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.

16 files changed, 0 insertions, 3395 deletions

diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h
deleted file mode 100644
index d6beb662b5..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h
+++ /dev/null
@@ -1,19 +0,0 @@
-
-#ifndef B3_BVH_SUBTREE_INFO_DATA_H
-#define B3_BVH_SUBTREE_INFO_DATA_H
-
-typedef struct b3BvhSubtreeInfoData b3BvhSubtreeInfoData_t;
-
-struct b3BvhSubtreeInfoData
-{
-	//12 bytes
-	unsigned short int m_quantizedAabbMin[3];
-	unsigned short int m_quantizedAabbMax[3];
-	//4 bytes, points to the root of the subtree
-	int m_rootNodeIndex;
-	//4 bytes
-	int m_subtreeSize;
-	int m_padding[3];
-};
-
-#endif  //B3_BVH_SUBTREE_INFO_DATA_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
deleted file mode 100644
index 7c2507cc98..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3BvhTraversal.h
+++ /dev/null
@@ -1,123 +0,0 @@
-
-
-#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
-
-// work-in-progress
-void b3BvhTraversal(__global const b3Int4* pairs,
-					__global const b3RigidBodyData* rigidBodies,
-					__global const b3Collidable* collidables,
-					__global b3Aabb* aabbs,
-					__global b3Int4* concavePairsOut,
-					__global volatile int* numConcavePairsOut,
-					__global const b3BvhSubtreeInfo* subtreeHeadersRoot,
-					__global const b3QuantizedBvhNode* quantizedNodesRoot,
-					__global const b3BvhInfo* bvhInfos,
-					int numPairs,
-					int maxNumConcavePairsCapacity,
-					int id)
-{
-	int bodyIndexA = pairs[id].x;
-	int bodyIndexB = pairs[id].y;
-	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
-	//once the broadphase avoids static-static pairs, we can remove this test
-	if ((rigidBodies[bodyIndexA].m_invMass == 0) && (rigidBodies[bodyIndexB].m_invMass == 0))
-	{
-		return;
-	}
-
-	if (collidables[collidableIndexA].m_shapeType != SHAPE_CONCAVE_TRIMESH)
-		return;
-
-	int shapeTypeB = collidables[collidableIndexB].m_shapeType;
-
-	if (shapeTypeB != SHAPE_CONVEX_HULL &&
-		shapeTypeB != SHAPE_SPHERE &&
-		shapeTypeB != SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		return;
-
-	b3BvhInfo bvhInfo = bvhInfos[collidables[collidableIndexA].m_numChildShapes];
-
-	b3Float4 bvhAabbMin = bvhInfo.m_aabbMin;
-	b3Float4 bvhAabbMax = bvhInfo.m_aabbMax;
-	b3Float4 bvhQuantization = bvhInfo.m_quantization;
-	int numSubtreeHeaders = bvhInfo.m_numSubTrees;
-	__global const b3BvhSubtreeInfoData* subtreeHeaders = &subtreeHeadersRoot[bvhInfo.m_subTreeOffset];
-	__global const b3QuantizedBvhNodeData* quantizedNodes = &quantizedNodesRoot[bvhInfo.m_nodeOffset];
-
-	unsigned short int quantizedQueryAabbMin[3];
-	unsigned short int quantizedQueryAabbMax[3];
-	b3QuantizeWithClamp(quantizedQueryAabbMin, aabbs[bodyIndexB].m_minVec, false, bvhAabbMin, bvhAabbMax, bvhQuantization);
-	b3QuantizeWithClamp(quantizedQueryAabbMax, aabbs[bodyIndexB].m_maxVec, true, bvhAabbMin, bvhAabbMax, bvhQuantization);
-
-	for (int i = 0; i < numSubtreeHeaders; i++)
-	{
-		b3BvhSubtreeInfoData subtree = subtreeHeaders[i];
-
-		int overlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
-		if (overlap != 0)
-		{
-			int startNodeIndex = subtree.m_rootNodeIndex;
-			int endNodeIndex = subtree.m_rootNodeIndex + subtree.m_subtreeSize;
-			int curIndex = startNodeIndex;
-			int escapeIndex;
-			int isLeafNode;
-			int aabbOverlap;
-			while (curIndex < endNodeIndex)
-			{
-				b3QuantizedBvhNodeData rootNode = quantizedNodes[curIndex];
-				aabbOverlap = b3TestQuantizedAabbAgainstQuantizedAabbSlow(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode.m_quantizedAabbMin, rootNode.m_quantizedAabbMax);
-				isLeafNode = b3IsLeaf(&rootNode);
-				if (aabbOverlap)
-				{
-					if (isLeafNode)
-					{
-						int triangleIndex = b3GetTriangleIndex(&rootNode);
-						if (shapeTypeB == SHAPE_COMPOUND_OF_CONVEX_HULLS)
-						{
-							int numChildrenB = collidables[collidableIndexB].m_numChildShapes;
-							int pairIdx = b3AtomicAdd(numConcavePairsOut, numChildrenB);
-							for (int b = 0; b < numChildrenB; b++)
-							{
-								if ((pairIdx + b) < maxNumConcavePairsCapacity)
-								{
-									int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex + b;
-									b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, childShapeIndexB);
-									concavePairsOut[pairIdx + b] = newPair;
-								}
-							}
-						}
-						else
-						{
-							int pairIdx = b3AtomicInc(numConcavePairsOut);
-							if (pairIdx < maxNumConcavePairsCapacity)
-							{
-								b3Int4 newPair = b3MakeInt4(bodyIndexA, bodyIndexB, triangleIndex, 0);
-								concavePairsOut[pairIdx] = newPair;
-							}
-						}
-					}
-					curIndex++;
-				}
-				else
-				{
-					if (isLeafNode)
-					{
-						curIndex++;
-					}
-					else
-					{
-						escapeIndex = b3GetEscapeIndex(&rootNode);
-						curIndex += escapeIndex;
-					}
-				}
-			}
-		}
-	}
-}
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h
deleted file mode 100644
index 0d9b13f1d6..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ClipFaces.h
+++ /dev/null
@@ -1,171 +0,0 @@
-#ifndef B3_CLIP_FACES_H
-#define B3_CLIP_FACES_H
-
-#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-
-inline b3Float4 b3Lerp3(b3Float4ConstArg a, b3Float4ConstArg b, float t)
-{
-	return b3MakeFloat4(a.x + (b.x - a.x) * t,
-						a.y + (b.y - a.y) * t,
-						a.z + (b.z - a.z) * t,
-						0.f);
-}
-
-// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
-int clipFaceGlobal(__global const b3Float4* pVtxIn, int numVertsIn, b3Float4ConstArg planeNormalWS, float planeEqWS, __global b3Float4* ppVtxOut)
-{
-	int ve;
-	float ds, de;
-	int numVertsOut = 0;
-	//double-check next test
-	//	if (numVertsIn < 2)
-	//		return 0;
-
-	b3Float4 firstVertex = pVtxIn[numVertsIn - 1];
-	b3Float4 endVertex = pVtxIn[0];
-
-	ds = b3Dot(planeNormalWS, firstVertex) + planeEqWS;
-
-	for (ve = 0; ve < numVertsIn; ve++)
-	{
-		endVertex = pVtxIn[ve];
-		de = b3Dot(planeNormalWS, endVertex) + planeEqWS;
-		if (ds < 0)
-		{
-			if (de < 0)
-			{
-				// Start < 0, end < 0, so output endVertex
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-			else
-			{
-				// Start < 0, end >= 0, so output intersection
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
-			}
-		}
-		else
-		{
-			if (de < 0)
-			{
-				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-		}
-		firstVertex = endVertex;
-		ds = de;
-	}
-	return numVertsOut;
-}
-
-__kernel void clipFacesAndFindContactsKernel(__global const b3Float4* separatingNormals,
-											 __global const int* hasSeparatingAxis,
-											 __global b3Int4* clippingFacesOut,
-											 __global b3Float4* worldVertsA1,
-											 __global b3Float4* worldNormalsA1,
-											 __global b3Float4* worldVertsB1,
-											 __global b3Float4* worldVertsB2,
-											 int vertexFaceCapacity,
-											 int pairIndex)
-{
-	//    int i = get_global_id(0);
-	//int pairIndex = i;
-	int i = pairIndex;
-
-	float minDist = -1e30f;
-	float maxDist = 0.02f;
-
-	//	if (i<numPairs)
-	{
-		if (hasSeparatingAxis[i])
-		{
-			//			int bodyIndexA = pairs[i].x;
-			//		int bodyIndexB = pairs[i].y;
-
-			int numLocalContactsOut = 0;
-
-			int capacityWorldVertsB2 = vertexFaceCapacity;
-
-			__global b3Float4* pVtxIn = &worldVertsB1[pairIndex * capacityWorldVertsB2];
-			__global b3Float4* pVtxOut = &worldVertsB2[pairIndex * capacityWorldVertsB2];
-
-			{
-				__global b3Int4* clippingFaces = clippingFacesOut;
-
-				int closestFaceA = clippingFaces[pairIndex].x;
-				// int closestFaceB = clippingFaces[pairIndex].y;
-				int numVertsInA = clippingFaces[pairIndex].z;
-				int numVertsInB = clippingFaces[pairIndex].w;
-
-				int numVertsOut = 0;
-
-				if (closestFaceA >= 0)
-				{
-					// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-
-					for (int e0 = 0; e0 < numVertsInA; e0++)
-					{
-						const b3Float4 aw = worldVertsA1[pairIndex * capacityWorldVertsB2 + e0];
-						const b3Float4 bw = worldVertsA1[pairIndex * capacityWorldVertsB2 + ((e0 + 1) % numVertsInA)];
-						const b3Float4 WorldEdge0 = aw - bw;
-						b3Float4 worldPlaneAnormal1 = worldNormalsA1[pairIndex];
-						b3Float4 planeNormalWS1 = -b3Cross(WorldEdge0, worldPlaneAnormal1);
-						b3Float4 worldA1 = aw;
-						float planeEqWS1 = -b3Dot(worldA1, planeNormalWS1);
-						b3Float4 planeNormalWS = planeNormalWS1;
-						float planeEqWS = planeEqWS1;
-						numVertsOut = clipFaceGlobal(pVtxIn, numVertsInB, planeNormalWS, planeEqWS, pVtxOut);
-						__global b3Float4* tmp = pVtxOut;
-						pVtxOut = pVtxIn;
-						pVtxIn = tmp;
-						numVertsInB = numVertsOut;
-						numVertsOut = 0;
-					}
-
-					b3Float4 planeNormalWS = worldNormalsA1[pairIndex];
-					float planeEqWS = -b3Dot(planeNormalWS, worldVertsA1[pairIndex * capacityWorldVertsB2]);
-
-					for (int i = 0; i < numVertsInB; i++)
-					{
-						float depth = b3Dot(planeNormalWS, pVtxIn[i]) + planeEqWS;
-						if (depth <= minDist)
-						{
-							depth = minDist;
-						}
-						/*
-						static float maxDepth = 0.f;
-						if (depth < maxDepth)
-						{
-							maxDepth = depth;
-							if (maxDepth < -10)
-							{
-								printf("error at framecount %d?\n",myframecount);
-							}
-							printf("maxDepth = %f\n", maxDepth);
-
-						}
-*/
-						if (depth <= maxDist)
-						{
-							b3Float4 pointInWorld = pVtxIn[i];
-							pVtxOut[numLocalContactsOut++] = b3MakeFloat4(pointInWorld.x, pointInWorld.y, pointInWorld.z, depth);
-						}
-					}
-				}
-				clippingFaces[pairIndex].w = numLocalContactsOut;
-			}
-
-			for (int i = 0; i < numLocalContactsOut; i++)
-				pVtxIn[i] = pVtxOut[i];
-
-		}  //		if (hasSeparatingAxis[i])
-	}      //	if (i<numPairs)
-}
-
-#endif  //B3_CLIP_FACES_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h
deleted file mode 100644
index 9a8c668af2..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h
+++ /dev/null
@@ -1,69 +0,0 @@
-
-#ifndef B3_COLLIDABLE_H
-#define B3_COLLIDABLE_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Common/shared/b3Quat.h"
-
-enum b3ShapeTypes
-{
-	SHAPE_HEIGHT_FIELD = 1,
-
-	SHAPE_CONVEX_HULL = 3,
-	SHAPE_PLANE = 4,
-	SHAPE_CONCAVE_TRIMESH = 5,
-	SHAPE_COMPOUND_OF_CONVEX_HULLS = 6,
