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update devel/bullet to 3.22

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Build-tested all consumers on amd64: no fallout; ok pascal@ (MAINTAINER)

Needs a backport of commit 4f06738 because btSoftBodyHelpers.h is
currently broken: it tries to include code that's available only in
examples/*.  Spotted while trying to build games/godot.

while here also:

 - update HOMEPAGE (the current one is just a redirect)
 - enable the tests (which are all passing!)
This commit is contained in:
op 2022-05-29 19:48:51 +00:00
parent 7c160450c0
commit 0112f9a19a
6 changed files with 368 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
devel/bullet/Makefile
View File

@ -2,16 +2,16 @@ COMMENT = physics library
GH_ACCOUNT = bulletphysics
GH_PROJECT = bullet3
GH_TAGNAME = 3.21
GH_TAGNAME = 3.22
DISTNAME = bullet-${GH_TAGNAME}
SHARED_LIBS += BulletCollision 5.0 # 2.79
SHARED_LIBS += BulletDynamics 5.0 # 2.79
SHARED_LIBS += BulletDynamics 5.1 # 2.79
SHARED_LIBS += BulletFileLoader 1.0 # 2.87
SHARED_LIBS += BulletInverseDynamics 3.0 # 2.83
SHARED_LIBS += BulletInverseDynamicsUtils 1.0 # 2.87
SHARED_LIBS += BulletRobotics 1.0 # 2.87
SHARED_LIBS += BulletSoftBody 5.0 # 2.79
SHARED_LIBS += BulletRobotics 2.0 # 2.87
SHARED_LIBS += BulletSoftBody 6.0 # 2.79
SHARED_LIBS += BulletWorldImporter 1.0 # 2.87
SHARED_LIBS += BulletXmlWorldImporter 1.0 # 2.87
SHARED_LIBS += LinearMath 5.0 # 2.79
@ -25,14 +25,14 @@ SHARED_LIBS += Bullet3Dynamics 4.0 # 2.83
SHARED_LIBS += Bullet3Geometry 4.0 # 2.83
SHARED_LIBS += Bullet3OpenCL_clew 4.0 # 2.83
SHARED_LIBS += BulletExampleBrowserLib 0.0 # 3.20
SHARED_LIBS += BulletRoboticsGUI 0.0 # 3.20
SHARED_LIBS += BulletRoboticsGUI 1.0 # 3.20
SHARED_LIBS += BussIK 0.0 # 3.20
SHARED_LIBS += OpenGLWindow 0.0 # 3.20
SHARED_LIBS += OpenGLWindow 1.0 # 3.20
SHARED_LIBS += gwen 0.0 # 3.20
CATEGORIES = devel
HOMEPAGE = http://bulletphysics.org
HOMEPAGE = https://pybullet.org/wordpress/
MAINTAINER = Pascal Stumpf <pascal@stumpf.co>
@ -53,8 +53,6 @@ CONFIGURE_ARGS += -DBUILD_SHARED_LIBS=ON \
-DINSTALL_LIBS=ON \
-DUSE_DOUBLE_PRECISION=ON
NO_TEST = Yes
CFLAGS += -I${X11BASE}/include
CXXFLAGS += -I${X11BASE}/include
MODCMAKE_LDFLAGS = -L${X11BASE}/lib

4
devel/bullet/distinfo
View File

@ -1,2 +1,2 @@
SHA256 (bullet-3.21.tar.gz) = SdHuR6qMuwvGu0WfCkz7lXm0Dij1x9mjbDE+MDH7OWU=
SIZE (bullet-3.21.tar.gz) = 133046747
SHA256 (bullet-3.22.tar.gz) = 7GCyFbXCrlaEZBN21BkMaBXTECSv+FVX/4IJTA2ncVQ=
SIZE (bullet-3.22.tar.gz) = 139783793

167
devel/bullet/patches/patch-examples_DeformableDemo_LoadDeformed_cpp Normal file
View File

