),char(0),char(14),char(0),char(-44),char(0),char(14),char(0),char(-43),char(0),char(14),char(0),char(-42),char(0),
+char(14),char(0),char(-41),char(0),char(14),char(0),char(-40),char(0),char(14),char(0),char(-39),char(0),char(14),char(0),char(-38),char(0),char(14),char(0),char(-37),char(0),
+char(14),char(0),char(-36),char(0),char(14),char(0),char(-35),char(0),char(14),char(0),char(-34),char(0),char(0),char(0),char(-33),char(0),char(0),char(0),char(-32),char(0),
+char(0),char(0),char(-31),char(0),char(0),char(0),char(-30),char(0),char(0),char(0),char(-29),char(0),char(0),char(0),char(-59),char(0),char(14),char(0),char(-53),char(0),
+char(14),char(0),char(-52),char(0),char(14),char(0),char(-28),char(0),char(14),char(0),char(-27),char(0),char(14),char(0),char(-26),char(0),char(14),char(0),char(-25),char(0),
+char(14),char(0),char(-24),char(0),char(14),char(0),char(-23),char(0),char(14),char(0),char(-22),char(0),char(14),char(0),char(-21),char(0),char(14),char(0),char(-20),char(0),
+char(14),char(0),char(-19),char(0),char(14),char(0),char(-18),char(0),char(0),char(0),char(-17),char(0),char(0),char(0),char(-16),char(0),char(0),char(0),char(-15),char(0),
+char(0),char(0),char(-14),char(0),char(0),char(0),char(-13),char(0),char(4),char(0),char(-12),char(0),char(76),char(0),char(9),char(0),char(59),char(0),char(-74),char(0),
+char(19),char(0),char(-71),char(0),char(19),char(0),char(-70),char(0),char(7),char(0),char(-55),char(0),char(7),char(0),char(-54),char(0),char(7),char(0),char(-53),char(0),
+char(7),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(77),char(0),char(9),char(0),char(61),char(0),char(-74),char(0),
+char(20),char(0),char(-71),char(0),char(20),char(0),char(-70),char(0),char(8),char(0),char(-55),char(0),char(8),char(0),char(-54),char(0),char(8),char(0),char(-53),char(0),
+char(8),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(78),char(0),char(5),char(0),char(58),char(0),char(-74),char(0),
+char(13),char(0),char(-11),char(0),char(13),char(0),char(-10),char(0),char(7),char(0),char(-9),char(0),char(0),char(0),char(37),char(0),char(79),char(0),char(4),char(0),
+char(61),char(0),char(-74),char(0),char(14),char(0),char(-11),char(0),char(14),char(0),char(-10),char(0),char(8),char(0),char(-9),char(0),char(80),char(0),char(4),char(0),
+char(7),char(0),char(-8),char(0),char(7),char(0),char(-7),char(0),char(7),char(0),char(-6),char(0),char(4),char(0),char(79),char(0),char(81),char(0),char(10),char(0),
+char(80),char(0),char(-5),char(0),char(13),char(0),char(-4),char(0),char(13),char(0),char(-3),char(0),char(13),char(0),char(-2),char(0),char(13),char(0),char(-1),char(0),
+char(13),char(0),char(0),char(1),char(7),char(0),char(-99),char(0),char(7),char(0),char(1),char(1),char(4),char(0),char(2),char(1),char(4),char(0),char(53),char(0),
+char(82),char(0),char(4),char(0),char(80),char(0),char(-5),char(0),char(4),char(0),char(3),char(1),char(7),char(0),char(4),char(1),char(4),char(0),char(5),char(1),
+char(83),char(0),char(4),char(0),char(13),char(0),char(0),char(1),char(80),char(0),char(-5),char(0),char(4),char(0),char(6),char(1),char(7),char(0),char(7),char(1),
+char(84),char(0),char(7),char(0),char(13),char(0),char(8),char(1),char(80),char(0),char(-5),char(0),char(4),char(0),char(9),char(1),char(7),char(0),char(10),char(1),
+char(7),char(0),char(11),char(1),char(7),char(0),char(12),char(1),char(4),char(0),char(53),char(0),char(85),char(0),char(6),char(0),char(17),char(0),char(13),char(1),
+char(13),char(0),char(11),char(1),char(13),char(0),char(14),char(1),char(60),char(0),char(15),char(1),char(4),char(0),char(16),char(1),char(7),char(0),char(12),char(1),
+char(86),char(0),char(26),char(0),char(4),char(0),char(17),char(1),char(7),char(0),char(18),char(1),char(7),char(0),char(127),char(0),char(7),char(0),char(19),char(1),
+char(7),char(0),char(20),char(1),char(7),char(0),char(21),char(1),char(7),char(0),char(22),char(1),char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1),
+char(7),char(0),char(25),char(1),char(7),char(0),char(26),char(1),char(7),char(0),char(27),char(1),char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1),
+char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),char(7),char(0),char(32),char(1),char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1),