-	SHAPE_SPHERE = 7,
-	MAX_NUM_SHAPE_TYPES,
-};
-
-typedef struct b3Collidable b3Collidable_t;
-
-struct b3Collidable
-{
-	union {
-		int m_numChildShapes;
-		int m_bvhIndex;
-	};
-	union {
-		float m_radius;
-		int m_compoundBvhIndex;
-	};
-
-	int m_shapeType;
-	union {
-		int m_shapeIndex;
-		float m_height;
-	};
-};
-
-typedef struct b3GpuChildShape b3GpuChildShape_t;
-struct b3GpuChildShape
-{
-	b3Float4 m_childPosition;
-	b3Quat m_childOrientation;
-	union {
-		int m_shapeIndex;  //used for SHAPE_COMPOUND_OF_CONVEX_HULLS
-		int m_capsuleAxis;
-	};
-	union {
-		float m_radius;        //used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES
-		int m_numChildShapes;  //used for compound shape
-	};
-	union {
-		float m_height;  //used for childshape of SHAPE_COMPOUND_OF_CAPSULES
-		int m_collidableShapeIndex;
-	};
-	int m_shapeType;
-};
-
-struct b3CompoundOverlappingPair
-{
-	int m_bodyIndexA;
-	int m_bodyIndexB;
-	//	int	m_pairType;
-	int m_childShapeIndexA;
-	int m_childShapeIndexB;
-};
-
-#endif  //B3_COLLIDABLE_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h
deleted file mode 100644
index d5f6daa993..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef B3_CONTACT4DATA_H
-#define B3_CONTACT4DATA_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-
-typedef struct b3Contact4Data b3Contact4Data_t;
-
-struct b3Contact4Data
-{
-	b3Float4 m_worldPosB[4];
-	//	b3Float4	m_localPosA[4];
-	//	b3Float4	m_localPosB[4];
-	b3Float4 m_worldNormalOnB;  //	w: m_nPoints
-	unsigned short m_restituitionCoeffCmp;
-	unsigned short m_frictionCoeffCmp;
-	int m_batchIdx;
-	int m_bodyAPtrAndSignBit;  //x:m_bodyAPtr, y:m_bodyBPtr
-	int m_bodyBPtrAndSignBit;
-
-	int m_childIndexA;
-	int m_childIndexB;
-	int m_unused1;
-	int m_unused2;
-};
-
-inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)
-{
-	return (int)contact->m_worldNormalOnB.w;
-};
-
-inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)
-{
-	contact->m_worldNormalOnB.w = (float)numPoints;
-};
-
-#endif  //B3_CONTACT4DATA_H
\ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h
deleted file mode 100644
index ca68f4bc4e..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h
+++ /dev/null
@@ -1,486 +0,0 @@
-
-#ifndef B3_CONTACT_CONVEX_CONVEX_SAT_H
-#define B3_CONTACT_CONVEX_CONVEX_SAT_H
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h"
-
-#define B3_MAX_VERTS 1024
-
-inline b3Float4 b3Lerp3(const b3Float4& a, const b3Float4& b, float t)
-{
-	return b3MakeVector3(a.x + (b.x - a.x) * t,
-						 a.y + (b.y - a.y) * t,
-						 a.z + (b.z - a.z) * t,
-						 0.f);
-}
-
-// Clips a face to the back of a plane, return the number of vertices out, stored in ppVtxOut
-inline int b3ClipFace(const b3Float4* pVtxIn, int numVertsIn, b3Float4& planeNormalWS, float planeEqWS, b3Float4* ppVtxOut)
-{
-	int ve;
-	float ds, de;
-	int numVertsOut = 0;
-	if (numVertsIn < 2)
-		return 0;
-
-	b3Float4 firstVertex = pVtxIn[numVertsIn - 1];
-	b3Float4 endVertex = pVtxIn[0];
-
-	ds = b3Dot3F4(planeNormalWS, firstVertex) + planeEqWS;
-
-	for (ve = 0; ve < numVertsIn; ve++)
-	{
-		endVertex = pVtxIn[ve];
-
-		de = b3Dot3F4(planeNormalWS, endVertex) + planeEqWS;
-
-		if (ds < 0)
-		{
-			if (de < 0)
-			{
-				// Start < 0, end < 0, so output endVertex
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-			else
-			{
-				// Start < 0, end >= 0, so output intersection
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
-			}
-		}
-		else
-		{
-			if (de < 0)
-			{
-				// Start >= 0, end < 0 so output intersection and end
-				ppVtxOut[numVertsOut++] = b3Lerp3(firstVertex, endVertex, (ds * 1.f / (ds - de)));
-				ppVtxOut[numVertsOut++] = endVertex;
-			}
-		}
-		firstVertex = endVertex;
-		ds = de;
-	}
-	return numVertsOut;
-}
-
-inline int b3ClipFaceAgainstHull(const b3Float4& separatingNormal, const b3ConvexPolyhedronData* hullA,
-								 const b3Float4& posA, const b3Quaternion& ornA, b3Float4* worldVertsB1, int numWorldVertsB1,
-								 b3Float4* worldVertsB2, int capacityWorldVertsB2,
-								 const float minDist, float maxDist,
-								 const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
-								 //const b3Float4* verticesB,	const b3GpuFace* facesB,	const int* indicesB,
-								 b3Float4* contactsOut,
-								 int contactCapacity)
-{
-	int numContactsOut = 0;
-
-	b3Float4* pVtxIn = worldVertsB1;
-	b3Float4* pVtxOut = worldVertsB2;
-
-	int numVertsIn = numWorldVertsB1;
-	int numVertsOut = 0;
-
-	int closestFaceA = -1;
-	{
-		float dmin = FLT_MAX;
-		for (int face = 0; face < hullA->m_numFaces; face++)
-		{
-			const b3Float4 Normal = b3MakeVector3(
-				facesA[hullA->m_faceOffset + face].m_plane.x,
-				facesA[hullA->m_faceOffset + face].m_plane.y,
-				facesA[hullA->m_faceOffset + face].m_plane.z, 0.f);
-			const b3Float4 faceANormalWS = b3QuatRotate(ornA, Normal);
-
-			float d = b3Dot3F4(faceANormalWS, separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-			}
-		}
-	}
-	if (closestFaceA < 0)
-		return numContactsOut;
-
-	b3GpuFace polyA = facesA[hullA->m_faceOffset + closestFaceA];
-
-	// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-	//int numContacts = numWorldVertsB1;
-	int numVerticesA = polyA.m_numIndices;
-	for (int e0 = 0; e0 < numVerticesA; e0++)
-	{
-		const b3Float4 a = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + e0]];
-		const b3Float4 b = verticesA[hullA->m_vertexOffset + indicesA[polyA.m_indexOffset + ((e0 + 1) % numVerticesA)]];
-		const b3Float4 edge0 = a - b;
-		const b3Float4 WorldEdge0 = b3QuatRotate(ornA, edge0);
-		b3Float4 planeNormalA = b3MakeFloat4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f);
-		b3Float4 worldPlaneAnormal1 = b3QuatRotate(ornA, planeNormalA);
-
-		b3Float4 planeNormalWS1 = -b3Cross3(WorldEdge0, worldPlaneAnormal1);
-		b3Float4 worldA1 = b3TransformPoint(a, posA, ornA);
-		float planeEqWS1 = -b3Dot3F4(worldA1, planeNormalWS1);
-
-		b3Float4 planeNormalWS = planeNormalWS1;
-		float planeEqWS = planeEqWS1;
-
-		//clip face
-		//clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
-		numVertsOut = b3ClipFace(pVtxIn, numVertsIn, planeNormalWS, planeEqWS, pVtxOut);
-
-		//btSwap(pVtxIn,pVtxOut);
-		b3Float4* tmp = pVtxOut;
-		pVtxOut = pVtxIn;
-		pVtxIn = tmp;
-		numVertsIn = numVertsOut;
-		numVertsOut = 0;
-	}
-
-	// only keep points that are behind the witness face
-	{
-		b3Float4 localPlaneNormal = b3MakeFloat4(polyA.m_plane.x, polyA.m_plane.y, polyA.m_plane.z, 0.f);
-		float localPlaneEq = polyA.m_plane.w;
-		b3Float4 planeNormalWS = b3QuatRotate(ornA, localPlaneNormal);
-		float planeEqWS = localPlaneEq - b3Dot3F4(planeNormalWS, posA);
-		for (int i = 0; i < numVertsIn; i++)
-		{
-			float depth = b3Dot3F4(planeNormalWS, pVtxIn[i]) + planeEqWS;
-			if (depth <= minDist)
-			{
-				depth = minDist;
-			}
-			if (numContactsOut < contactCapacity)
-			{
-				if (depth <= maxDist)
-				{
-					b3Float4 pointInWorld = pVtxIn[i];
-					//resultOut.addContactPoint(separatingNormal,point,depth);
-					contactsOut[numContactsOut++] = b3MakeVector3(pointInWorld.x, pointInWorld.y, pointInWorld.z, depth);
-					//printf("depth=%f\n",depth);
-				}
-			}
-			else
-			{
-				b3Error("exceeding contact capacity (%d,%df)\n", numContactsOut, contactCapacity);
-			}
-		}
-	}
-
-	return numContactsOut;
-}
-
-inline int b3ClipHullAgainstHull(const b3Float4& separatingNormal,
-								 const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
-								 const b3Float4& posA, const b3Quaternion& ornA, const b3Float4& posB, const b3Quaternion& ornB,
-								 b3Float4* worldVertsB1, b3Float4* worldVertsB2, int capacityWorldVerts,
-								 const float minDist, float maxDist,
-								 const b3AlignedObjectArray<b3Float4>& verticesA, const b3AlignedObjectArray<b3GpuFace>& facesA, const b3AlignedObjectArray<int>& indicesA,
-								 const b3AlignedObjectArray<b3Float4>& verticesB, const b3AlignedObjectArray<b3GpuFace>& facesB, const b3AlignedObjectArray<int>& indicesB,
-
-								 b3Float4* contactsOut,
-								 int contactCapacity)
-{
-	int numContactsOut = 0;
-	int numWorldVertsB1 = 0;
-
-	B3_PROFILE("clipHullAgainstHull");
-
-	//float curMaxDist=maxDist;
-	int closestFaceB = -1;
-	float dmax = -FLT_MAX;
-
-	{
-		//B3_PROFILE("closestFaceB");
-		if (hullB.m_numFaces != 1)
-		{
-			//printf("wtf\n");
-		}
-		static bool once = true;
-		//printf("separatingNormal=%f,%f,%f\n",separatingNormal.x,separatingNormal.y,separatingNormal.z);
-
-		for (int face = 0; face < hullB.m_numFaces; face++)
-		{
-#ifdef BT_DEBUG_SAT_FACE
-			if (once)
-				printf("face %d\n", face);
-			const b3GpuFace* faceB = &facesB[hullB.m_faceOffset + face];
-			if (once)
-			{
-				for (int i = 0; i < faceB->m_numIndices; i++)
-				{
-					b3Float4 vert = verticesB[hullB.m_vertexOffset + indicesB[faceB->m_indexOffset + i]];
-					printf("vert[%d] = %f,%f,%f\n", i, vert.x, vert.y, vert.z);
-				}
-			}
-#endif  //BT_DEBUG_SAT_FACE \
-	//if (facesB[hullB.m_faceOffset+face].m_numIndices>2)
-			{
-				const b3Float4 Normal = b3MakeVector3(facesB[hullB.m_faceOffset + face].m_plane.x,
-													  facesB[hullB.m_faceOffset + face].m_plane.y, facesB[hullB.m_faceOffset + face].m_plane.z, 0.f);
-				const b3Float4 WorldNormal = b3QuatRotate(ornB, Normal);
-#ifdef BT_DEBUG_SAT_FACE
-				if (once)
-					printf("faceNormal = %f,%f,%f\n", Normal.x, Normal.y, Normal.z);
-#endif
-				float d = b3Dot3F4(WorldNormal, separatingNormal);
-				if (d > dmax)
-				{
-					dmax = d;
-					closestFaceB = face;
-				}
-			}
-		}
-		once = false;
-	}
-
-	b3Assert(closestFaceB >= 0);
-	{
-		//B3_PROFILE("worldVertsB1");
-		const b3GpuFace& polyB = facesB[hullB.m_faceOffset + closestFaceB];
-		const int numVertices = polyB.m_numIndices;
-		for (int e0 = 0; e0 < numVertices; e0++)
-		{
-			const b3Float4& b = verticesB[hullB.m_vertexOffset + indicesB[polyB.m_indexOffset + e0]];
-			worldVertsB1[numWorldVertsB1++] = b3TransformPoint(b, posB, ornB);
-		}
-	}
-
-	if (closestFaceB >= 0)
-	{
-		//B3_PROFILE("clipFaceAgainstHull");
-		numContactsOut = b3ClipFaceAgainstHull((b3Float4&)separatingNormal, &hullA,
-											   posA, ornA,
-											   worldVertsB1, numWorldVertsB1, worldVertsB2, capacityWorldVerts, minDist, maxDist,
