Switch to upstream bullet

.gitmodules

@@ -73,7 +73,7 @@
 	url = https://github.com/gflags/gflags.git
 [submodule "externals/bullet"]
 	path = externals/bullet
-	url = https://github.com/RobotLocomotion/bullet3.git
+	url = https://github.com/bulletphysics/bullet3.git
 [submodule "externals/ccd"]
 	path = externals/ccd
 	url = https://github.com/danfis/libccd.git

WORKSPACE

@@ -134,10 +134,10 @@ github_archive(
 
 github_archive(
     name = "bullet",
-    repository = "RobotLocomotion/bullet3",
-    commit = "ae2c4ca0618d55c6a29900aed75b958604149fdb",
+    repository = "bulletphysics/bullet3",
+    commit = "2.85.1",
     build_file = "tools/bullet.BUILD",
-    sha256 = "2121dc8b0d33f50adbad8fc9ac5e007141df5cf5738fce72200c5bac4ffc589b",
+    sha256 = "6e157c0b50373bc0e860de27f06397827bb28a4205bc568ae79d76a0f919ed62",
 )
 
 github_archive(

drake/matlab/systems/trajectories/CMakeLists.txt

@@ -6,16 +6,19 @@ if(Matlab_FOUND)
 endif()
 
 if(Bullet_FOUND AND Matlab_FOUND)
+  # TODO(jamiesnape): Create imported target for Bullet.
   if(BLAS_FOUND AND snopt_FOUND)
     drake_add_mex(replanFunnels_mex replanFunnels_mex.cpp)
     target_include_directories(replanFunnels_mex PRIVATE ${BULLET_INCLUDE_DIRS})
     target_link_libraries(replanFunnels_mex drakeMexUtil snopt_c
       ${BLAS_LIBRARIES} ${BULLET_LIBRARIES})
+    target_compile_definitions(replanFunnels_mex PRIVATE BT_USE_DOUBLE_PRECISION)
 
     drake_add_mex(shiftFunnel_snopt_mex shiftFunnel_snopt_mex.cpp)
     target_include_directories(shiftFunnel_snopt_mex PRIVATE ${BULLET_INCLUDE_DIRS})
     target_link_libraries(shiftFunnel_snopt_mex drakeMexUtil snopt_c
       ${BLAS_LIBRARIES} ${BULLET_LIBRARIES})
+    target_compile_definitions(shiftFunnel_snopt_mex PRIVATE BT_USE_DOUBLE_PRECISION)
 
     # Some platforms require extra link flags. On those that do not, the
     # BLAS_LINKER_FLAGS variable is undefined.
@@ -34,10 +37,12 @@ if(Bullet_FOUND AND Matlab_FOUND)
   drake_add_mex(isCollisionFree_mex isCollisionFree_mex.cpp)
   target_include_directories(isCollisionFree_mex PRIVATE ${BULLET_INCLUDE_DIRS})
   target_link_libraries(isCollisionFree_mex drakeMexUtil ${BULLET_LIBRARIES})
+  target_compile_definitions(isCollisionFree_mex PRIVATE BT_USE_DOUBLE_PRECISION)
 
   drake_add_mex(ptToPolyBullet_mex ptToPolyBullet_mex.cpp)
   target_include_directories(ptToPolyBullet_mex PRIVATE ${BULLET_INCLUDE_DIRS})
   target_link_libraries(ptToPolyBullet_mex drakeMexUtil ${BULLET_LIBRARIES})
+  target_compile_definitions(ptToPolyBullet_mex PRIVATE BT_USE_DOUBLE_PRECISION)
 endif()
 
 if(BUILD_TESTING)

drake/multibody/collision/CMakeLists.txt

@@ -20,7 +20,8 @@ add_library_with_exports(LIB_NAME drakeCollision SOURCE_FILES ${drakeCollision_S
 
 set(bullet_dependent_requires)
 if(Bullet_FOUND)
-  target_compile_definitions(drakeCollision PUBLIC BULLET_COLLISION)
+  target_compile_definitions(drakeCollision PUBLIC
+    BT_USE_DOUBLE_PRECISION BULLET_COLLISION)
   target_include_directories(drakeCollision PUBLIC ${BULLET_INCLUDE_DIRS})
   target_link_libraries(drakeCollision ${BULLET_LIBRARIES})
   set(bullet_dependent_requires bullet)