+char(7),char(0),char(35),char(1),char(7),char(0),char(36),char(1),char(4),char(0),char(37),char(1),char(4),char(0),char(38),char(1),char(4),char(0),char(39),char(1),
+char(4),char(0),char(40),char(1),char(4),char(0),char(120),char(0),char(87),char(0),char(12),char(0),char(17),char(0),char(41),char(1),char(17),char(0),char(42),char(1),
+char(17),char(0),char(43),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(45),char(1),char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1),
+char(4),char(0),char(48),char(1),char(4),char(0),char(49),char(1),char(4),char(0),char(50),char(1),char(7),char(0),char(10),char(1),char(4),char(0),char(53),char(0),
+char(88),char(0),char(27),char(0),char(19),char(0),char(51),char(1),char(17),char(0),char(52),char(1),char(17),char(0),char(53),char(1),char(13),char(0),char(44),char(1),
+char(13),char(0),char(54),char(1),char(13),char(0),char(55),char(1),char(13),char(0),char(56),char(1),char(13),char(0),char(57),char(1),char(13),char(0),char(58),char(1),
+char(4),char(0),char(59),char(1),char(7),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1),
+char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1),char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(7),char(0),char(68),char(1),
+char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1),char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),
+char(4),char(0),char(74),char(1),char(4),char(0),char(75),char(1),char(4),char(0),char(76),char(1),char(89),char(0),char(12),char(0),char(9),char(0),char(77),char(1),
+char(9),char(0),char(78),char(1),char(13),char(0),char(79),char(1),char(7),char(0),char(80),char(1),char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1),
+char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1),char(4),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),
+char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0),char(50),char(0),char(-109),char(0),char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1),
+char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1),char(83),char(0),char(91),char(1),char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1),
+char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1),char(4),char(0),char(96),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1),
+char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1),char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),
+char(86),char(0),char(103),char(1),char(91),char(0),char(24),char(0),char(16),char(0),char(104),char(1),char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1),
+char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1),char(14),char(0),char(109),char(1),char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1),
+char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1),char(4),char(0),char(113),char(1),char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1),
+char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1),char(8),char(0),char(118),char(1),char(8),char(0),char(119),char(1),char(8),char(0),char(120),char(1),
+char(8),char(0),char(121),char(1),char(8),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(49),char(0),char(125),char(1),
+char(0),char(0),char(126),char(1),char(92),char(0),char(24),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),
+char(13),char(0),char(107),char(1),char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),
+char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),
+char(4),char(0),char(113),char(1),char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(7),char(0),char(119),char(1),char(7),char(0),char(120),char(1),
+char(7),char(0),char(121),char(1),char(7),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(50),char(0),char(125),char(1),
+char(0),char(0),char(126),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(127),char(1),char(14),char(0),char(-128),char(1),char(8),char(0),char(-127),char(1),
+char(0),char(0),char(-126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(-125),char(1),char(0),char(0),char(126),char(1),char(4),char(0),char(97),char(1),
+char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1),
+char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),char(4),char(0),char(97),char(1),};
+int sBulletDNAlen64= sizeof(sBulletDNAstr64);