@ -0,0 +1,167 @@
backport of
https://github.com/bulletphysics/bullet3/commit/4f0673810cab0eee67ea314a3243952afd150cb4
Index: examples/DeformableDemo/LoadDeformed.cpp
--- examples/DeformableDemo/LoadDeformed.cpp.orig
+++ examples/DeformableDemo/LoadDeformed.cpp
@@ -26,7 +26,151 @@
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
#include "../Utils/b3ResourcePath.h"
#include "../Utils/b3BulletDefaultFileIO.h"
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+#include <string.h>
+struct CustomSoftBodyHelper : public btSoftBodyHelpers
+{
+ static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
+
+};
+
+static inline bool isSpace(const char c)
+{
+ return (c == ' ') || (c == '\t');
+}
+static inline bool isNewLine(const char c)
+{
+ return (c == '\r') || (c == '\n') || (c == '\0');
+}
+static inline float parseFloat(const char*& token)
+{
+ token += strspn(token, " \t");
+ float f = (float)atof(token);
+ token += strcspn(token, " \t\r");
+ return f;
+}
+static inline void parseFloat3(
+ float& x, float& y, float& z,
+ const char*& token)
+{
+ x = parseFloat(token);
+ y = parseFloat(token);
+ z = parseFloat(token);
+}
+
+
+std::string CustomSoftBodyHelper::loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO)
+{
+ {
+ qs.clear();
+ vs.clear();
+ std::string tmp = filename;
+ std::stringstream err;
+#ifdef USE_STREAM
+ std::ifstream ifs(filename);
+ if (!ifs)
+ {
+ err << "Cannot open file [" << filename << "]" << std::endl;
+ return err.str();
+ }
+#else
+ int fileHandle = fileIO->fileOpen(filename, "r");
+ if (fileHandle < 0)
+ {
+ err << "Cannot open file [" << filename << "]" << std::endl;
+ return err.str();
+ }
+#endif
+
+ std::string name;
+
+ int maxchars = 8192; // Alloc enough size.
+ std::vector<char> buf(maxchars); // Alloc enough size.
+ std::string linebuf;
+ linebuf.reserve(maxchars);
+
+#ifdef USE_STREAM
+ while (ifs.peek() != -1)
+#else
+ char* line = 0;
+ do
+#endif
+ {
+ linebuf.resize(0);
+#ifdef USE_STREAM
+ safeGetline(ifs, linebuf);
+#else
+ char tmpBuf[1024];
+ line = fileIO->readLine(fileHandle, tmpBuf, 1024);
+ if (line)
+ {
+ linebuf = line;
+ }
+#endif
+ // Trim newline '\r\n' or '\r'
+ if (linebuf.size() > 0)
+ {
+ if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
+ }
+ if (linebuf.size() > 0)
+ {
+ if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
+ }
+
+ // Skip if empty line.
+ if (linebuf.empty())
+ {
+ continue;
+ }
+
+ // Skip leading space.
+ const char* token = linebuf.c_str();
+ token += strspn(token, " \t");
+
+ btAssert(token);
+ if (token[0] == '\0') continue; // empty line
+
+ if (token[0] == '#') continue; // comment line
+
+ // q
+ if (token[0] == 'q' && isSpace((token[1])))
+ {
+ token += 2;
+ float x, y, z;
+ parseFloat3(x, y, z, token);
+ qs.push_back(btVector3(x, y, z));
+ continue;
+ }
+
+ // v
+ if (token[0] == 'v' && isSpace((token[1])))
+ {
+ token += 3;
+ float x, y, z;
+ parseFloat3(x, y, z, token);
+ vs.push_back(btVector3(x, y, z));
+ continue;
+ }
+
+ // Ignore unknown command.
+ }
+#ifndef USE_STREAM
+ while (line)
+ ;
+#endif
+
+ if (fileHandle >= 0)
+ {
+ fileIO->fileClose(fileHandle);
+ }
+ return err.str();
+ }
+}
+
+
class LoadDeformed : public CommonDeformableBodyBase
{
int steps;
@@ -188,7 +332,7 @@ void LoadDeformed::addCloth(const btVector3& origin)
fileio.findResourcePath(filename, absolute_path, 1024);
btAlignedObjectArray<btVector3> qs;
btAlignedObjectArray<btVector3> vs;
- btSoftBodyHelpers::loadDeformableState(qs, vs, absolute_path, &fileio);
+ CustomSoftBodyHelper::loadDeformableState(qs, vs, absolute_path, &fileio);
if (reset_frame > 0)
psb->updateState(qs, vs);
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;