-											   verticesA, facesA, indicesA,
-											   contactsOut, contactCapacity);
-	}
-
-	return numContactsOut;
-}
-
-inline int b3ClipHullHullSingle(
-	int bodyIndexA, int bodyIndexB,
-	const b3Float4& posA,
-	const b3Quaternion& ornA,
-	const b3Float4& posB,
-	const b3Quaternion& ornB,
-
-	int collidableIndexA, int collidableIndexB,
-
-	const b3AlignedObjectArray<b3RigidBodyData>* bodyBuf,
-	b3AlignedObjectArray<b3Contact4Data>* globalContactOut,
-	int& nContacts,
-
-	const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataA,
-	const b3AlignedObjectArray<b3ConvexPolyhedronData>& hostConvexDataB,
-
-	const b3AlignedObjectArray<b3Vector3>& verticesA,
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
-	const b3AlignedObjectArray<b3GpuFace>& facesA,
-	const b3AlignedObjectArray<int>& indicesA,
-
-	const b3AlignedObjectArray<b3Vector3>& verticesB,
-	const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
-	const b3AlignedObjectArray<b3GpuFace>& facesB,
-	const b3AlignedObjectArray<int>& indicesB,
-
-	const b3AlignedObjectArray<b3Collidable>& hostCollidablesA,
-	const b3AlignedObjectArray<b3Collidable>& hostCollidablesB,
-	const b3Vector3& sepNormalWorldSpace,
-	int maxContactCapacity)
-{
-	int contactIndex = -1;
-	b3ConvexPolyhedronData hullA, hullB;
-
-	b3Collidable colA = hostCollidablesA[collidableIndexA];
-	hullA = hostConvexDataA[colA.m_shapeIndex];
-	//printf("numvertsA = %d\n",hullA.m_numVertices);
-
-	b3Collidable colB = hostCollidablesB[collidableIndexB];
-	hullB = hostConvexDataB[colB.m_shapeIndex];
-	//printf("numvertsB = %d\n",hullB.m_numVertices);
-
-	b3Float4 contactsOut[B3_MAX_VERTS];
-	int localContactCapacity = B3_MAX_VERTS;
-
-#ifdef _WIN32
-	b3Assert(_finite(bodyBuf->at(bodyIndexA).m_pos.x));
-	b3Assert(_finite(bodyBuf->at(bodyIndexB).m_pos.x));
-#endif
-
-	{
-		b3Float4 worldVertsB1[B3_MAX_VERTS];
-		b3Float4 worldVertsB2[B3_MAX_VERTS];
-		int capacityWorldVerts = B3_MAX_VERTS;
-
-		b3Float4 hostNormal = b3MakeFloat4(sepNormalWorldSpace.x, sepNormalWorldSpace.y, sepNormalWorldSpace.z, 0.f);
-		int shapeA = hostCollidablesA[collidableIndexA].m_shapeIndex;
-		int shapeB = hostCollidablesB[collidableIndexB].m_shapeIndex;
-
-		b3Scalar minDist = -1;
-		b3Scalar maxDist = 0.;
-
-		b3Transform trA, trB;
-		{
-			//B3_PROFILE("b3TransformPoint computation");
-			//trA.setIdentity();
-			trA.setOrigin(b3MakeVector3(posA.x, posA.y, posA.z));
-			trA.setRotation(b3Quaternion(ornA.x, ornA.y, ornA.z, ornA.w));
-
-			//trB.setIdentity();
-			trB.setOrigin(b3MakeVector3(posB.x, posB.y, posB.z));
-			trB.setRotation(b3Quaternion(ornB.x, ornB.y, ornB.z, ornB.w));
-		}
-
-		b3Quaternion trAorn = trA.getRotation();
-		b3Quaternion trBorn = trB.getRotation();
-
-		int numContactsOut = b3ClipHullAgainstHull(hostNormal,
-												   hostConvexDataA.at(shapeA),
-												   hostConvexDataB.at(shapeB),
-												   (b3Float4&)trA.getOrigin(), (b3Quaternion&)trAorn,
-												   (b3Float4&)trB.getOrigin(), (b3Quaternion&)trBorn,
-												   worldVertsB1, worldVertsB2, capacityWorldVerts,
-												   minDist, maxDist,
-												   verticesA, facesA, indicesA,
-												   verticesB, facesB, indicesB,
-
-												   contactsOut, localContactCapacity);
-
-		if (numContactsOut > 0)
-		{
-			B3_PROFILE("overlap");
-
-			b3Float4 normalOnSurfaceB = (b3Float4&)hostNormal;
-			//			b3Float4 centerOut;
-
-			b3Int4 contactIdx;
-			contactIdx.x = 0;
-			contactIdx.y = 1;
-			contactIdx.z = 2;
-			contactIdx.w = 3;
-
-			int numPoints = 0;
-
-			{
-				B3_PROFILE("extractManifold");
-				numPoints = b3ReduceContacts(contactsOut, numContactsOut, normalOnSurfaceB, &contactIdx);
-			}
-
-			b3Assert(numPoints);
-
-			if (nContacts < maxContactCapacity)
-			{
-				contactIndex = nContacts;
-				globalContactOut->expand();
-				b3Contact4Data& contact = globalContactOut->at(nContacts);
-				contact.m_batchIdx = 0;  //i;
-				contact.m_bodyAPtrAndSignBit = (bodyBuf->at(bodyIndexA).m_invMass == 0) ? -bodyIndexA : bodyIndexA;
-				contact.m_bodyBPtrAndSignBit = (bodyBuf->at(bodyIndexB).m_invMass == 0) ? -bodyIndexB : bodyIndexB;
-
-				contact.m_frictionCoeffCmp = 45874;
-				contact.m_restituitionCoeffCmp = 0;
-
-				//	float distance = 0.f;
-				for (int p = 0; p < numPoints; p++)
-				{
-					contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];  //check if it is actually on B
-					contact.m_worldNormalOnB = normalOnSurfaceB;
-				}
-				//printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints);
-				contact.m_worldNormalOnB.w = (b3Scalar)numPoints;
-				nContacts++;
-			}
-			else
-			{
-				b3Error("Error: exceeding contact capacity (%d/%d)\n", nContacts, maxContactCapacity);
-			}
-		}
-	}
-	return contactIndex;
-}
-
-inline int b3ContactConvexConvexSAT(
-	int pairIndex,
-	int bodyIndexA, int bodyIndexB,
-	int collidableIndexA, int collidableIndexB,
-	const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies,
-	const b3AlignedObjectArray<b3Collidable>& collidables,
-	const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes,
-	const b3AlignedObjectArray<b3Float4>& convexVertices,
-	const b3AlignedObjectArray<b3Float4>& uniqueEdges,
-	const b3AlignedObjectArray<int>& convexIndices,
-	const b3AlignedObjectArray<b3GpuFace>& faces,
-	b3AlignedObjectArray<b3Contact4Data>& globalContactsOut,
-	int& nGlobalContactsOut,
-	int maxContactCapacity)
-{
-	int contactIndex = -1;
-
-	b3Float4 posA = rigidBodies[bodyIndexA].m_pos;
-	b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
-	b3Float4 posB = rigidBodies[bodyIndexB].m_pos;
-	b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
-
-	b3ConvexPolyhedronData hullA, hullB;
-
-	b3Float4 sepNormalWorldSpace;
-
-	b3Collidable colA = collidables[collidableIndexA];
-	hullA = convexShapes[colA.m_shapeIndex];
-	//printf("numvertsA = %d\n",hullA.m_numVertices);
-
-	b3Collidable colB = collidables[collidableIndexB];
-	hullB = convexShapes[colB.m_shapeIndex];
-	//printf("numvertsB = %d\n",hullB.m_numVertices);
-
-#ifdef _WIN32
-	b3Assert(_finite(rigidBodies[bodyIndexA].m_pos.x));
-	b3Assert(_finite(rigidBodies[bodyIndexB].m_pos.x));
-#endif
-
-	bool foundSepAxis = b3FindSeparatingAxis(hullA, hullB,
-											 posA,
-											 ornA,
-											 posB,
-											 ornB,
-
-											 convexVertices, uniqueEdges, faces, convexIndices,
-											 convexVertices, uniqueEdges, faces, convexIndices,
-
-											 sepNormalWorldSpace);
-
-	if (foundSepAxis)
-	{
-		contactIndex = b3ClipHullHullSingle(
-			bodyIndexA, bodyIndexB,
-			posA, ornA,
-			posB, ornB,
-			collidableIndexA, collidableIndexB,
-			&rigidBodies,
-			&globalContactsOut,
-			nGlobalContactsOut,
-
-			convexShapes,
-			convexShapes,
-
-			convexVertices,
-			uniqueEdges,
-			faces,
-			convexIndices,
-
-			convexVertices,
-			uniqueEdges,
-			faces,
-			convexIndices,
-
-			collidables,
-			collidables,
-			sepNormalWorldSpace,
-			maxContactCapacity);
-	}
-
-	return contactIndex;
-}
-
-#endif  //B3_CONTACT_CONVEX_CONVEX_SAT_H
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
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h
deleted file mode 100644
index d5a73bd4f5..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h
+++ /dev/null
@@ -1,38 +0,0 @@
-
-#ifndef B3_CONVEX_POLYHEDRON_DATA_H
-#define B3_CONVEX_POLYHEDRON_DATA_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Common/shared/b3Quat.h"
-
-typedef struct b3GpuFace b3GpuFace_t;
-struct b3GpuFace
-{
-	b3Float4 m_plane;
-	int m_indexOffset;
-	int m_numIndices;
-	int m_unusedPadding1;
-	int m_unusedPadding2;
-};
-
-typedef struct b3ConvexPolyhedronData b3ConvexPolyhedronData_t;
-
-struct b3ConvexPolyhedronData
-{
-	b3Float4 m_localCenter;
-	b3Float4 m_extents;
-	b3Float4 mC;
-	b3Float4 mE;
-
-	float m_radius;
-	int m_faceOffset;
-	int m_numFaces;
-	int m_numVertices;
-
-	int m_vertexOffset;
-	int m_uniqueEdgesOffset;
-	int m_numUniqueEdges;
-	int m_unused;
-};
-
-#endif  //B3_CONVEX_POLYHEDRON_DATA_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
deleted file mode 100644
index 983554eb2e..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
+++ /dev/null
@@ -1,797 +0,0 @@
-#ifndef B3_FIND_CONCAVE_SEPARATING_AXIS_H
-#define B3_FIND_CONCAVE_SEPARATING_AXIS_H
-
-#define B3_TRIANGLE_NUM_CONVEX_FACES 5
-
-#include "Bullet3Common/shared/b3Int4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-
-inline void b3Project(__global const b3ConvexPolyhedronData* hull, b3Float4ConstArg pos, b3QuatConstArg orn,
-					  const b3Float4* dir, __global const b3Float4* vertices, float* min, float* max)
-{
-	min[0] = FLT_MAX;
-	max[0] = -FLT_MAX;
-	int numVerts = hull->m_numVertices;
-
-	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn), *dir);
-	float offset = b3Dot(pos, *dir);
-	for (int i = 0; i < numVerts; i++)
-	{
-		float dp = b3Dot(vertices[hull->m_vertexOffset + i], localDir);
-		if (dp < min[0])
-			min[0] = dp;
-		if (dp > max[0])
-			max[0] = dp;
-	}
-	if (min[0] > max[0])
-	{
-		float tmp = min[0];
-		min[0] = max[0];
-		max[0] = tmp;
-	}
-	min[0] += offset;
-	max[0] += offset;
-}
-
-inline bool b3TestSepAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
-						  b3Float4ConstArg posA, b3QuatConstArg ornA,
-						  b3Float4ConstArg posB, b3QuatConstArg ornB,
-						  b3Float4* sep_axis, const b3Float4* verticesA, __global const b3Float4* verticesB, float* depth)
-{
-	float Min0, Max0;
-	float Min1, Max1;
-	b3Project(hullA, posA, ornA, sep_axis, verticesA, &Min0, &Max0);
-	b3Project(hullB, posB, ornB, sep_axis, verticesB, &Min1, &Max1);
-
-	if (Max0 < Min1 || Max1 < Min0)
-		return false;
-
-	float d0 = Max0 - Min1;
-	float d1 = Max1 - Min0;
-	*depth = d0 < d1 ? d0 : d1;
-	return true;
-}
-
-bool b3FindSeparatingAxis(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
-						  b3Float4ConstArg posA1,
-						  b3QuatConstArg ornA,
-						  b3Float4ConstArg posB1,
-						  b3QuatConstArg ornB,
-						  b3Float4ConstArg DeltaC2,
-
-						  const b3Float4* verticesA,
-						  const b3Float4* uniqueEdgesA,
-						  const b3GpuFace* facesA,
-						  const int* indicesA,
-
-						  __global const b3Float4* verticesB,
-						  __global const b3Float4* uniqueEdgesB,