Engine/lib/bullet/src/LinearMath/btThreads.cpp

@@ -14,7 +14,40 @@ subject to the following restrictions:
 
 
 #include "btThreads.h"
+#include "btQuickprof.h"
+#include <algorithm>  // for min and max
 
+
+#if BT_USE_OPENMP && BT_THREADSAFE
+
+#include <omp.h>
+
+#endif // #if BT_USE_OPENMP && BT_THREADSAFE
+
+
+#if BT_USE_PPL && BT_THREADSAFE
+
+// use Microsoft Parallel Patterns Library (installed with Visual Studio 2010 and later)
+#include <ppl.h>  // if you get a compile error here, check whether your version of Visual Studio includes PPL
+// Visual Studio 2010 and later should come with it
+#include <concrtrm.h>  // for GetProcessorCount()
+
+#endif // #if BT_USE_PPL && BT_THREADSAFE
+
+
+#if BT_USE_TBB && BT_THREADSAFE
+
+// use Intel Threading Building Blocks for thread management
+#define __TBB_NO_IMPLICIT_LINKAGE 1
+#include <tbb/tbb.h>
+#include <tbb/task_scheduler_init.h>
+#include <tbb/parallel_for.h>
+#include <tbb/blocked_range.h>
+
+#endif // #if BT_USE_TBB && BT_THREADSAFE
+
+
+#if BT_THREADSAFE
 //
 // Lightweight spin-mutex based on atomics
 // Using ordinary system-provided mutexes like Windows critical sections was noticeably slower
@@ -22,8 +55,6 @@ subject to the following restrictions:
 // context switching.
 // 
 
-#if BT_THREADSAFE
-
 #if __cplusplus >= 201103L
 
 // for anything claiming full C++11 compliance, use C++11 atomics
@@ -169,28 +200,107 @@ void btSpinMutex::unlock()
 
 #endif  //#else //#elif USE_MSVC_INTRINSICS
 
+#else //#if BT_THREADSAFE
+
+// These should not be called ever
+void btSpinMutex::lock()
+{
+    btAssert( !"unimplemented btSpinMutex::lock() called" );
+}
+
+void btSpinMutex::unlock()
+{
+    btAssert( !"unimplemented btSpinMutex::unlock() called" );
+}
+
+bool btSpinMutex::tryLock()
+{
+    btAssert( !"unimplemented btSpinMutex::tryLock() called" );
+    return true;
+}
+
+#define THREAD_LOCAL_STATIC static
+
+#endif // #else //#if BT_THREADSAFE
+
 
 struct ThreadsafeCounter
 {
     unsigned int mCounter;
     btSpinMutex mMutex;
 
-    ThreadsafeCounter() {mCounter=0;}
+    ThreadsafeCounter()
+    {
+        mCounter = 0;
+        --mCounter; // first count should come back 0
+    }
 
     unsigned int getNext()
     {
         // no need to optimize this with atomics, it is only called ONCE per thread!
         mMutex.lock();
-        unsigned int val = mCounter++;
+        mCounter++;
+        if ( mCounter >= BT_MAX_THREAD_COUNT )
+        {
+            btAssert( !"thread counter exceeded" );
+            // wrap back to the first worker index
+            mCounter = 1;
+        }
+        unsigned int val = mCounter;
         mMutex.unlock();
         return val;
     }
 };
 
+
+static btITaskScheduler* gBtTaskScheduler;
+static int gThreadsRunningCounter = 0;  // useful for detecting if we are trying to do nested parallel-for calls
+static btSpinMutex gThreadsRunningCounterMutex;
 static ThreadsafeCounter gThreadCounter;
 