tools/bullet-create-cps.py

@@ -14,19 +14,41 @@
   "Description": "Real-time collision detection and multi-physics simulation",
   "License": "Zlib",
   "Version": "%s",
-  "Default-Components": [":BulletCollision"],
+  "Default-Components": [
+    ":BulletCollision",
+    ":BulletDynamics"
+  ],
   "Components": {
     "BulletCollision": {
       "Type": "dylib",
       "Location": "@prefix@/lib/libBulletCollision.so",
       "Includes": ["@prefix@/include/bullet"],
       "Requires": [":LinearMath"]
     },
+    "BulletDynamics": {
+      "Type": "dylib",
+      "Location": "@prefix@/lib/libBulletDynamics.so",
+      "Includes": ["@prefix@/include/bullet"],
+      "Requires": [
+        ":BulletCollision",
+        ":LinearMath"
+      ]
+    },
     "LinearMath": {
       "Type": "dylib",
       "Location": "@prefix@/lib/libLinearMath.so",
       "Definitions": ["BT_USE_DOUBLE_PRECISION"],
       "Includes": ["@prefix@/include/bullet"]
+    },
+    "BulletSoftBody": {
+      "Type": "dylib",
+      "Location": "@prefix@/lib/libBulletSoftBody.so",
+      "Includes": ["@prefix@/include/bullet"],
+      "Requires": [
+        ":BulletCollision",
+        ":BulletDynamics",
+        ":LinearMath"
+      ]
     }
   }
 }

tools/bullet.BUILD

@@ -13,15 +13,19 @@ package(default_visibility = ["//visibility:public"])
 
 # Note that this is only a portion of Bullet.
 
+BULLET_COPTS = ["-Wno-all"]
+
+BULLET_INCLUDES = ["src"]
+
 # Keep defines in sync with Components.LinearMath.Definitions in
 # bullet-create-cps.py.
 cc_library(
     name = "LinearMath",
     srcs = glob(["src/LinearMath/**/*.cpp"]),
     hdrs = glob(["src/LinearMath/**/*.h"]),
-    copts = ["-Wno-all"],
+    copts = BULLET_COPTS,
     defines = ["BT_USE_DOUBLE_PRECISION"],
-    includes = ["src"],
+    includes = BULLET_INCLUDES,
 )
 
 cc_library(
@@ -30,17 +34,36 @@ cc_library(
     hdrs = glob(["src/BulletCollision/**/*.h"]) + [
         "src/btBulletCollisionCommon.h",
     ],
-    copts = ["-Wno-all"],
-    includes = ["src"],
+    copts = BULLET_COPTS,
+    includes = BULLET_INCLUDES,
     deps = [":LinearMath"],
 )
 
-pkg_tar(
-    name = "license",
-    extension = "tar.gz",
-    files = ["LICENSE.txt"],
-    mode = "0644",
-    package_dir = "bullet",
+cc_library(
+    name = "BulletDynamics",
+    srcs = glob(["src/BulletDynamics/**/*.cpp"]),
+    hdrs = glob(["src/BulletDynamics/**/*.h"]) + [
+        "src/btBulletDynamicsCommon.h",
+    ],
+    copts = BULLET_COPTS,
+    includes = BULLET_INCLUDES,
+    deps = [
+        ":BulletCollision",
+        ":LinearMath",
+    ],
+)
+
+cc_library(
+    name = "BulletSoftBody",
+    srcs = glob(["src/BulletSoftBody/**/*.cpp"]),
+    hdrs = glob(["src/BulletSoftBody/**/*.h"]),
+    copts = BULLET_COPTS,
+    includes = BULLET_INCLUDES,
+    deps = [
+        ":BulletCollision",
+        ":BulletDynamics",
+        ":LinearMath",
+    ],
 )
 
 cmake_config(
@@ -49,18 +72,20 @@ cmake_config(
     version_file = "VERSION",
 )
 
-install_cmake_config(package = "Bullet")  # Creates rule :install_cmake_config.
+install_cmake_config(package = "Bullet")
 
 install(
     name = "install",
     doc_dest = "share/doc/bullet",
     docs = ["AUTHORS.txt"],
     guess_hdrs = "PACKAGE",
     hdr_dest = "include/bullet",
-    hdr_strip_prefix = ["src"],
+    hdr_strip_prefix = BULLET_INCLUDES,
     license_docs = ["LICENSE.txt"],
     targets = [
         ":BulletCollision",
+        ":BulletDynamics",
+        ":BulletSoftBody",
         ":LinearMath",
     ],
     deps = [":install_cmake_config"],