-						  __global const b3GpuFace* facesB,
-						  __global const int* indicesB,
-						  b3Float4* sep,
-						  float* dmin)
-{
-	b3Float4 posA = posA1;
-	posA.w = 0.f;
-	b3Float4 posB = posB1;
-	posB.w = 0.f;
-	/*
-	static int maxFaceVertex = 0;
-
-	int curFaceVertexAB = hullA->m_numFaces*hullB->m_numVertices;
-	curFaceVertexAB+= hullB->m_numFaces*hullA->m_numVertices;
-
-	if (curFaceVertexAB>maxFaceVertex)
-	{
-		maxFaceVertex = curFaceVertexAB;
-		printf("curFaceVertexAB = %d\n",curFaceVertexAB);
-		printf("hullA->m_numFaces = %d\n",hullA->m_numFaces);
-		printf("hullA->m_numVertices = %d\n",hullA->m_numVertices);
-		printf("hullB->m_numVertices = %d\n",hullB->m_numVertices);
-	}
-*/
-
-	int curPlaneTests = 0;
-	{
-		int numFacesA = hullA->m_numFaces;
-		// Test normals from hullA
-		for (int i = 0; i < numFacesA; i++)
-		{
-			const b3Float4 normal = facesA[hullA->m_faceOffset + i].m_plane;
-			b3Float4 faceANormalWS = b3QuatRotate(ornA, normal);
-			if (b3Dot(DeltaC2, faceANormalWS) < 0)
-				faceANormalWS *= -1.f;
-			curPlaneTests++;
-			float d;
-			if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, &faceANormalWS, verticesA, verticesB, &d))
-				return false;
-			if (d < *dmin)
-			{
-				*dmin = d;
-				*sep = faceANormalWS;
-			}
-		}
-	}
-	if ((b3Dot(-DeltaC2, *sep)) > 0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-b3Vector3 unitSphere162[] =
-	{
-		b3MakeVector3(0.000000, -1.000000, 0.000000),
-		b3MakeVector3(0.203181, -0.967950, 0.147618),
-		b3MakeVector3(-0.077607, -0.967950, 0.238853),
-		b3MakeVector3(0.723607, -0.447220, 0.525725),
-		b3MakeVector3(0.609547, -0.657519, 0.442856),
-		b3MakeVector3(0.812729, -0.502301, 0.295238),
-		b3MakeVector3(-0.251147, -0.967949, 0.000000),
-		b3MakeVector3(-0.077607, -0.967950, -0.238853),
-		b3MakeVector3(0.203181, -0.967950, -0.147618),
-		b3MakeVector3(0.860698, -0.251151, 0.442858),
-		b3MakeVector3(-0.276388, -0.447220, 0.850649),
-		b3MakeVector3(-0.029639, -0.502302, 0.864184),
-		b3MakeVector3(-0.155215, -0.251152, 0.955422),
-		b3MakeVector3(-0.894426, -0.447216, 0.000000),
-		b3MakeVector3(-0.831051, -0.502299, 0.238853),
-		b3MakeVector3(-0.956626, -0.251149, 0.147618),
-		b3MakeVector3(-0.276388, -0.447220, -0.850649),
-		b3MakeVector3(-0.483971, -0.502302, -0.716565),
-		b3MakeVector3(-0.436007, -0.251152, -0.864188),
-		b3MakeVector3(0.723607, -0.447220, -0.525725),
-		b3MakeVector3(0.531941, -0.502302, -0.681712),
-		b3MakeVector3(0.687159, -0.251152, -0.681715),
-		b3MakeVector3(0.687159, -0.251152, 0.681715),
-		b3MakeVector3(-0.436007, -0.251152, 0.864188),
-		b3MakeVector3(-0.956626, -0.251149, -0.147618),
-		b3MakeVector3(-0.155215, -0.251152, -0.955422),
-		b3MakeVector3(0.860698, -0.251151, -0.442858),
-		b3MakeVector3(0.276388, 0.447220, 0.850649),
-		b3MakeVector3(0.483971, 0.502302, 0.716565),
-		b3MakeVector3(0.232822, 0.657519, 0.716563),
-		b3MakeVector3(-0.723607, 0.447220, 0.525725),
-		b3MakeVector3(-0.531941, 0.502302, 0.681712),
-		b3MakeVector3(-0.609547, 0.657519, 0.442856),
-		b3MakeVector3(-0.723607, 0.447220, -0.525725),
-		b3MakeVector3(-0.812729, 0.502301, -0.295238),
-		b3MakeVector3(-0.609547, 0.657519, -0.442856),
-		b3MakeVector3(0.276388, 0.447220, -0.850649),
-		b3MakeVector3(0.029639, 0.502302, -0.864184),
-		b3MakeVector3(0.232822, 0.657519, -0.716563),
-		b3MakeVector3(0.894426, 0.447216, 0.000000),
-		b3MakeVector3(0.831051, 0.502299, -0.238853),
-		b3MakeVector3(0.753442, 0.657515, 0.000000),
-		b3MakeVector3(-0.232822, -0.657519, 0.716563),
-		b3MakeVector3(-0.162456, -0.850654, 0.499995),
-		b3MakeVector3(0.052790, -0.723612, 0.688185),
-		b3MakeVector3(0.138199, -0.894429, 0.425321),
-		b3MakeVector3(0.262869, -0.525738, 0.809012),
-		b3MakeVector3(0.361805, -0.723611, 0.587779),
-		b3MakeVector3(0.531941, -0.502302, 0.681712),
-		b3MakeVector3(0.425323, -0.850654, 0.309011),
-		b3MakeVector3(0.812729, -0.502301, -0.295238),
-		b3MakeVector3(0.609547, -0.657519, -0.442856),
-		b3MakeVector3(0.850648, -0.525736, 0.000000),
-		b3MakeVector3(0.670817, -0.723611, -0.162457),
-		b3MakeVector3(0.670817, -0.723610, 0.162458),
-		b3MakeVector3(0.425323, -0.850654, -0.309011),
-		b3MakeVector3(0.447211, -0.894428, 0.000001),
-		b3MakeVector3(-0.753442, -0.657515, 0.000000),
-		b3MakeVector3(-0.525730, -0.850652, 0.000000),
-		b3MakeVector3(-0.638195, -0.723609, 0.262864),
-		b3MakeVector3(-0.361801, -0.894428, 0.262864),
-		b3MakeVector3(-0.688189, -0.525736, 0.499997),
-		b3MakeVector3(-0.447211, -0.723610, 0.525729),
-		b3MakeVector3(-0.483971, -0.502302, 0.716565),
-		b3MakeVector3(-0.232822, -0.657519, -0.716563),
-		b3MakeVector3(-0.162456, -0.850654, -0.499995),
-		b3MakeVector3(-0.447211, -0.723611, -0.525727),
-		b3MakeVector3(-0.361801, -0.894429, -0.262863),
-		b3MakeVector3(-0.688189, -0.525736, -0.499997),
-		b3MakeVector3(-0.638195, -0.723609, -0.262863),
-		b3MakeVector3(-0.831051, -0.502299, -0.238853),
-		b3MakeVector3(0.361804, -0.723612, -0.587779),
-		b3MakeVector3(0.138197, -0.894429, -0.425321),
-		b3MakeVector3(0.262869, -0.525738, -0.809012),
-		b3MakeVector3(0.052789, -0.723611, -0.688186),
-		b3MakeVector3(-0.029639, -0.502302, -0.864184),
-		b3MakeVector3(0.956626, 0.251149, 0.147618),
-		b3MakeVector3(0.956626, 0.251149, -0.147618),
-		b3MakeVector3(0.951058, -0.000000, 0.309013),
-		b3MakeVector3(1.000000, 0.000000, 0.000000),
-		b3MakeVector3(0.947213, -0.276396, 0.162458),
-		b3MakeVector3(0.951058, 0.000000, -0.309013),
-		b3MakeVector3(0.947213, -0.276396, -0.162458),
-		b3MakeVector3(0.155215, 0.251152, 0.955422),
-		b3MakeVector3(0.436007, 0.251152, 0.864188),
-		b3MakeVector3(-0.000000, -0.000000, 1.000000),
-		b3MakeVector3(0.309017, 0.000000, 0.951056),
-		b3MakeVector3(0.138199, -0.276398, 0.951055),
-		b3MakeVector3(0.587786, 0.000000, 0.809017),
-		b3MakeVector3(0.447216, -0.276398, 0.850648),
-		b3MakeVector3(-0.860698, 0.251151, 0.442858),
-		b3MakeVector3(-0.687159, 0.251152, 0.681715),
-		b3MakeVector3(-0.951058, -0.000000, 0.309013),
-		b3MakeVector3(-0.809018, 0.000000, 0.587783),
-		b3MakeVector3(-0.861803, -0.276396, 0.425324),
-		b3MakeVector3(-0.587786, 0.000000, 0.809017),
-		b3MakeVector3(-0.670819, -0.276397, 0.688191),
-		b3MakeVector3(-0.687159, 0.251152, -0.681715),
-		b3MakeVector3(-0.860698, 0.251151, -0.442858),
-		b3MakeVector3(-0.587786, -0.000000, -0.809017),
-		b3MakeVector3(-0.809018, -0.000000, -0.587783),
-		b3MakeVector3(-0.670819, -0.276397, -0.688191),
-		b3MakeVector3(-0.951058, 0.000000, -0.309013),
-		b3MakeVector3(-0.861803, -0.276396, -0.425324),
-		b3MakeVector3(0.436007, 0.251152, -0.864188),
-		b3MakeVector3(0.155215, 0.251152, -0.955422),
-		b3MakeVector3(0.587786, -0.000000, -0.809017),
-		b3MakeVector3(0.309017, -0.000000, -0.951056),
-		b3MakeVector3(0.447216, -0.276398, -0.850648),
-		b3MakeVector3(0.000000, 0.000000, -1.000000),
-		b3MakeVector3(0.138199, -0.276398, -0.951055),
-		b3MakeVector3(0.670820, 0.276396, 0.688190),
-		b3MakeVector3(0.809019, -0.000002, 0.587783),
-		b3MakeVector3(0.688189, 0.525736, 0.499997),
-		b3MakeVector3(0.861804, 0.276394, 0.425323),
-		b3MakeVector3(0.831051, 0.502299, 0.238853),
-		b3MakeVector3(-0.447216, 0.276397, 0.850649),
-		b3MakeVector3(-0.309017, -0.000001, 0.951056),
-		b3MakeVector3(-0.262869, 0.525738, 0.809012),
-		b3MakeVector3(-0.138199, 0.276397, 0.951055),
-		b3MakeVector3(0.029639, 0.502302, 0.864184),
-		b3MakeVector3(-0.947213, 0.276396, -0.162458),
-		b3MakeVector3(-1.000000, 0.000001, 0.000000),
-		b3MakeVector3(-0.850648, 0.525736, -0.000000),
-		b3MakeVector3(-0.947213, 0.276397, 0.162458),
-		b3MakeVector3(-0.812729, 0.502301, 0.295238),
-		b3MakeVector3(-0.138199, 0.276397, -0.951055),
-		b3MakeVector3(-0.309016, -0.000000, -0.951057),
-		b3MakeVector3(-0.262869, 0.525738, -0.809012),
-		b3MakeVector3(-0.447215, 0.276397, -0.850649),
-		b3MakeVector3(-0.531941, 0.502302, -0.681712),
-		b3MakeVector3(0.861804, 0.276396, -0.425322),
-		b3MakeVector3(0.809019, 0.000000, -0.587782),
-		b3MakeVector3(0.688189, 0.525736, -0.499997),
-		b3MakeVector3(0.670821, 0.276397, -0.688189),
-		b3MakeVector3(0.483971, 0.502302, -0.716565),
-		b3MakeVector3(0.077607, 0.967950, 0.238853),
-		b3MakeVector3(0.251147, 0.967949, 0.000000),
-		b3MakeVector3(0.000000, 1.000000, 0.000000),
-		b3MakeVector3(0.162456, 0.850654, 0.499995),
-		b3MakeVector3(0.361800, 0.894429, 0.262863),
-		b3MakeVector3(0.447209, 0.723612, 0.525728),
-		b3MakeVector3(0.525730, 0.850652, 0.000000),
-		b3MakeVector3(0.638194, 0.723610, 0.262864),
-		b3MakeVector3(-0.203181, 0.967950, 0.147618),
-		b3MakeVector3(-0.425323, 0.850654, 0.309011),
-		b3MakeVector3(-0.138197, 0.894430, 0.425320),
-		b3MakeVector3(-0.361804, 0.723612, 0.587778),
-		b3MakeVector3(-0.052790, 0.723612, 0.688185),
-		b3MakeVector3(-0.203181, 0.967950, -0.147618),
-		b3MakeVector3(-0.425323, 0.850654, -0.309011),
-		b3MakeVector3(-0.447210, 0.894429, 0.000000),
-		b3MakeVector3(-0.670817, 0.723611, -0.162457),
-		b3MakeVector3(-0.670817, 0.723611, 0.162457),
-		b3MakeVector3(0.077607, 0.967950, -0.238853),
-		b3MakeVector3(0.162456, 0.850654, -0.499995),
-		b3MakeVector3(-0.138197, 0.894430, -0.425320),
-		b3MakeVector3(-0.052790, 0.723612, -0.688185),
-		b3MakeVector3(-0.361804, 0.723612, -0.587778),
-		b3MakeVector3(0.361800, 0.894429, -0.262863),
-		b3MakeVector3(0.638194, 0.723610, -0.262864),
-		b3MakeVector3(0.447209, 0.723612, -0.525728)};
-
-bool b3FindSeparatingAxisEdgeEdge(const b3ConvexPolyhedronData* hullA, __global const b3ConvexPolyhedronData* hullB,
-								  b3Float4ConstArg posA1,
-								  b3QuatConstArg ornA,
-								  b3Float4ConstArg posB1,
-								  b3QuatConstArg ornB,
-								  b3Float4ConstArg DeltaC2,
-								  const b3Float4* verticesA,
-								  const b3Float4* uniqueEdgesA,
-								  const b3GpuFace* facesA,
-								  const int* indicesA,
-								  __global const b3Float4* verticesB,
-								  __global const b3Float4* uniqueEdgesB,
-								  __global const b3GpuFace* facesB,
-								  __global const int* indicesB,
-								  b3Float4* sep,
-								  float* dmin,
-								  bool searchAllEdgeEdge)
-{
-	b3Float4 posA = posA1;
-	posA.w = 0.f;