 
-// return a unique index per thread, starting with 0 and counting up
+//
+// BT_DETECT_BAD_THREAD_INDEX tries to detect when there are multiple threads assigned the same thread index.
+//
+// BT_DETECT_BAD_THREAD_INDEX is a developer option to test if
+// certain assumptions about how the task scheduler manages its threads
+// holds true.
+// The main assumption is:
+//   - when the threadpool is resized, the task scheduler either
+//      1. destroys all worker threads and creates all new ones in the correct number, OR
+//      2. never destroys a worker thread
+//
+// We make that assumption because we can't easily enumerate the worker threads of a task scheduler
+// to assign nice sequential thread-indexes. We also do not get notified if a worker thread is destroyed,
+// so we can't tell when a thread-index is no longer being used.
+// We allocate thread-indexes as needed with a sequential global thread counter.
+//
+// Our simple thread-counting scheme falls apart if the task scheduler destroys some threads but
+// continues to re-use other threads and the application repeatedly resizes the thread pool of the 
+// task scheduler.
+// In order to prevent the thread-counter from exceeding the global max (BT_MAX_THREAD_COUNT), we
+// wrap the thread counter back to 1. This should only happen if the worker threads have all been
+// destroyed and re-created.
+//
+// BT_DETECT_BAD_THREAD_INDEX only works for Win32 right now,
+// but could be adapted to work with pthreads
+#define BT_DETECT_BAD_THREAD_INDEX 0
+
+#if BT_DETECT_BAD_THREAD_INDEX
+
+typedef DWORD ThreadId_t;
+const static ThreadId_t kInvalidThreadId = 0;
+ThreadId_t gDebugThreadIds[ BT_MAX_THREAD_COUNT ];
+
+static ThreadId_t getDebugThreadId()
+{
+    return GetCurrentThreadId();
+}
+
+#endif // #if BT_DETECT_BAD_THREAD_INDEX
+
+
+// return a unique index per thread, main thread is 0, worker threads are in [1, BT_MAX_THREAD_COUNT)
 unsigned int btGetCurrentThreadIndex()
 {
     const unsigned int kNullIndex = ~0U;
@@ -198,7 +308,30 @@ unsigned int btGetCurrentThreadIndex()
     if ( sThreadIndex == kNullIndex )
     {
         sThreadIndex = gThreadCounter.getNext();
+        btAssert( sThreadIndex < BT_MAX_THREAD_COUNT );
     }
+#if BT_DETECT_BAD_THREAD_INDEX
+    if ( gBtTaskScheduler && sThreadIndex > 0 )
+    {
+        ThreadId_t tid = getDebugThreadId();
+        // if not set
+        if ( gDebugThreadIds[ sThreadIndex ] == kInvalidThreadId )
+        {
+            // set it
+            gDebugThreadIds[ sThreadIndex ] = tid;
+        }
+        else
+        {
+            if ( gDebugThreadIds[ sThreadIndex ] != tid )
+            {
+                // this could indicate the task scheduler is breaking our assumptions about
+                // how threads are managed when threadpool is resized
+                btAssert( !"there are 2 or more threads with the same thread-index!" );
+                __debugbreak();
+            }
+        }
+    }
+#endif // #if BT_DETECT_BAD_THREAD_INDEX
     return sThreadIndex;
 }
 
@@ -207,24 +340,383 @@ bool btIsMainThread()
     return btGetCurrentThreadIndex() == 0;
 }
 
+void btResetThreadIndexCounter()
+{
+    // for when all current worker threads are destroyed
+    btAssert( btIsMainThread() );
+    gThreadCounter.mCounter = 0;
+}
+
+btITaskScheduler::btITaskScheduler( const char* name )
+{
+    m_name = name;
+    m_savedThreadCounter = 0;
+    m_isActive = false;
+}
+
+void btITaskScheduler::activate()
+{
+    // gThreadCounter is used to assign a thread-index to each worker thread in a task scheduler.
+    // The main thread is always thread-index 0, and worker threads are numbered from 1 to 63 (BT_MAX_THREAD_COUNT-1)
+    // The thread-indexes need to be unique amongst the threads that can be running simultaneously.
+    // Since only one task scheduler can be used at a time, it is OK for a pair of threads that belong to different
+    // task schedulers to share the same thread index because they can't be running at the same time.
+    // So each task scheduler needs to keep its own thread counter value
+    if ( !m_isActive )
+    {
+        gThreadCounter.mCounter = m_savedThreadCounter;  // restore saved thread counter
+        m_isActive = true;
+    }
+}
+
+void btITaskScheduler::deactivate()
+{
+    if ( m_isActive )
+    {
+        m_savedThreadCounter = gThreadCounter.mCounter;  // save thread counter
+        m_isActive = false;
+    }
+}
+
+void btPushThreadsAreRunning()
+{
+    gThreadsRunningCounterMutex.lock();
+    gThreadsRunningCounter++;
+    gThreadsRunningCounterMutex.unlock();
+}
+
+void btPopThreadsAreRunning()
+{
+    gThreadsRunningCounterMutex.lock();
+    gThreadsRunningCounter--;
+    gThreadsRunningCounterMutex.unlock();
+}
+
+bool btThreadsAreRunning()
+{
+    return gThreadsRunningCounter != 0;
+}
+
+
+void btSetTaskScheduler( btITaskScheduler* ts )
+{
+    int threadId = btGetCurrentThreadIndex();  // make sure we call this on main thread at least once before any workers run
+    if ( threadId != 0 )
+    {
+        btAssert( !"btSetTaskScheduler must be called from the main thread!" );
+        return;
+    }
+    if ( gBtTaskScheduler )
+    {
+        // deactivate old task scheduler
+        gBtTaskScheduler->deactivate();
+    }
+    gBtTaskScheduler = ts;
+    if ( ts )
+    {
+        // activate new task scheduler
+        ts->activate();
+    }
+}
+
+
+btITaskScheduler* btGetTaskScheduler()
+{
+    return gBtTaskScheduler;
+}
+
+
+void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body )
+{
+#if BT_THREADSAFE
+
+#if BT_DETECT_BAD_THREAD_INDEX
+    if ( !btThreadsAreRunning() )
+    {
+        // clear out thread ids
+        for ( int i = 0; i < BT_MAX_THREAD_COUNT; ++i )
+        {
+            gDebugThreadIds[ i ] = kInvalidThreadId;
+        }
+    }
+#endif // #if BT_DETECT_BAD_THREAD_INDEX
+
+    btAssert( gBtTaskScheduler != NULL );  // call btSetTaskScheduler() with a valid task scheduler first!
+    gBtTaskScheduler->parallelFor( iBegin, iEnd, grainSize, body );
+
 #else // #if BT_THREADSAFE
 