152
devel/bullet/patches/patch-src_BulletSoftBody_btSoftBodyHelpers_cpp Normal file
View File

@ -0,0 +1,152 @@
backport of
https://github.com/bulletphysics/bullet3/commit/4f0673810cab0eee67ea314a3243952afd150cb4
Index: src/BulletSoftBody/btSoftBodyHelpers.cpp
--- src/BulletSoftBody/btSoftBodyHelpers.cpp.orig
+++ src/BulletSoftBody/btSoftBodyHelpers.cpp
@@ -1488,30 +1488,6 @@ void btSoftBodyHelpers::writeObj(const char* filename,
fs.close();
}
-static inline bool isSpace(const char c)
-{
- return (c == ' ') || (c == '\t');
-}
-static inline bool isNewLine(const char c)
-{
- return (c == '\r') || (c == '\n') || (c == '\0');
-}
-static inline float parseFloat(const char*& token)
-{
- token += strspn(token, " \t");
- float f = (float)atof(token);
- token += strcspn(token, " \t\r");
- return f;
-}
-static inline void parseFloat3(
- float& x, float& y, float& z,
- const char*& token)
-{
- x = parseFloat(token);
- y = parseFloat(token);
- z = parseFloat(token);
-}
-
void btSoftBodyHelpers::writeState(const char* file, const btSoftBody* psb)
{
std::ofstream fs;
@@ -1540,114 +1516,6 @@ void btSoftBodyHelpers::writeState(const char* file, c
fs << "\n";
}
fs.close();
-}
-
-std::string btSoftBodyHelpers::loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO)
-{
- {
- qs.clear();
- vs.clear();
- std::string tmp = filename;
- std::stringstream err;
-#ifdef USE_STREAM
- std::ifstream ifs(filename);
- if (!ifs)
- {
- err << "Cannot open file [" << filename << "]" << std::endl;
- return err.str();
- }
-#else
- int fileHandle = fileIO->fileOpen(filename, "r");
- if (fileHandle < 0)
- {
- err << "Cannot open file [" << filename << "]" << std::endl;
- return err.str();
- }
-#endif
-
- std::string name;
-
- int maxchars = 8192; // Alloc enough size.
- std::vector<char> buf(maxchars); // Alloc enough size.
- std::string linebuf;
- linebuf.reserve(maxchars);
-
-#ifdef USE_STREAM
- while (ifs.peek() != -1)
-#else
- char* line = 0;
- do
-#endif
- {
- linebuf.resize(0);
-#ifdef USE_STREAM
- safeGetline(ifs, linebuf);
-#else
- char tmpBuf[1024];
- line = fileIO->readLine(fileHandle, tmpBuf, 1024);
- if (line)
- {
- linebuf = line;
- }
-#endif
- // Trim newline '\r\n' or '\r'
- if (linebuf.size() > 0)
- {
- if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
- }
- if (linebuf.size() > 0)
- {
- if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
- }
-
- // Skip if empty line.
- if (linebuf.empty())
- {
- continue;
- }
-
- // Skip leading space.
- const char* token = linebuf.c_str();
- token += strspn(token, " \t");
-
- btAssert(token);
- if (token[0] == '\0') continue; // empty line
-
- if (token[0] == '#') continue; // comment line
-
- // q
- if (token[0] == 'q' && isSpace((token[1])))
- {
- token += 2;
- float x, y, z;
- parseFloat3(x, y, z, token);
- qs.push_back(btVector3(x, y, z));
- continue;
- }
-
- // v
- if (token[0] == 'v' && isSpace((token[1])))
- {
- token += 3;
- float x, y, z;
- parseFloat3(x, y, z, token);
- vs.push_back(btVector3(x, y, z));
- continue;
- }
-
- // Ignore unknown command.
- }
-#ifndef USE_STREAM
- while (line)
- ;
-#endif
-
- if (fileHandle >= 0)
- {
- fileIO->fileClose(fileHandle);
- }
- return err.str();
- }
}
void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* psb)