-	b3Float4 posB = posB1;
-	posB.w = 0.f;
-
-	//	int curPlaneTests=0;
-
-	int curEdgeEdge = 0;
-	// Test edges
-	static int maxEdgeTests = 0;
-	int curEdgeTests = hullA->m_numUniqueEdges * hullB->m_numUniqueEdges;
-	if (curEdgeTests > maxEdgeTests)
-	{
-		maxEdgeTests = curEdgeTests;
-		printf("maxEdgeTests = %d\n", maxEdgeTests);
-		printf("hullA->m_numUniqueEdges = %d\n", hullA->m_numUniqueEdges);
-		printf("hullB->m_numUniqueEdges = %d\n", hullB->m_numUniqueEdges);
-	}
-
-	if (searchAllEdgeEdge)
-	{
-		for (int e0 = 0; e0 < hullA->m_numUniqueEdges; e0++)
-		{
-			const b3Float4 edge0 = uniqueEdgesA[hullA->m_uniqueEdgesOffset + e0];
-			b3Float4 edge0World = b3QuatRotate(ornA, edge0);
-
-			for (int e1 = 0; e1 < hullB->m_numUniqueEdges; e1++)
-			{
-				const b3Float4 edge1 = uniqueEdgesB[hullB->m_uniqueEdgesOffset + e1];
-				b3Float4 edge1World = b3QuatRotate(ornB, edge1);
-
-				b3Float4 crossje = b3Cross(edge0World, edge1World);
-
-				curEdgeEdge++;
-				if (!b3IsAlmostZero(crossje))
-				{
-					crossje = b3Normalized(crossje);
-					if (b3Dot(DeltaC2, crossje) < 0)
-						crossje *= -1.f;
-
-					float dist;
-					bool result = true;
-					{
-						float Min0, Max0;
-						float Min1, Max1;
-						b3Project(hullA, posA, ornA, &crossje, verticesA, &Min0, &Max0);
-						b3Project(hullB, posB, ornB, &crossje, verticesB, &Min1, &Max1);
-
-						if (Max0 < Min1 || Max1 < Min0)
-							return false;
-
-						float d0 = Max0 - Min1;
-						float d1 = Max1 - Min0;
-						dist = d0 < d1 ? d0 : d1;
-						result = true;
-					}
-
-					if (dist < *dmin)
-					{
-						*dmin = dist;
-						*sep = crossje;
-					}
-				}
-			}
-		}
-	}
-	else
-	{
-		int numDirections = sizeof(unitSphere162) / sizeof(b3Vector3);
-		//printf("numDirections =%d\n",numDirections );
-
-		for (int i = 0; i < numDirections; i++)
-		{
-			b3Float4 crossje = unitSphere162[i];
-			{
-				//if (b3Dot(DeltaC2,crossje)>0)
-				{
-					float dist;
-					bool result = true;
-					{
-						float Min0, Max0;
-						float Min1, Max1;
-						b3Project(hullA, posA, ornA, &crossje, verticesA, &Min0, &Max0);
-						b3Project(hullB, posB, ornB, &crossje, verticesB, &Min1, &Max1);
-
-						if (Max0 < Min1 || Max1 < Min0)
-							return false;
-
-						float d0 = Max0 - Min1;
-						float d1 = Max1 - Min0;
-						dist = d0 < d1 ? d0 : d1;
-						result = true;
-					}
-
-					if (dist < *dmin)
-					{
-						*dmin = dist;
-						*sep = crossje;
-					}
-				}
-			}
-		}
-	}
-
-	if ((b3Dot(-DeltaC2, *sep)) > 0.0f)
-	{
-		*sep = -(*sep);
-	}
-	return true;
-}
-
-inline int b3FindClippingFaces(b3Float4ConstArg separatingNormal,
-							   __global const b3ConvexPolyhedronData_t* hullA, __global const b3ConvexPolyhedronData_t* hullB,
-							   b3Float4ConstArg posA, b3QuatConstArg ornA, b3Float4ConstArg posB, b3QuatConstArg ornB,
-							   __global b3Float4* worldVertsA1,
-							   __global b3Float4* worldNormalsA1,
-							   __global b3Float4* worldVertsB1,
-							   int capacityWorldVerts,
-							   const float minDist, float maxDist,
-							   __global const b3Float4* verticesA,
-							   __global const b3GpuFace_t* facesA,
-							   __global const int* indicesA,
-							   __global const b3Float4* verticesB,
-							   __global const b3GpuFace_t* facesB,
-							   __global const int* indicesB,
-
-							   __global b3Int4* clippingFaces, int pairIndex)
-{
-	int numContactsOut = 0;
-	int numWorldVertsB1 = 0;
-
-	int closestFaceB = -1;
-	float dmax = -FLT_MAX;
-
-	{
-		for (int face = 0; face < hullB->m_numFaces; face++)
-		{
-			const b3Float4 Normal = b3MakeFloat4(facesB[hullB->m_faceOffset + face].m_plane.x,
-												 facesB[hullB->m_faceOffset + face].m_plane.y, facesB[hullB->m_faceOffset + face].m_plane.z, 0.f);
-			const b3Float4 WorldNormal = b3QuatRotate(ornB, Normal);
-			float d = b3Dot(WorldNormal, separatingNormal);
-			if (d > dmax)
-			{
-				dmax = d;
-				closestFaceB = face;
-			}
-		}
-	}
-
-	{
-		const b3GpuFace_t polyB = facesB[hullB->m_faceOffset + closestFaceB];
-		const int numVertices = polyB.m_numIndices;
-		for (int e0 = 0; e0 < numVertices; e0++)
-		{
-			const b3Float4 b = verticesB[hullB->m_vertexOffset + indicesB[polyB.m_indexOffset + e0]];
-			worldVertsB1[pairIndex * capacityWorldVerts + numWorldVertsB1++] = b3TransformPoint(b, posB, ornB);
-		}
-	}
-
-	int closestFaceA = -1;
-	{
-		float dmin = FLT_MAX;
-		for (int face = 0; face < hullA->m_numFaces; face++)
-		{
-			const b3Float4 Normal = b3MakeFloat4(
-				facesA[hullA->m_faceOffset + face].m_plane.x,
-				facesA[hullA->m_faceOffset + face].m_plane.y,
-				facesA[hullA->m_faceOffset + face].m_plane.z,
-				0.f);
-			const b3Float4 faceANormalWS = b3QuatRotate(ornA, Normal);
-
-			float d = b3Dot(faceANormalWS, separatingNormal);
-			if (d < dmin)
-			{
-				dmin = d;
-				closestFaceA = face;
-				worldNormalsA1[pairIndex] = faceANormalWS;
-			}
-		}
-	}
-
-	int numVerticesA = facesA[hullA->m_faceOffset + closestFaceA].m_numIndices;
-	for (int e0 = 0; e0 < numVerticesA; e0++)
-	{
-		const b3Float4 a = verticesA[hullA->m_vertexOffset + indicesA[facesA[hullA->m_faceOffset + closestFaceA].m_indexOffset + e0]];
-		worldVertsA1[pairIndex * capacityWorldVerts + e0] = b3TransformPoint(a, posA, ornA);
-	}
-
-	clippingFaces[pairIndex].x = closestFaceA;
-	clippingFaces[pairIndex].y = closestFaceB;
-	clippingFaces[pairIndex].z = numVerticesA;
-	clippingFaces[pairIndex].w = numWorldVertsB1;
-
-	return numContactsOut;
-}
-
-__kernel void b3FindConcaveSeparatingAxisKernel(__global b3Int4* concavePairs,
-												__global const b3RigidBodyData* rigidBodies,
-												__global const b3Collidable* collidables,
-												__global const b3ConvexPolyhedronData* convexShapes,
-												__global const b3Float4* vertices,
-												__global const b3Float4* uniqueEdges,
-												__global const b3GpuFace* faces,
-												__global const int* indices,
-												__global const b3GpuChildShape* gpuChildShapes,
-												__global b3Aabb* aabbs,
-												__global b3Float4* concaveSeparatingNormalsOut,
-												__global b3Int4* clippingFacesOut,
-												__global b3Vector3* worldVertsA1Out,
-												__global b3Vector3* worldNormalsA1Out,
-												__global b3Vector3* worldVertsB1Out,
-												__global int* hasSeparatingNormals,
-												int vertexFaceCapacity,
-												int numConcavePairs,
-												int pairIdx)
-{
-	int i = pairIdx;
-	/*	int i = get_global_id(0);
-	if (i>=numConcavePairs)
-		return;
-	int pairIdx = i;
-	*/
-
-	int bodyIndexA = concavePairs[i].x;
-	int bodyIndexB = concavePairs[i].y;
-
-	int collidableIndexA = rigidBodies[bodyIndexA].m_collidableIdx;
-	int collidableIndexB = rigidBodies[bodyIndexB].m_collidableIdx;
-
-	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
-	if (collidables[collidableIndexB].m_shapeType != SHAPE_CONVEX_HULL &&
-		collidables[collidableIndexB].m_shapeType != SHAPE_COMPOUND_OF_CONVEX_HULLS)
-	{
-		concavePairs[pairIdx].w = -1;
-		return;
-	}
-
-	hasSeparatingNormals[i] = 0;
-
-	//	int numFacesA = convexShapes[shapeIndexA].m_numFaces;
-	int numActualConcaveConvexTests = 0;
-
-	int f = concavePairs[i].z;
-
-	bool overlap = false;
-
-	b3ConvexPolyhedronData convexPolyhedronA;
-
-	//add 3 vertices of the triangle
-	convexPolyhedronA.m_numVertices = 3;
-	convexPolyhedronA.m_vertexOffset = 0;
-	b3Float4 localCenter = b3MakeFloat4(0.f, 0.f, 0.f, 0.f);
-
-	b3GpuFace face = faces[convexShapes[shapeIndexA].m_faceOffset + f];
-	b3Aabb triAabb;
-	triAabb.m_minVec = b3MakeFloat4(1e30f, 1e30f, 1e30f, 0.f);
-	triAabb.m_maxVec = b3MakeFloat4(-1e30f, -1e30f, -1e30f, 0.f);
-
-	b3Float4 verticesA[3];
-	for (int i = 0; i < 3; i++)
-	{
-		int index = indices[face.m_indexOffset + i];
-		b3Float4 vert = vertices[convexShapes[shapeIndexA].m_vertexOffset + index];
-		verticesA[i] = vert;
-		localCenter += vert;
-
-		triAabb.m_minVec = b3MinFloat4(triAabb.m_minVec, vert);
-		triAabb.m_maxVec = b3MaxFloat4(triAabb.m_maxVec, vert);
-	}
-
-	overlap = true;
-	overlap = (triAabb.m_minVec.x > aabbs[bodyIndexB].m_maxVec.x || triAabb.m_maxVec.x < aabbs[bodyIndexB].m_minVec.x) ? false : overlap;
-	overlap = (triAabb.m_minVec.z > aabbs[bodyIndexB].m_maxVec.z || triAabb.m_maxVec.z < aabbs[bodyIndexB].m_minVec.z) ? false : overlap;
-	overlap = (triAabb.m_minVec.y > aabbs[bodyIndexB].m_maxVec.y || triAabb.m_maxVec.y < aabbs[bodyIndexB].m_minVec.y) ? false : overlap;
-
-	if (overlap)
-	{
-		float dmin = FLT_MAX;
-		int hasSeparatingAxis = 5;
-		b3Float4 sepAxis = b3MakeFloat4(1, 2, 3, 4);
-
-		//	int localCC=0;
-		numActualConcaveConvexTests++;
-
-		//a triangle has 3 unique edges
-		convexPolyhedronA.m_numUniqueEdges = 3;
-		convexPolyhedronA.m_uniqueEdgesOffset = 0;
-		b3Float4 uniqueEdgesA[3];
-
-		uniqueEdgesA[0] = (verticesA[1] - verticesA[0]);
-		uniqueEdgesA[1] = (verticesA[2] - verticesA[1]);
-		uniqueEdgesA[2] = (verticesA[0] - verticesA[2]);
-
-		convexPolyhedronA.m_faceOffset = 0;
-
-		b3Float4 normal = b3MakeFloat4(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f);
-
-		b3GpuFace facesA[B3_TRIANGLE_NUM_CONVEX_FACES];
-		int indicesA[3 + 3 + 2 + 2 + 2];
-		int curUsedIndices = 0;
-		int fidx = 0;
-
-		//front size of triangle
-		{
-			facesA[fidx].m_indexOffset = curUsedIndices;
-			indicesA[0] = 0;
-			indicesA[1] = 1;
-			indicesA[2] = 2;
-			curUsedIndices += 3;
-			float c = face.m_plane.w;
-			facesA[fidx].m_plane.x = normal.x;
-			facesA[fidx].m_plane.y = normal.y;
-			facesA[fidx].m_plane.z = normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices = 3;
-		}
-		fidx++;
-		//back size of triangle
-		{
-			facesA[fidx].m_indexOffset = curUsedIndices;
-			indicesA[3] = 2;
-			indicesA[4] = 1;
-			indicesA[5] = 0;
-			curUsedIndices += 3;
-			float c = b3Dot(normal, verticesA[0]);
-			//	float c1 = -face.m_plane.w;
-			facesA[fidx].m_plane.x = -normal.x;
-			facesA[fidx].m_plane.y = -normal.y;
-			facesA[fidx].m_plane.z = -normal.z;
-			facesA[fidx].m_plane.w = c;
-			facesA[fidx].m_numIndices = 3;
-		}
-		fidx++;
-
-		bool addEdgePlanes = true;
-		if (addEdgePlanes)
-		{
-			int numVertices = 3;
-			int prevVertex = numVertices - 1;
-			for (int i = 0; i < numVertices; i++)