-// These should not be called ever
-void btSpinMutex::lock()
-{
-    btAssert(!"unimplemented btSpinMutex::lock() called");
+    // non-parallel version of btParallelFor
+    btAssert( !"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE" );
+    body.forLoop( iBegin, iEnd );
+
+#endif// #if BT_THREADSAFE
 }
 
-void btSpinMutex::unlock()
+
+///
+/// btTaskSchedulerSequential -- non-threaded implementation of task scheduler
+///                              (really just useful for testing performance of single threaded vs multi)
+///
+class btTaskSchedulerSequential : public btITaskScheduler
 {
-    btAssert(!"unimplemented btSpinMutex::unlock() called");
+public:
+    btTaskSchedulerSequential() : btITaskScheduler( "Sequential" ) {}
+    virtual int getMaxNumThreads() const BT_OVERRIDE { return 1; }
+    virtual int getNumThreads() const BT_OVERRIDE { return 1; }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE {}
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        BT_PROFILE( "parallelFor_sequential" );
+        body.forLoop( iBegin, iEnd );
+    }
+};
+
+
+#if BT_USE_OPENMP && BT_THREADSAFE
+///
+/// btTaskSchedulerOpenMP -- wrapper around OpenMP task scheduler
+///
+class btTaskSchedulerOpenMP : public btITaskScheduler
+{
+    int m_numThreads;
+public:
+    btTaskSchedulerOpenMP() : btITaskScheduler( "OpenMP" )
+    {
+        m_numThreads = 0;
+    }
+    virtual int getMaxNumThreads() const BT_OVERRIDE
+    {
+        return omp_get_max_threads();
+    }
+    virtual int getNumThreads() const BT_OVERRIDE
+    {
+        return m_numThreads;
+    }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+    {
+        // With OpenMP, because it is a standard with various implementations, we can't
+        // know for sure if every implementation has the same behavior of destroying all
+        // previous threads when resizing the threadpool
+        m_numThreads = ( std::max )( 1, ( std::min )( int( BT_MAX_THREAD_COUNT ), numThreads ) );
+        omp_set_num_threads( 1 );  // hopefully, all previous threads get destroyed here
+        omp_set_num_threads( m_numThreads );
+        m_savedThreadCounter = 0;
+        if ( m_isActive )
+        {
+            btResetThreadIndexCounter();
+        }
+    }
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        BT_PROFILE( "parallelFor_OpenMP" );
+        btPushThreadsAreRunning();
+#pragma omp parallel for schedule( static, 1 )
+        for ( int i = iBegin; i < iEnd; i += grainSize )
+        {
+            BT_PROFILE( "OpenMP_job" );
+            body.forLoop( i, ( std::min )( i + grainSize, iEnd ) );
+        }
+        btPopThreadsAreRunning();
+    }
+};
+#endif // #if BT_USE_OPENMP && BT_THREADSAFE
+
+
+#if BT_USE_TBB && BT_THREADSAFE
+///
+/// btTaskSchedulerTBB -- wrapper around Intel Threaded Building Blocks task scheduler
+///
+class btTaskSchedulerTBB : public btITaskScheduler
+{
+    int m_numThreads;
+    tbb::task_scheduler_init* m_tbbSchedulerInit;
+
+public:
+    btTaskSchedulerTBB() : btITaskScheduler( "IntelTBB" )
+    {
+        m_numThreads = 0;
+        m_tbbSchedulerInit = NULL;
+    }
+    ~btTaskSchedulerTBB()
+    {
+        if ( m_tbbSchedulerInit )
+        {
+            delete m_tbbSchedulerInit;
+            m_tbbSchedulerInit = NULL;
+        }
+    }
+
+    virtual int getMaxNumThreads() const BT_OVERRIDE
+    {
+        return tbb::task_scheduler_init::default_num_threads();
+    }
+    virtual int getNumThreads() const BT_OVERRIDE
+    {
+        return m_numThreads;
+    }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+    {
+        m_numThreads = ( std::max )( 1, ( std::min )( int(BT_MAX_THREAD_COUNT), numThreads ) );
+        if ( m_tbbSchedulerInit )
