diff options
author | Rémi Verschelde <rverschelde@gmail.com> | 2022-03-09 21:15:53 +0100 |
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committer | Rémi Verschelde <rverschelde@gmail.com> | 2022-03-09 21:45:47 +0100 |
commit | 3d7f1555865a981b7144becfc58d3f3f34362f5f (patch) | |
tree | d92912c6d700468b3330148b9179026b9f4efcb4 /thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h | |
parent | 33c907f9f5b3ec1a43d0251d7cac80da49b5b658 (diff) |
Remove unused Bullet module and thirdparty code
It has been disabled in `master` since one year (#45852) and our plan
is for Bullet, and possibly other thirdparty physics engines, to be
implemented via GDExtension so that they can be selected by the users
who need them.
Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h')
-rw-r--r-- | thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h | 153 |
1 files changed, 0 insertions, 153 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h deleted file mode 100644 index acf7c1b180..0000000000 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactSphereSphere.h +++ /dev/null @@ -1,153 +0,0 @@ - -#ifndef B3_CONTACT_SPHERE_SPHERE_H -#define B3_CONTACT_SPHERE_SPHERE_H - -void computeContactSphereConvex(int pairIndex, - int bodyIndexA, int bodyIndexB, - int collidableIndexA, int collidableIndexB, - const b3RigidBodyData* rigidBodies, - const b3Collidable* collidables, - const b3ConvexPolyhedronData* convexShapes, - const b3Vector3* convexVertices, - const int* convexIndices, - const b3GpuFace* faces, - b3Contact4* globalContactsOut, - int& nGlobalContactsOut, - int maxContactCapacity) -{ - float radius = collidables[collidableIndexA].m_radius; - float4 spherePos1 = rigidBodies[bodyIndexA].m_pos; - b3Quaternion sphereOrn = rigidBodies[bodyIndexA].m_quat; - - float4 pos = rigidBodies[bodyIndexB].m_pos; - - b3Quaternion quat = rigidBodies[bodyIndexB].m_quat; - - b3Transform tr; - tr.setIdentity(); - tr.setOrigin(pos); - tr.setRotation(quat); - b3Transform trInv = tr.inverse(); - - float4 spherePos = trInv(spherePos1); - - int collidableIndex = rigidBodies[bodyIndexB].m_collidableIdx; - int shapeIndex = collidables[collidableIndex].m_shapeIndex; - int numFaces = convexShapes[shapeIndex].m_numFaces; - float4 closestPnt = b3MakeVector3(0, 0, 0, 0); - float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0); - float minDist = -1000000.f; // TODO: What is the largest/smallest float? - bool bCollide = true; - int region = -1; - float4 localHitNormal; - for (int f = 0; f < numFaces; f++) - { - b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset + f]; - float4 planeEqn; - float4 localPlaneNormal = b3MakeVector3(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f); - float4 n1 = localPlaneNormal; //quatRotate(quat,localPlaneNormal); - planeEqn = n1; - planeEqn[3] = face.m_plane.w; - - float4 pntReturn; - float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn); - - if (dist > radius) - { - bCollide = false; - break; - } - - if (dist > 0) - { - //might hit an edge or vertex - b3Vector3 out; - - bool isInPoly = IsPointInPolygon(spherePos, - &face, - &convexVertices[convexShapes[shapeIndex].m_vertexOffset], - convexIndices, - &out); - if (isInPoly) - { - if (dist > minDist) - { - minDist = dist; - closestPnt = pntReturn; - localHitNormal = planeEqn; - region = 1; - } - } - else - { - b3Vector3 tmp = spherePos - out; - b3Scalar l2 = tmp.length2(); - if (l2 < radius * radius) - { - dist = b3Sqrt(l2); - if (dist > minDist) - { - minDist = dist; - closestPnt = out; - localHitNormal = tmp / dist; - region = 2; - } - } - else - { - bCollide = false; - break; - } - } - } - else - { - if (dist > minDist) - { - minDist = dist; - closestPnt = pntReturn; - localHitNormal = planeEqn; - region = 3; - } - } - } - static int numChecks = 0; - numChecks++; - - if (bCollide && minDist > -10000) - { - float4 normalOnSurfaceB1 = tr.getBasis() * localHitNormal; //-hitNormalWorld; - float4 pOnB1 = tr(closestPnt); - //printf("dist ,%f,",minDist); - float actualDepth = minDist - radius; - if (actualDepth < 0) - { - //printf("actualDepth = ,%f,", actualDepth); - //printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z); - //printf("region=,%d,\n", region); - pOnB1[3] = actualDepth; - - int dstIdx; - // dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx ); - - if (nGlobalContactsOut < maxContactCapacity) - { - dstIdx = nGlobalContactsOut; - nGlobalContactsOut++; - - b3Contact4* c = &globalContactsOut[dstIdx]; - c->m_worldNormalOnB = normalOnSurfaceB1; - c->setFrictionCoeff(0.7); - c->setRestituitionCoeff(0.f); - - c->m_batchIdx = pairIndex; - c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA; - c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB; - c->m_worldPosB[0] = pOnB1; - int numPoints = 1; - c->m_worldNormalOnB.w = (b3Scalar)numPoints; - } //if (dstIdx < numPairs) - } - } //if (hasCollision) -} -#endif //B3_CONTACT_SPHERE_SPHERE_H |