-			{
-				b3Float4 v0 = verticesA[i];
-				b3Float4 v1 = verticesA[prevVertex];
-
-				b3Float4 edgeNormal = b3Normalized(b3Cross(normal, v1 - v0));
-				float c = -b3Dot(edgeNormal, v0);
-
-				facesA[fidx].m_numIndices = 2;
-				facesA[fidx].m_indexOffset = curUsedIndices;
-				indicesA[curUsedIndices++] = i;
-				indicesA[curUsedIndices++] = prevVertex;
-
-				facesA[fidx].m_plane.x = edgeNormal.x;
-				facesA[fidx].m_plane.y = edgeNormal.y;
-				facesA[fidx].m_plane.z = edgeNormal.z;
-				facesA[fidx].m_plane.w = c;
-				fidx++;
-				prevVertex = i;
-			}
-		}
-		convexPolyhedronA.m_numFaces = B3_TRIANGLE_NUM_CONVEX_FACES;
-		convexPolyhedronA.m_localCenter = localCenter * (1.f / 3.f);
-
-		b3Float4 posA = rigidBodies[bodyIndexA].m_pos;
-		posA.w = 0.f;
-		b3Float4 posB = rigidBodies[bodyIndexB].m_pos;
-		posB.w = 0.f;
-
-		b3Quaternion ornA = rigidBodies[bodyIndexA].m_quat;
-		b3Quaternion ornB = rigidBodies[bodyIndexB].m_quat;
-
-		///////////////////
-		///compound shape support
-
-		if (collidables[collidableIndexB].m_shapeType == SHAPE_COMPOUND_OF_CONVEX_HULLS)
-		{
-			int compoundChild = concavePairs[pairIdx].w;
-			int childShapeIndexB = compoundChild;  //collidables[collidableIndexB].m_shapeIndex+compoundChild;
-			int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
-			b3Float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
-			b3Quaternion childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
-			b3Float4 newPosB = b3TransformPoint(childPosB, posB, ornB);
-			b3Quaternion newOrnB = b3QuatMul(ornB, childOrnB);
-			posB = newPosB;
-			ornB = newOrnB;
-			shapeIndexB = collidables[childColIndexB].m_shapeIndex;
-		}
-		//////////////////
-
-		b3Float4 c0local = convexPolyhedronA.m_localCenter;
-		b3Float4 c0 = b3TransformPoint(c0local, posA, ornA);
-		b3Float4 c1local = convexShapes[shapeIndexB].m_localCenter;
-		b3Float4 c1 = b3TransformPoint(c1local, posB, ornB);
-		const b3Float4 DeltaC2 = c0 - c1;
-
-		bool sepA = b3FindSeparatingAxis(&convexPolyhedronA, &convexShapes[shapeIndexB],
-										 posA, ornA,
-										 posB, ornB,
-										 DeltaC2,
-										 verticesA, uniqueEdgesA, facesA, indicesA,
-										 vertices, uniqueEdges, faces, indices,
-										 &sepAxis, &dmin);
-		hasSeparatingAxis = 4;
-		if (!sepA)
-		{
-			hasSeparatingAxis = 0;
-		}
-		else
-		{
-			bool sepB = b3FindSeparatingAxis(&convexShapes[shapeIndexB], &convexPolyhedronA,
-											 posB, ornB,
-											 posA, ornA,
-											 DeltaC2,
-											 vertices, uniqueEdges, faces, indices,
-											 verticesA, uniqueEdgesA, facesA, indicesA,
-											 &sepAxis, &dmin);
-
-			if (!sepB)
-			{
-				hasSeparatingAxis = 0;
-			}
-			else
-			{
-				bool sepEE = b3FindSeparatingAxisEdgeEdge(&convexPolyhedronA, &convexShapes[shapeIndexB],
-														  posA, ornA,
-														  posB, ornB,
-														  DeltaC2,
-														  verticesA, uniqueEdgesA, facesA, indicesA,
-														  vertices, uniqueEdges, faces, indices,
-														  &sepAxis, &dmin, true);
-
-				if (!sepEE)
-				{
-					hasSeparatingAxis = 0;
-				}
-				else
-				{
-					hasSeparatingAxis = 1;
-				}
-			}
-		}
-
-		if (hasSeparatingAxis)
-		{
-			hasSeparatingNormals[i] = 1;
-			sepAxis.w = dmin;
-			concaveSeparatingNormalsOut[pairIdx] = sepAxis;
-
-			//now compute clipping faces A and B, and world-space clipping vertices A and B...
-
-			float minDist = -1e30f;
-			float maxDist = 0.02f;
-
-			b3FindClippingFaces(sepAxis,
-								&convexPolyhedronA,
-								&convexShapes[shapeIndexB],
-								posA, ornA,
-								posB, ornB,
-								worldVertsA1Out,
-								worldNormalsA1Out,
-								worldVertsB1Out,
-								vertexFaceCapacity,
-								minDist, maxDist,
-								verticesA,
-								facesA,
-								indicesA,
-
-								vertices,
-								faces,
-								indices,
-								clippingFacesOut, pairIdx);
-		}
-		else
-		{
-			//mark this pair as in-active
-			concavePairs[pairIdx].w = -1;
-		}
-	}
-	else
-	{
-		//mark this pair as in-active
-		concavePairs[pairIdx].w = -1;
-	}
-}
-
-#endif  //B3_FIND_CONCAVE_SEPARATING_AXIS_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
deleted file mode 100644
index b4981ae654..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
+++ /dev/null
@@ -1,197 +0,0 @@
-#ifndef B3_FIND_SEPARATING_AXIS_H
-#define B3_FIND_SEPARATING_AXIS_H
-
-inline void b3ProjectAxis(const b3ConvexPolyhedronData& hull, const b3Float4& pos, const b3Quaternion& orn, const b3Float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max)
-{
-	min = FLT_MAX;
-	max = -FLT_MAX;
-	int numVerts = hull.m_numVertices;
-
-	const b3Float4 localDir = b3QuatRotate(orn.inverse(), dir);
-
-	b3Scalar offset = b3Dot3F4(pos, dir);
-
-	for (int i = 0; i < numVerts; i++)
-	{
-		//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
-		//b3Scalar dp = pt.dot(dir);
-		//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
-		b3Scalar dp = b3Dot3F4((b3Float4&)vertices[hull.m_vertexOffset + i], localDir);
-		//b3Assert(dp==dpL);
-		if (dp < min) min = dp;
-		if (dp > max) max = dp;
-	}
-	if (min > max)
-	{
-		b3Scalar tmp = min;
-		min = max;
-		max = tmp;
-	}
-	min += offset;
-	max += offset;
-}
-
-inline bool b3TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
-						  const b3Float4& posA, const b3Quaternion& ornA,
-						  const b3Float4& posB, const b3Quaternion& ornB,
-						  const b3Float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB, b3Scalar& depth)
-{
-	b3Scalar Min0, Max0;
-	b3Scalar Min1, Max1;
-	b3ProjectAxis(hullA, posA, ornA, sep_axis, verticesA, Min0, Max0);
-	b3ProjectAxis(hullB, posB, ornB, sep_axis, verticesB, Min1, Max1);
-
-	if (Max0 < Min1 || Max1 < Min0)
-		return false;
-
-	b3Scalar d0 = Max0 - Min1;
-	b3Assert(d0 >= 0.0f);
-	b3Scalar d1 = Max1 - Min0;
-	b3Assert(d1 >= 0.0f);
-	depth = d0 < d1 ? d0 : d1;
-	return true;
-}
-
-inline bool b3FindSeparatingAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
-								 const b3Float4& posA1,
-								 const b3Quaternion& ornA,
-								 const b3Float4& posB1,
-								 const b3Quaternion& ornB,
-								 const b3AlignedObjectArray<b3Vector3>& verticesA,
-								 const b3AlignedObjectArray<b3Vector3>& uniqueEdgesA,
-								 const b3AlignedObjectArray<b3GpuFace>& facesA,
-								 const b3AlignedObjectArray<int>& indicesA,
-								 const b3AlignedObjectArray<b3Vector3>& verticesB,
-								 const b3AlignedObjectArray<b3Vector3>& uniqueEdgesB,
-								 const b3AlignedObjectArray<b3GpuFace>& facesB,
-								 const b3AlignedObjectArray<int>& indicesB,
-
-								 b3Vector3& sep)
-{
-	B3_PROFILE("findSeparatingAxis");
-
-	b3Float4 posA = posA1;
-	posA.w = 0.f;
-	b3Float4 posB = posB1;
-	posB.w = 0.f;
-	//#ifdef TEST_INTERNAL_OBJECTS
-	b3Float4 c0local = (b3Float4&)hullA.m_localCenter;
-
-	b3Float4 c0 = b3TransformPoint(c0local, posA, ornA);
-	b3Float4 c1local = (b3Float4&)hullB.m_localCenter;
-	b3Float4 c1 = b3TransformPoint(c1local, posB, ornB);
-	const b3Float4 deltaC2 = c0 - c1;
-	//#endif
-
-	b3Scalar dmin = FLT_MAX;
-	int curPlaneTests = 0;
-
-	int numFacesA = hullA.m_numFaces;
-	// Test normals from hullA
-	for (int i = 0; i < numFacesA; i++)
-	{
-		const b3Float4& normal = (b3Float4&)facesA[hullA.m_faceOffset + i].m_plane;
-		b3Float4 faceANormalWS = b3QuatRotate(ornA, normal);
-
-		if (b3Dot3F4(deltaC2, faceANormalWS) < 0)
-			faceANormalWS *= -1.f;
-
-		curPlaneTests++;
-#ifdef TEST_INTERNAL_OBJECTS
-		gExpectedNbTests++;
-		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
-			continue;
-		gActualNbTests++;
-#endif
-
-		b3Scalar d;
-		if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, faceANormalWS, verticesA, verticesB, d))
-			return false;
-
-		if (d < dmin)
-		{
-			dmin = d;
-			sep = (b3Vector3&)faceANormalWS;
-		}
-	}
-
-	int numFacesB = hullB.m_numFaces;
-	// Test normals from hullB
-	for (int i = 0; i < numFacesB; i++)
-	{
-		b3Float4 normal = (b3Float4&)facesB[hullB.m_faceOffset + i].m_plane;
-		b3Float4 WorldNormal = b3QuatRotate(ornB, normal);
-
-		if (b3Dot3F4(deltaC2, WorldNormal) < 0)
-		{
-			WorldNormal *= -1.f;
-		}
-		curPlaneTests++;
-#ifdef TEST_INTERNAL_OBJECTS
-		gExpectedNbTests++;
-		if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin))
-			continue;
-		gActualNbTests++;
-#endif
-
-		b3Scalar d;
-		if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, WorldNormal, verticesA, verticesB, d))
-			return false;
-
-		if (d < dmin)
-		{
-			dmin = d;
-			sep = (b3Vector3&)WorldNormal;
-		}
-	}
-
-	//	b3Vector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
-
-	int curEdgeEdge = 0;
-	// Test edges
-	for (int e0 = 0; e0 < hullA.m_numUniqueEdges; e0++)
-	{
-		const b3Float4& edge0 = (b3Float4&)uniqueEdgesA[hullA.m_uniqueEdgesOffset + e0];
-		b3Float4 edge0World = b3QuatRotate(ornA, (b3Float4&)edge0);
-
-		for (int e1 = 0; e1 < hullB.m_numUniqueEdges; e1++)
-		{
-			const b3Vector3 edge1 = uniqueEdgesB[hullB.m_uniqueEdgesOffset + e1];
-			b3Float4 edge1World = b3QuatRotate(ornB, (b3Float4&)edge1);
-
-			b3Float4 crossje = b3Cross3(edge0World, edge1World);
-
-			curEdgeEdge++;
-			if (!b3IsAlmostZero((b3Vector3&)crossje))
-			{
-				crossje = b3FastNormalized3(crossje);
-				if (b3Dot3F4(deltaC2, crossje) < 0)
-					crossje *= -1.f;
-
-#ifdef TEST_INTERNAL_OBJECTS
-				gExpectedNbTests++;
-				if (gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, Cross, hullA, hullB, dmin))
-					continue;
-				gActualNbTests++;
-#endif
-
-				b3Scalar dist;
-				if (!b3TestSepAxis(hullA, hullB, posA, ornA, posB, ornB, crossje, verticesA, verticesB, dist))
-					return false;
-
-				if (dist < dmin)
-				{
-					dmin = dist;
-					sep = (b3Vector3&)crossje;
-				}
-			}
-		}
-	}
-
-	if ((b3Dot3F4(-deltaC2, (b3Float4&)sep)) > 0.0f)
-		sep = -sep;
-
-	return true;
-}
-
-#endif  //B3_FIND_SEPARATING_AXIS_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
deleted file mode 100644
index a3bfbf2995..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h
+++ /dev/null
@@ -1,888 +0,0 @@
-
-/***
- * ---------------------------------
- * Copyright (c)2012 Daniel Fiser <danfis@danfis.cz>
- *
- *  This file was ported from mpr.c file, part of libccd.