+        {
+            // destroys all previous threads
+            delete m_tbbSchedulerInit;
+            m_tbbSchedulerInit = NULL;
+        }
+        m_tbbSchedulerInit = new tbb::task_scheduler_init( m_numThreads );
+        m_savedThreadCounter = 0;
+        if ( m_isActive )
+        {
+            btResetThreadIndexCounter();
+        }
+    }
+    struct BodyAdapter
+    {
+        const btIParallelForBody* mBody;
+
+        void operator()( const tbb::blocked_range<int>& range ) const
+        {
+            BT_PROFILE( "TBB_job" );
+            mBody->forLoop( range.begin(), range.end() );
+        }
+    };
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        BT_PROFILE( "parallelFor_TBB" );
+        // TBB dispatch
+        BodyAdapter tbbBody;
+        tbbBody.mBody = &body;
+        btPushThreadsAreRunning();
+        tbb::parallel_for( tbb::blocked_range<int>( iBegin, iEnd, grainSize ),
+            tbbBody,
+            tbb::simple_partitioner()
+        );
+        btPopThreadsAreRunning();
+    }
+};
+#endif // #if BT_USE_TBB && BT_THREADSAFE
+
+
+#if BT_USE_PPL && BT_THREADSAFE
+///
+/// btTaskSchedulerPPL -- wrapper around Microsoft Parallel Patterns Lib task scheduler
+///
+class btTaskSchedulerPPL : public btITaskScheduler
+{
+    int m_numThreads;
+public:
+    btTaskSchedulerPPL() : btITaskScheduler( "PPL" )
+    {
+        m_numThreads = 0;
+    }
+    virtual int getMaxNumThreads() const BT_OVERRIDE
+    {
+        return concurrency::GetProcessorCount();
+    }
+    virtual int getNumThreads() const BT_OVERRIDE
+    {
+        return m_numThreads;
+    }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+    {
+        // capping the thread count for PPL due to a thread-index issue
+        const int maxThreadCount = (std::min)(int(BT_MAX_THREAD_COUNT), 31);
+        m_numThreads = ( std::max )( 1, ( std::min )( maxThreadCount, numThreads ) );
+        using namespace concurrency;
+        if ( CurrentScheduler::Id() != -1 )
+        {
+            CurrentScheduler::Detach();
+        }
+        SchedulerPolicy policy;
+        {
+            // PPL seems to destroy threads when threadpool is shrunk, but keeps reusing old threads
+            // force it to destroy old threads
+            policy.SetConcurrencyLimits( 1, 1 );
+            CurrentScheduler::Create( policy );
+            CurrentScheduler::Detach();
+        }
+        policy.SetConcurrencyLimits( m_numThreads, m_numThreads );
+        CurrentScheduler::Create( policy );
+        m_savedThreadCounter = 0;
+        if ( m_isActive )
+        {
+            btResetThreadIndexCounter();
+        }
+    }
+    struct BodyAdapter
+    {
+        const btIParallelForBody* mBody;
+        int mGrainSize;
+        int mIndexEnd;
+
+        void operator()( int i ) const
+        {
+            BT_PROFILE( "PPL_job" );
+            mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) );
+        }
+    };
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        BT_PROFILE( "parallelFor_PPL" );
+        // PPL dispatch
+        BodyAdapter pplBody;
+        pplBody.mBody = &body;
+        pplBody.mGrainSize = grainSize;
+        pplBody.mIndexEnd = iEnd;
+        btPushThreadsAreRunning();
+        // note: MSVC 2010 doesn't support partitioner args, so avoid them
+        concurrency::parallel_for( iBegin,
+            iEnd,
+            grainSize,
+            pplBody
+        );
+        btPopThreadsAreRunning();
+    }
+};
+#endif // #if BT_USE_PPL && BT_THREADSAFE
+
+
+// create a non-threaded task scheduler (always available)
+btITaskScheduler* btGetSequentialTaskScheduler()
+{
+    static btTaskSchedulerSequential sTaskScheduler;
+    return &sTaskScheduler;
 }
 
