Add BUILD_BULLET3_OPENCL option allowing PSP build

CMakeLists.txt

@@ -333,6 +333,7 @@ IF (APPLE)
 ENDIF()
 
 OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
+OPTION(BUILD_BULLET3_OPENCL "Set when you want to build Bullet 3 with OpenCL" ON)
 
 # Optional Python configuration
 # Will not probe environment for Python configuration (which can abort the
@@ -564,4 +565,4 @@ get_property(ALL_TARGETS DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY BUILDSYS
 
 foreach(target ${ALL_TARGETS})
     add_dependencies(post_build ${target})
-endforeach()
+endforeach()

src/BulletCollision/BroadphaseCollision/btDispatcher.h

@@ -24,6 +24,7 @@ This is a modified version of the Bullet Continuous Collision Detection and Phys
 #include <set>
 #include <map>
 #include <unordered_map>
+#include <cstdint>
 
 class btCollisionAlgorithm;
 struct btBroadphaseProxy;

src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -159,7 +159,7 @@ void btCollisionObject::applyLastSafeWorldTransform(const std::map<int, StuckTet
 		// We sacrifice few iterations to move to the safe position only gradually. This significantly reduces the jitter of
 		// jumping between the safe and stuck positions. The unstuck position will be much closer to the real point of contact.
 		btScalar fraction = getLastSafeApplyCounter() / maxApplySteps;
-		fraction = std::min(fraction, 1.0);
+		fraction = std::min((double)fraction, 1.0);
 
 		btTransform dst = getLastSafeWorldTransform();
 		btTransform src = getWorldTransform();

src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h

@@ -48,7 +48,9 @@ class btDispatcher;
 #include "btGImpactCollisionAlgorithmEval.h"
 
 #include <vector>
+#ifdef BT_USE_TBB
 #include <tbb/tbb.h>
+#endif
 
 //! Collision Algorithm for GImpact Shapes
 /*!

src/BulletCollision/Gimpact/btGImpactCollisionAlgorithmEval.h

@@ -33,7 +33,9 @@ This is a modified version of the Bullet Continuous Collision Detection and Phys
 #include "LinearMath/btTransform.h"
 #include "gim_pair.h"
 
+#ifdef BT_USE_TBB
 #include <tbb/tbb.h>
+#endif
 
 enum class btFindOnlyFirstPairEnum : uint8_t
 {

src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h

@@ -37,7 +37,9 @@ This is a modified version of the Bullet Continuous Collision Detection and Phys
 #include <atomic>
 #include <map>
 #include <vector>
+#ifdef BT_USE_TBB
 #include <tbb/tbb.h>
+#endif
 
 class GIM_QUANTIZED_BVH_NODE_ARRAY : public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
 {
@@ -197,15 +199,20 @@ struct spinlock
 			{
 				return;
 			}
+#if !defined(_M_ARM64) && !defined(__i386__)
+			static const timespec ns = { 0, 1 };
+#endif
 			// Wait for lock to be released without generating cache misses
 			while (lock_.load(std::memory_order_relaxed))
 			{
 				// Issue X86 PAUSE or ARM YIELD instruction to reduce contention between
 				// hyper-threads
 #ifdef _M_ARM64
 				__yield();
-#else
+#elif defined(__i386__)
 				_mm_pause();
+#else
+				nanosleep(&ns, NULL);
 #endif
 			}
 		}

src/BulletSoftBody/btDeformableContactConstraint.cpp

@@ -97,9 +97,9 @@ btScalar btDeformableNodeAnchorConstraint::solveConstraint(const btContactSolver
 		// This greatly improves convergence.
 		if (m_previous_residual_velocity_match != -1.0)
 			if (residualSquare > m_previous_residual_velocity_match)
-				m_convergence_based_relaxation_velocity_match = std::max(0.1, m_convergence_based_relaxation_velocity_match * misconvergenceRelaxationFactor);
+				m_convergence_based_relaxation_velocity_match = std::max(0.1, (double)m_convergence_based_relaxation_velocity_match * misconvergenceRelaxationFactor);
 			else
-				m_convergence_based_relaxation_velocity_match = std::min(1.0, m_convergence_based_relaxation_velocity_match * convergenceRelaxationFactor);
+				m_convergence_based_relaxation_velocity_match = std::min(1.0, (double)m_convergence_based_relaxation_velocity_match * convergenceRelaxationFactor);
 		m_previous_residual_velocity_match = residualSquare;
 
 		// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
@@ -255,9 +255,9 @@ btScalar btDeformableNodeAnchorConstraint::solveSplitImpulse(const btContactSolv
 		// This greatly improves convergence.
 		if (m_previous_residual_position_drift != -1.0)
 			if (residualSquare > m_previous_residual_position_drift)
-				m_convergence_based_relaxation_position_drift = std::max(0.1, m_convergence_based_relaxation_position_drift * misconvergenceRelaxationFactor);
+				m_convergence_based_relaxation_position_drift = std::max(0.1, (double)m_convergence_based_relaxation_position_drift * misconvergenceRelaxationFactor);
 			else
-				m_convergence_based_relaxation_position_drift = std::min(1.0, m_convergence_based_relaxation_position_drift * convergenceRelaxationFactor);
+				m_convergence_based_relaxation_position_drift = std::min(1.0, (double)m_convergence_based_relaxation_position_drift * convergenceRelaxationFactor);
 		m_previous_residual_position_drift = residualSquare;
 
 		btVector3 rigid_impulse = (pos_diff * rigid_impulse_fraction * m_convergence_based_relaxation_position_drift) / infoGlobal.m_timeStep;

src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp

@@ -220,15 +220,15 @@ void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseI
 							auto it = bodyPenetrations.find(origBodyA);
 							if (it != bodyPenetrations.end())
 								existingPen = it->second;
-							bodyPenetrations.insert_or_assign(origBodyA, std::max(existingPen, solveManifold.m_rhsPenetration));
+							bodyPenetrations.insert_or_assign(origBodyA, std::max(existingPen, (double)solveManifold.m_rhsPenetration));
 						}
 						if (origBodyB)
 						{
 							auto existingPen = 0.0;
 							auto it = bodyPenetrations.find(origBodyB);
 							if (it != bodyPenetrations.end())
 								existingPen = it->second;
-							bodyPenetrations.insert_or_assign(origBodyB, std::max(existingPen, solveManifold.m_rhsPenetration));
+							bodyPenetrations.insert_or_assign(origBodyB, std::max(existingPen, (double)solveManifold.m_rhsPenetration));
 						}
 					}
 					// solve the position correction between deformable and rigid/multibody

src/CMakeLists.txt

@@ -1,6 +1,9 @@
 
 IF(BUILD_BULLET3)
-	SUBDIRS(  Bullet3OpenCL Bullet3Serialize/Bullet2FileLoader Bullet3Dynamics Bullet3Collision Bullet3Geometry )
+IF(BUILD_BULLET3_OPENCL)
+	add_subdirectory( Bullet3OpenCL )
+ENDIF(BUILD_BULLET3_OPENCL)
+	SUBDIRS( Bullet3Serialize/Bullet2FileLoader Bullet3Dynamics Bullet3Collision Bullet3Geometry )
 ENDIF(BUILD_BULLET3)