- *  The Minkoski Portal Refinement implementation was ported 
- *  to OpenCL by Erwin Coumans for the Bullet 3 Physics library.
- *  at http://github.com/erwincoumans/bullet3
- *
- *  Distributed under the OSI-approved BSD License (the "License");
- *  see <http://www.opensource.org/licenses/bsd-license.php>.
- *  This software is distributed WITHOUT ANY WARRANTY; without even the
- *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *  See the License for more information.
- */
-
-#ifndef B3_MPR_PENETRATION_H
-#define B3_MPR_PENETRATION_H
-
-#include "Bullet3Common/shared/b3PlatformDefinitions.h"
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-
-#ifdef __cplusplus
-#define B3_MPR_SQRT sqrtf
-#else
-#define B3_MPR_SQRT sqrt
-#endif
-#define B3_MPR_FMIN(x, y) ((x) < (y) ? (x) : (y))
-#define B3_MPR_FABS fabs
-
-#define B3_MPR_TOLERANCE 1E-6f
-#define B3_MPR_MAX_ITERATIONS 1000
-
-struct _b3MprSupport_t
-{
-	b3Float4 v;   //!< Support point in minkowski sum
-	b3Float4 v1;  //!< Support point in obj1
-	b3Float4 v2;  //!< Support point in obj2
-};
-typedef struct _b3MprSupport_t b3MprSupport_t;
-
-struct _b3MprSimplex_t
-{
-	b3MprSupport_t ps[4];
-	int last;  //!< index of last added point
-};
-typedef struct _b3MprSimplex_t b3MprSimplex_t;
-
-inline b3MprSupport_t *b3MprSimplexPointW(b3MprSimplex_t *s, int idx)
-{
-	return &s->ps[idx];
-}
-
-inline void b3MprSimplexSetSize(b3MprSimplex_t *s, int size)
-{
-	s->last = size - 1;
-}
-
-inline int b3MprSimplexSize(const b3MprSimplex_t *s)
-{
-	return s->last + 1;
-}
-
-inline const b3MprSupport_t *b3MprSimplexPoint(const b3MprSimplex_t *s, int idx)
-{
-	// here is no check on boundaries
-	return &s->ps[idx];
-}
-
-inline void b3MprSupportCopy(b3MprSupport_t *d, const b3MprSupport_t *s)
-{
-	*d = *s;
-}
-
-inline void b3MprSimplexSet(b3MprSimplex_t *s, size_t pos, const b3MprSupport_t *a)
-{
-	b3MprSupportCopy(s->ps + pos, a);
-}
-
-inline void b3MprSimplexSwap(b3MprSimplex_t *s, size_t pos1, size_t pos2)
-{
-	b3MprSupport_t supp;
-
-	b3MprSupportCopy(&supp, &s->ps[pos1]);
-	b3MprSupportCopy(&s->ps[pos1], &s->ps[pos2]);
-	b3MprSupportCopy(&s->ps[pos2], &supp);
-}
-
-inline int b3MprIsZero(float val)
-{
-	return B3_MPR_FABS(val) < FLT_EPSILON;
-}
-
-inline int b3MprEq(float _a, float _b)
-{
-	float ab;
-	float a, b;
-
-	ab = B3_MPR_FABS(_a - _b);
-	if (B3_MPR_FABS(ab) < FLT_EPSILON)
-		return 1;
-
-	a = B3_MPR_FABS(_a);
-	b = B3_MPR_FABS(_b);
-	if (b > a)
-	{
-		return ab < FLT_EPSILON * b;
-	}
-	else
-	{
-		return ab < FLT_EPSILON * a;
-	}
-}
-
-inline int b3MprVec3Eq(const b3Float4 *a, const b3Float4 *b)
-{
-	return b3MprEq((*a).x, (*b).x) && b3MprEq((*a).y, (*b).y) && b3MprEq((*a).z, (*b).z);
-}
-
-inline b3Float4 b3LocalGetSupportVertex(b3Float4ConstArg supportVec, __global const b3ConvexPolyhedronData_t *hull, b3ConstArray(b3Float4) verticesA)
-{
-	b3Float4 supVec = b3MakeFloat4(0, 0, 0, 0);
-	float maxDot = -B3_LARGE_FLOAT;
-
-	if (0 < hull->m_numVertices)
-	{
-		const b3Float4 scaled = supportVec;
-		int index = b3MaxDot(scaled, &verticesA[hull->m_vertexOffset], hull->m_numVertices, &maxDot);
-		return verticesA[hull->m_vertexOffset + index];
-	}
-
-	return supVec;
-}
-
-B3_STATIC void b3MprConvexSupport(int pairIndex, int bodyIndex, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-								  b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-								  b3ConstArray(b3Collidable_t) cpuCollidables,
-								  b3ConstArray(b3Float4) cpuVertices,
-								  __global b3Float4 *sepAxis,
-								  const b3Float4 *_dir, b3Float4 *outp, int logme)
-{
-	//dir is in worldspace, move to local space
-
-	b3Float4 pos = cpuBodyBuf[bodyIndex].m_pos;
-	b3Quat orn = cpuBodyBuf[bodyIndex].m_quat;
-
-	b3Float4 dir = b3MakeFloat4((*_dir).x, (*_dir).y, (*_dir).z, 0.f);
-
-	const b3Float4 localDir = b3QuatRotate(b3QuatInverse(orn), dir);
-
-	//find local support vertex
-	int colIndex = cpuBodyBuf[bodyIndex].m_collidableIdx;
-
-	b3Assert(cpuCollidables[colIndex].m_shapeType == SHAPE_CONVEX_HULL);
-	__global const b3ConvexPolyhedronData_t *hull = &cpuConvexData[cpuCollidables[colIndex].m_shapeIndex];
-
-	b3Float4 pInA;
-	if (logme)
-	{
-		//	b3Float4 supVec = b3MakeFloat4(0,0,0,0);
-		float maxDot = -B3_LARGE_FLOAT;
-
-		if (0 < hull->m_numVertices)
-		{
-			const b3Float4 scaled = localDir;
-			int index = b3MaxDot(scaled, &cpuVertices[hull->m_vertexOffset], hull->m_numVertices, &maxDot);
-			pInA = cpuVertices[hull->m_vertexOffset + index];
-		}
-	}
-	else
-	{
-		pInA = b3LocalGetSupportVertex(localDir, hull, cpuVertices);
-	}
-
-	//move vertex to world space
-	*outp = b3TransformPoint(pInA, pos, orn);
-}
-
-inline void b3MprSupport(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-						 b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-						 b3ConstArray(b3Collidable_t) cpuCollidables,
-						 b3ConstArray(b3Float4) cpuVertices,
-						 __global b3Float4 *sepAxis,
-						 const b3Float4 *_dir, b3MprSupport_t *supp)
-{
-	b3Float4 dir;
-	dir = *_dir;
-	b3MprConvexSupport(pairIndex, bodyIndexA, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &supp->v1, 0);
-	dir = *_dir * -1.f;
-	b3MprConvexSupport(pairIndex, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &supp->v2, 0);
-	supp->v = supp->v1 - supp->v2;
-}
-
-inline void b3FindOrigin(int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf, b3MprSupport_t *center)
-{
-	center->v1 = cpuBodyBuf[bodyIndexA].m_pos;
-	center->v2 = cpuBodyBuf[bodyIndexB].m_pos;
-	center->v = center->v1 - center->v2;
-}
-
-inline void b3MprVec3Set(b3Float4 *v, float x, float y, float z)
-{
-	(*v).x = x;
-	(*v).y = y;
-	(*v).z = z;
-	(*v).w = 0.f;
-}
-
-inline void b3MprVec3Add(b3Float4 *v, const b3Float4 *w)
-{
-	(*v).x += (*w).x;
-	(*v).y += (*w).y;
-	(*v).z += (*w).z;
-}
-
-inline void b3MprVec3Copy(b3Float4 *v, const b3Float4 *w)
-{
-	*v = *w;
-}
-
-inline void b3MprVec3Scale(b3Float4 *d, float k)
-{
-	*d *= k;
-}
-
-inline float b3MprVec3Dot(const b3Float4 *a, const b3Float4 *b)
-{
-	float dot;
-
-	dot = b3Dot3F4(*a, *b);
-	return dot;
-}
-
-inline float b3MprVec3Len2(const b3Float4 *v)
-{
-	return b3MprVec3Dot(v, v);
-}
-
-inline void b3MprVec3Normalize(b3Float4 *d)
-{
-	float k = 1.f / B3_MPR_SQRT(b3MprVec3Len2(d));
-	b3MprVec3Scale(d, k);
-}
-
-inline void b3MprVec3Cross(b3Float4 *d, const b3Float4 *a, const b3Float4 *b)
-{
-	*d = b3Cross3(*a, *b);
-}
-
-inline void b3MprVec3Sub2(b3Float4 *d, const b3Float4 *v, const b3Float4 *w)
-{
-	*d = *v - *w;
-}
-
-inline void b3PortalDir(const b3MprSimplex_t *portal, b3Float4 *dir)
-{
-	b3Float4 v2v1, v3v1;
-
-	b3MprVec3Sub2(&v2v1, &b3MprSimplexPoint(portal, 2)->v,
-				  &b3MprSimplexPoint(portal, 1)->v);
-	b3MprVec3Sub2(&v3v1, &b3MprSimplexPoint(portal, 3)->v,
-				  &b3MprSimplexPoint(portal, 1)->v);
-	b3MprVec3Cross(dir, &v2v1, &v3v1);
-	b3MprVec3Normalize(dir);
-}
-
-inline int portalEncapsulesOrigin(const b3MprSimplex_t *portal,
-								  const b3Float4 *dir)
-{
-	float dot;
-	dot = b3MprVec3Dot(dir, &b3MprSimplexPoint(portal, 1)->v);
-	return b3MprIsZero(dot) || dot > 0.f;
-}
-
-inline int portalReachTolerance(const b3MprSimplex_t *portal,
-								const b3MprSupport_t *v4,
-								const b3Float4 *dir)
-{
-	float dv1, dv2, dv3, dv4;
-	float dot1, dot2, dot3;
-
-	// find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4}
-
-	dv1 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, dir);
-	dv2 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, dir);
-	dv3 = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, dir);
-	dv4 = b3MprVec3Dot(&v4->v, dir);
-
-	dot1 = dv4 - dv1;
-	dot2 = dv4 - dv2;
-	dot3 = dv4 - dv3;
-
-	dot1 = B3_MPR_FMIN(dot1, dot2);
-	dot1 = B3_MPR_FMIN(dot1, dot3);
-
-	return b3MprEq(dot1, B3_MPR_TOLERANCE) || dot1 < B3_MPR_TOLERANCE;
-}
-
-inline int portalCanEncapsuleOrigin(const b3MprSimplex_t *portal,
-									const b3MprSupport_t *v4,
-									const b3Float4 *dir)
-{
-	float dot;
-	dot = b3MprVec3Dot(&v4->v, dir);
-	return b3MprIsZero(dot) || dot > 0.f;
-}
-
-inline void b3ExpandPortal(b3MprSimplex_t *portal,
-						   const b3MprSupport_t *v4)
-{
-	float dot;
-	b3Float4 v4v0;
-
-	b3MprVec3Cross(&v4v0, &v4->v, &b3MprSimplexPoint(portal, 0)->v);
-	dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &v4v0);
-	if (dot > 0.f)
-	{
-		dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &v4v0);
-		if (dot > 0.f)
-		{
-			b3MprSimplexSet(portal, 1, v4);
-		}
-		else
-		{
-			b3MprSimplexSet(portal, 3, v4);
-		}
-	}
-	else
-	{
-		dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &v4v0);
-		if (dot > 0.f)
-		{
-			b3MprSimplexSet(portal, 2, v4);
-		}
-		else
-		{
-			b3MprSimplexSet(portal, 1, v4);
-		}
-	}
-}
-
-B3_STATIC int b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-							   b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-							   b3ConstArray(b3Collidable_t) cpuCollidables,
-							   b3ConstArray(b3Float4) cpuVertices,
-							   __global b3Float4 *sepAxis,
-							   __global int *hasSepAxis,
-							   b3MprSimplex_t *portal)
-{
-	b3Float4 dir, va, vb;
-	float dot;
-	int cont;
-
-	// vertex 0 is center of portal
-	b3FindOrigin(bodyIndexA, bodyIndexB, cpuBodyBuf, b3MprSimplexPointW(portal, 0));
-	// vertex 0 is center of portal
-	b3MprSimplexSetSize(portal, 1);
-
-	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
-	b3Float4 *b3mpr_vec3_origin = &zero;
-
-	if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 0)->v, b3mpr_vec3_origin))
-	{
-		// Portal's center lies on origin (0,0,0) => we know that objects
-		// intersect but we would need to know penetration info.
-		// So move center little bit...