-bool btSpinMutex::tryLock()
+
+// create an OpenMP task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetOpenMPTaskScheduler()
 {
-    btAssert(!"unimplemented btSpinMutex::tryLock() called");
-    return true;
+#if BT_USE_OPENMP && BT_THREADSAFE
+    static btTaskSchedulerOpenMP sTaskScheduler;
+    return &sTaskScheduler;
+#else
+    return NULL;
+#endif
 }
 
-#endif // #else // #if BT_THREADSAFE
+
+// create an Intel TBB task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetTBBTaskScheduler()
+{
+#if BT_USE_TBB && BT_THREADSAFE
+    static btTaskSchedulerTBB sTaskScheduler;
+    return &sTaskScheduler;
+#else
+    return NULL;
+#endif
+}
+
+
+// create a PPL task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetPPLTaskScheduler()
+{
+#if BT_USE_PPL && BT_THREADSAFE
+    static btTaskSchedulerPPL sTaskScheduler;
+    return &sTaskScheduler;
+#else
+    return NULL;
+#endif
+}
 

Engine/lib/bullet/src/LinearMath/btThreads.h

@@ -19,6 +19,23 @@ subject to the following restrictions:
 
 #include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
 
+#if defined (_MSC_VER) && _MSC_VER >= 1600
+// give us a compile error if any signatures of overriden methods is changed
+#define BT_OVERRIDE override
+#endif
+
+#ifndef BT_OVERRIDE
+#define BT_OVERRIDE
+#endif
+
+const unsigned int BT_MAX_THREAD_COUNT = 64;  // only if BT_THREADSAFE is 1
+
+// for internal use only
+bool btIsMainThread();
+bool btThreadsAreRunning();
+unsigned int btGetCurrentThreadIndex();
+void btResetThreadIndexCounter(); // notify that all worker threads have been destroyed
+
 ///
 /// btSpinMutex -- lightweight spin-mutex implemented with atomic ops, never puts
 ///               a thread to sleep because it is designed to be used with a task scheduler
@@ -39,38 +56,100 @@ public:
     bool tryLock();
 };
 
-#if BT_THREADSAFE
 
-// for internal Bullet use only
+//
+// NOTE: btMutex* is for internal Bullet use only
+//
+// If BT_THREADSAFE is undefined or 0, should optimize away to nothing.
+// This is good because for the single-threaded build of Bullet, any calls
+// to these functions will be optimized out.
+//
+// However, for users of the multi-threaded build of Bullet this is kind
+// of bad because if you call any of these functions from external code
+// (where BT_THREADSAFE is undefined) you will get unexpected race conditions.
+//
 SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex )
 {
+#if BT_THREADSAFE
     mutex->lock();
+#endif // #if BT_THREADSAFE
 }
 
 SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex )
 {
+#if BT_THREADSAFE
     mutex->unlock();
+#endif // #if BT_THREADSAFE
 }
 
 SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex )
 {
+#if BT_THREADSAFE
     return mutex->tryLock();
+#else
+    return true;
+#endif // #if BT_THREADSAFE
 }
 
-// for internal use only
-bool btIsMainThread();
-unsigned int btGetCurrentThreadIndex();
-const unsigned int BT_MAX_THREAD_COUNT = 64;
 