23
devel/bullet/patches/patch-src_BulletSoftBody_btSoftBodyHelpers_h Normal file
View File

@ -0,0 +1,23 @@
backport of
https://github.com/bulletphysics/bullet3/commit/4f0673810cab0eee67ea314a3243952afd150cb4
Index: src/BulletSoftBody/btSoftBodyHelpers.h
--- src/BulletSoftBody/btSoftBodyHelpers.h.orig
+++ src/BulletSoftBody/btSoftBodyHelpers.h
@@ -17,7 +17,6 @@ subject to the following restrictions:
#define BT_SOFT_BODY_HELPERS_H
#include "btSoftBody.h"
-#include "../../examples/CommonInterfaces/CommonFileIOInterface.h"
#include <fstream>
#include <string>
//
@@ -148,8 +147,6 @@ struct btSoftBodyHelpers
static void writeObj(const char* file, const btSoftBody* psb);
static void writeState(const char* file, const btSoftBody* psb);
-
- static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);

17
devel/bullet/pkg/PLIST
View File

@ -379,6 +379,7 @@ include/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h
include/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h
include/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h
include/bullet/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
include/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.h
include/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h
include/bullet/BulletDynamics/MLCPSolvers/
include/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.h
@ -411,6 +412,11 @@ include/bullet/BulletRobotics/BoxStack.h
include/bullet/BulletRobotics/FixJointBoxes.h
include/bullet/BulletRobotics/JointLimit.h
include/bullet/BulletSoftBody/
include/bullet/BulletSoftBody/BulletReducedDeformableBody/
include/bullet/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h
include/bullet/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h
include/bullet/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h
include/bullet/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h
include/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h
include/bullet/BulletSoftBody/btCGProjection.h
include/bullet/BulletSoftBody/btConjugateGradient.h
@ -504,6 +510,7 @@ include/bullet/DeformableDemo/DeformableRigid.h
include/bullet/DeformableDemo/DeformableSelfCollision.h
include/bullet/DeformableDemo/GraspDeformable.h
include/bullet/DeformableDemo/LargeDeformation.h
include/bullet/DeformableDemo/LoadDeformed.h
include/bullet/DeformableDemo/MultibodyClothAnchor.h
include/bullet/DeformableDemo/Pinch.h
include/bullet/DeformableDemo/PinchFriction.h
@ -741,6 +748,16 @@ include/bullet/Planar2D/
include/bullet/Planar2D/Planar2D.h
include/bullet/Raycast/
include/bullet/Raycast/RaytestDemo.h
include/bullet/ReducedDeformableDemo/
include/bullet/ReducedDeformableDemo/ConservationTest.h
include/bullet/ReducedDeformableDemo/FreeFall.h
include/bullet/ReducedDeformableDemo/FrictionSlope.h
include/bullet/ReducedDeformableDemo/ModeVisualizer.h
include/bullet/ReducedDeformableDemo/ReducedBenchmark.h
include/bullet/ReducedDeformableDemo/ReducedCollide.h
include/bullet/ReducedDeformableDemo/ReducedGrasp.h
include/bullet/ReducedDeformableDemo/ReducedMotorGrasp.h
include/bullet/ReducedDeformableDemo/Springboard.h
include/bullet/RenderingExamples/
include/bullet/RenderingExamples/CoordinateSystemDemo.h
include/bullet/RenderingExamples/DynamicTexturedCubeDemo.h