-#else
+//
+// btIParallelForBody -- subclass this to express work that can be done in parallel
+//
+class btIParallelForBody
+{
+public:
+    virtual ~btIParallelForBody() {}
+    virtual void forLoop( int iBegin, int iEnd ) const = 0;
+};
+
+//
+// btITaskScheduler -- subclass this to implement a task scheduler that can dispatch work to
+//                     worker threads
+//
+class btITaskScheduler
+{
+public:
+    btITaskScheduler( const char* name );
+    virtual ~btITaskScheduler() {}
+    const char* getName() const { return m_name; }
+
+    virtual int getMaxNumThreads() const = 0;
+    virtual int getNumThreads() const = 0;
+    virtual void setNumThreads( int numThreads ) = 0;
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) = 0;
+
+    // internal use only
+    virtual void activate();
+    virtual void deactivate();
+
+protected:
+    const char* m_name;
+    unsigned int m_savedThreadCounter;
+    bool m_isActive;
+};
+
+// set the task scheduler to use for all calls to btParallelFor()
+// NOTE: you must set this prior to using any of the multi-threaded "Mt" classes
+void btSetTaskScheduler( btITaskScheduler* ts );
+
+// get the current task scheduler
+btITaskScheduler* btGetTaskScheduler();
+
+// get non-threaded task scheduler (always available)
+btITaskScheduler* btGetSequentialTaskScheduler();
+
+// get OpenMP task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetOpenMPTaskScheduler();
+
+// get Intel TBB task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetTBBTaskScheduler();
+
+// get PPL task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetPPLTaskScheduler();
+
+// btParallelFor -- call this to dispatch work like a for-loop
+//                 (iterations may be done out of order, so no dependencies are allowed)
+void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body );
 
-// for internal Bullet use only
-// if BT_THREADSAFE is undefined or 0, should optimize away to nothing
-SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* ) {}
-SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* ) {}
-SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* ) {return true;}
 
 #endif
-
-
-#endif //BT_THREADS_H

Engine/lib/bullet/src/LinearMath/btTransformUtil.h

@@ -47,13 +47,19 @@ public:
 	#ifdef QUATERNION_DERIVATIVE
 		btQuaternion predictedOrn = curTrans.getRotation();
 		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
-		predictedOrn.normalize();
+		predictedOrn.safeNormalize();
 	#else
 		//Exponential map
 		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
 
 		btVector3 axis;
-		btScalar	fAngle = angvel.length(); 
+		btScalar	fAngle2 = angvel.length2();
+        	btScalar    fAngle = 0;
+        	if (fAngle2>SIMD_EPSILON)
+        	{
+            		fAngle = btSqrt(fAngle2);
+        	}
+
 		//limit the angular motion
 		if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD)
 		{
@@ -74,9 +80,16 @@ public:
 		btQuaternion orn0 = curTrans.getRotation();
 
 		btQuaternion predictedOrn = dorn * orn0;
-		predictedOrn.normalize();
+		predictedOrn.safeNormalize();
 	#endif
-		predictedTransform.setRotation(predictedOrn);
+		if (predictedOrn.length2()>SIMD_EPSILON)
+		{
+			predictedTransform.setRotation(predictedOrn);
+		}
+		else
+		{
+			predictedTransform.setBasis(curTrans.getBasis());
+		}
 	}
 
 	static void	calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel)

Engine/lib/bullet/src/LinearMath/btVector3.h

@@ -291,14 +291,16 @@ public:
 
 	SIMD_FORCE_INLINE btVector3& safeNormalize() 
 	{
-		btVector3 absVec = this->absolute();
-		int maxIndex = absVec.maxAxis();
-		if (absVec[maxIndex]>0)
+		btScalar l2 = length2();
+		//triNormal.normalize();
+		if (l2 >= SIMD_EPSILON*SIMD_EPSILON)
 		{
-			*this /= absVec[maxIndex];
-			return *this /= length();
+			(*this) /= btSqrt(l2);
+		}
+		else
+		{
+			setValue(1, 0, 0);
 		}
-		setValue(1,0,0);
 		return *this;
 	}
 
@@ -1157,7 +1159,6 @@ public:
 		if (m_floats[3] > maxVal)
 		{
 			maxIndex = 3;
-			maxVal = m_floats[3];
 		}
 
 		return maxIndex;