-		b3MprVec3Set(&va, FLT_EPSILON * 10.f, 0.f, 0.f);
-		b3MprVec3Add(&b3MprSimplexPointW(portal, 0)->v, &va);
-	}
-
-	// vertex 1 = support in direction of origin
-	b3MprVec3Copy(&dir, &b3MprSimplexPoint(portal, 0)->v);
-	b3MprVec3Scale(&dir, -1.f);
-	b3MprVec3Normalize(&dir);
-
-	b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 1));
-
-	b3MprSimplexSetSize(portal, 2);
-
-	// test if origin isn't outside of v1
-	dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 1)->v, &dir);
-
-	if (b3MprIsZero(dot) || dot < 0.f)
-		return -1;
-
-	// vertex 2
-	b3MprVec3Cross(&dir, &b3MprSimplexPoint(portal, 0)->v,
-				   &b3MprSimplexPoint(portal, 1)->v);
-	if (b3MprIsZero(b3MprVec3Len2(&dir)))
-	{
-		if (b3MprVec3Eq(&b3MprSimplexPoint(portal, 1)->v, b3mpr_vec3_origin))
-		{
-			// origin lies on v1
-			return 1;
-		}
-		else
-		{
-			// origin lies on v0-v1 segment
-			return 2;
-		}
-	}
-
-	b3MprVec3Normalize(&dir);
-	b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 2));
-
-	dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 2)->v, &dir);
-	if (b3MprIsZero(dot) || dot < 0.f)
-		return -1;
-
-	b3MprSimplexSetSize(portal, 3);
-
-	// vertex 3 direction
-	b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,
-				  &b3MprSimplexPoint(portal, 0)->v);
-	b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,
-				  &b3MprSimplexPoint(portal, 0)->v);
-	b3MprVec3Cross(&dir, &va, &vb);
-	b3MprVec3Normalize(&dir);
-
-	// it is better to form portal faces to be oriented "outside" origin
-	dot = b3MprVec3Dot(&dir, &b3MprSimplexPoint(portal, 0)->v);
-	if (dot > 0.f)
-	{
-		b3MprSimplexSwap(portal, 1, 2);
-		b3MprVec3Scale(&dir, -1.f);
-	}
-
-	while (b3MprSimplexSize(portal) < 4)
-	{
-		b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, b3MprSimplexPointW(portal, 3));
-
-		dot = b3MprVec3Dot(&b3MprSimplexPoint(portal, 3)->v, &dir);
-		if (b3MprIsZero(dot) || dot < 0.f)
-			return -1;
-
-		cont = 0;
-
-		// test if origin is outside (v1, v0, v3) - set v2 as v3 and
-		// continue
-		b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 1)->v,
-					   &b3MprSimplexPoint(portal, 3)->v);
-		dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);
-		if (dot < 0.f && !b3MprIsZero(dot))
-		{
-			b3MprSimplexSet(portal, 2, b3MprSimplexPoint(portal, 3));
-			cont = 1;
-		}
-
-		if (!cont)
-		{
-			// test if origin is outside (v3, v0, v2) - set v1 as v3 and
-			// continue
-			b3MprVec3Cross(&va, &b3MprSimplexPoint(portal, 3)->v,
-						   &b3MprSimplexPoint(portal, 2)->v);
-			dot = b3MprVec3Dot(&va, &b3MprSimplexPoint(portal, 0)->v);
-			if (dot < 0.f && !b3MprIsZero(dot))
-			{
-				b3MprSimplexSet(portal, 1, b3MprSimplexPoint(portal, 3));
-				cont = 1;
-			}
-		}
-
-		if (cont)
-		{
-			b3MprVec3Sub2(&va, &b3MprSimplexPoint(portal, 1)->v,
-						  &b3MprSimplexPoint(portal, 0)->v);
-			b3MprVec3Sub2(&vb, &b3MprSimplexPoint(portal, 2)->v,
-						  &b3MprSimplexPoint(portal, 0)->v);
-			b3MprVec3Cross(&dir, &va, &vb);
-			b3MprVec3Normalize(&dir);
-		}
-		else
-		{
-			b3MprSimplexSetSize(portal, 4);
-		}
-	}
-
-	return 0;
-}
-
-B3_STATIC int b3RefinePortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-							 b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-							 b3ConstArray(b3Collidable_t) cpuCollidables,
-							 b3ConstArray(b3Float4) cpuVertices,
-							 __global b3Float4 *sepAxis,
-							 b3MprSimplex_t *portal)
-{
-	b3Float4 dir;
-	b3MprSupport_t v4;
-
-	for (int i = 0; i < B3_MPR_MAX_ITERATIONS; i++)
-	//while (1)
-	{
-		// compute direction outside the portal (from v0 throught v1,v2,v3
-		// face)
-		b3PortalDir(portal, &dir);
-
-		// test if origin is inside the portal
-		if (portalEncapsulesOrigin(portal, &dir))
-			return 0;
-
-		// get next support point
-
-		b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &v4);
-
-		// test if v4 can expand portal to contain origin and if portal
-		// expanding doesn't reach given tolerance
-		if (!portalCanEncapsuleOrigin(portal, &v4, &dir) || portalReachTolerance(portal, &v4, &dir))
-		{
-			return -1;
-		}
-
-		// v1-v2-v3 triangle must be rearranged to face outside Minkowski
-		// difference (direction from v0).
-		b3ExpandPortal(portal, &v4);
-	}
-
-	return -1;
-}
-
-B3_STATIC void b3FindPos(const b3MprSimplex_t *portal, b3Float4 *pos)
-{
-	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
-	b3Float4 *b3mpr_vec3_origin = &zero;
-
-	b3Float4 dir;
-	size_t i;
-	float b[4], sum, inv;
-	b3Float4 vec, p1, p2;
-
-	b3PortalDir(portal, &dir);
-
-	// use barycentric coordinates of tetrahedron to find origin
-	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,
-				   &b3MprSimplexPoint(portal, 2)->v);
-	b[0] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);
-
-	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,
-				   &b3MprSimplexPoint(portal, 2)->v);
-	b[1] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);
-
-	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 0)->v,
-				   &b3MprSimplexPoint(portal, 1)->v);
-	b[2] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 3)->v);
-
-	b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,
-				   &b3MprSimplexPoint(portal, 1)->v);
-	b[3] = b3MprVec3Dot(&vec, &b3MprSimplexPoint(portal, 0)->v);
-
-	sum = b[0] + b[1] + b[2] + b[3];
-
-	if (b3MprIsZero(sum) || sum < 0.f)
-	{
-		b[0] = 0.f;
-
-		b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 2)->v,
-					   &b3MprSimplexPoint(portal, 3)->v);
-		b[1] = b3MprVec3Dot(&vec, &dir);
-		b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 3)->v,
-					   &b3MprSimplexPoint(portal, 1)->v);
-		b[2] = b3MprVec3Dot(&vec, &dir);
-		b3MprVec3Cross(&vec, &b3MprSimplexPoint(portal, 1)->v,
-					   &b3MprSimplexPoint(portal, 2)->v);
-		b[3] = b3MprVec3Dot(&vec, &dir);
-
-		sum = b[1] + b[2] + b[3];
-	}
-
-	inv = 1.f / sum;
-
-	b3MprVec3Copy(&p1, b3mpr_vec3_origin);
-	b3MprVec3Copy(&p2, b3mpr_vec3_origin);
-	for (i = 0; i < 4; i++)
-	{
-		b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v1);
-		b3MprVec3Scale(&vec, b[i]);
-		b3MprVec3Add(&p1, &vec);
-
-		b3MprVec3Copy(&vec, &b3MprSimplexPoint(portal, i)->v2);
-		b3MprVec3Scale(&vec, b[i]);
-		b3MprVec3Add(&p2, &vec);
-	}
-	b3MprVec3Scale(&p1, inv);
-	b3MprVec3Scale(&p2, inv);
-
-	b3MprVec3Copy(pos, &p1);
-	b3MprVec3Add(pos, &p2);
-	b3MprVec3Scale(pos, 0.5);
-}
-
-inline float b3MprVec3Dist2(const b3Float4 *a, const b3Float4 *b)
-{
-	b3Float4 ab;
-	b3MprVec3Sub2(&ab, a, b);
-	return b3MprVec3Len2(&ab);
-}
-
-inline float _b3MprVec3PointSegmentDist2(const b3Float4 *P,
-										 const b3Float4 *x0,
-										 const b3Float4 *b,
-										 b3Float4 *witness)
-{
-	// The computation comes from solving equation of segment:
-	//      S(t) = x0 + t.d
-	//          where - x0 is initial point of segment
-	//                - d is direction of segment from x0 (|d| > 0)
-	//                - t belongs to <0, 1> interval
-	//
-	// Than, distance from a segment to some point P can be expressed:
-	//      D(t) = |x0 + t.d - P|^2
-	//          which is distance from any point on segment. Minimization
-	//          of this function brings distance from P to segment.
-	// Minimization of D(t) leads to simple quadratic equation that's
-	// solving is straightforward.
-	//
-	// Bonus of this method is witness point for free.
-
-	float dist, t;
-	b3Float4 d, a;
-
-	// direction of segment
-	b3MprVec3Sub2(&d, b, x0);
-
-	// precompute vector from P to x0
-	b3MprVec3Sub2(&a, x0, P);
-
-	t = -1.f * b3MprVec3Dot(&a, &d);
-	t /= b3MprVec3Len2(&d);
-
-	if (t < 0.f || b3MprIsZero(t))
-	{
-		dist = b3MprVec3Dist2(x0, P);
-		if (witness)
-			b3MprVec3Copy(witness, x0);
-	}
-	else if (t > 1.f || b3MprEq(t, 1.f))
-	{
-		dist = b3MprVec3Dist2(b, P);
-		if (witness)
-			b3MprVec3Copy(witness, b);
-	}
-	else
-	{
-		if (witness)
-		{
-			b3MprVec3Copy(witness, &d);
-			b3MprVec3Scale(witness, t);
-			b3MprVec3Add(witness, x0);
-			dist = b3MprVec3Dist2(witness, P);
-		}
-		else
-		{
-			// recycling variables
-			b3MprVec3Scale(&d, t);
-			b3MprVec3Add(&d, &a);
-			dist = b3MprVec3Len2(&d);
-		}
-	}
-
-	return dist;
-}
-
-inline float b3MprVec3PointTriDist2(const b3Float4 *P,
-									const b3Float4 *x0, const b3Float4 *B,
-									const b3Float4 *C,
-									b3Float4 *witness)
-{
-	// Computation comes from analytic expression for triangle (x0, B, C)
-	//      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
-	// Then equation for distance is:
-	//      D(s, t) = | T(s, t) - P |^2
-	// This leads to minimization of quadratic function of two variables.
-	// The solution from is taken only if s is between 0 and 1, t is
-	// between 0 and 1 and t + s < 1, otherwise distance from segment is
-	// computed.
-
-	b3Float4 d1, d2, a;
-	float u, v, w, p, q, r;
-	float s, t, dist, dist2;
-	b3Float4 witness2;
-
-	b3MprVec3Sub2(&d1, B, x0);
-	b3MprVec3Sub2(&d2, C, x0);
-	b3MprVec3Sub2(&a, x0, P);
-
-	u = b3MprVec3Dot(&a, &a);
-	v = b3MprVec3Dot(&d1, &d1);
-	w = b3MprVec3Dot(&d2, &d2);
-	p = b3MprVec3Dot(&a, &d1);
-	q = b3MprVec3Dot(&a, &d2);
-	r = b3MprVec3Dot(&d1, &d2);
-
-	s = (q * r - w * p) / (w * v - r * r);
-	t = (-s * r - q) / w;
-
-	if ((b3MprIsZero(s) || s > 0.f) && (b3MprEq(s, 1.f) || s < 1.f) && (b3MprIsZero(t) || t > 0.f) && (b3MprEq(t, 1.f) || t < 1.f) && (b3MprEq(t + s, 1.f) || t + s < 1.f))
-	{
-		if (witness)
-		{
-			b3MprVec3Scale(&d1, s);
-			b3MprVec3Scale(&d2, t);
-			b3MprVec3Copy(witness, x0);
-			b3MprVec3Add(witness, &d1);
-			b3MprVec3Add(witness, &d2);
-
-			dist = b3MprVec3Dist2(witness, P);
-		}
-		else
-		{
-			dist = s * s * v;
-			dist += t * t * w;
-			dist += 2.f * s * t * r;
-			dist += 2.f * s * p;
-			dist += 2.f * t * q;
-			dist += u;
-		}
-	}
-	else
-	{
-		dist = _b3MprVec3PointSegmentDist2(P, x0, B, witness);
-
-		dist2 = _b3MprVec3PointSegmentDist2(P, x0, C, &witness2);
-		if (dist2 < dist)
-		{
-			dist = dist2;
-			if (witness)
-				b3MprVec3Copy(witness, &witness2);
-		}
-
-		dist2 = _b3MprVec3PointSegmentDist2(P, B, C, &witness2);
-		if (dist2 < dist)
-		{
-			dist = dist2;
-			if (witness)
-				b3MprVec3Copy(witness, &witness2);
-		}
-	}
-
-	return dist;
-}
-
-B3_STATIC void b3FindPenetr(int pairIndex, int bodyIndexA, int bodyIndexB, b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-							b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-							b3ConstArray(b3Collidable_t) cpuCollidables,
-							b3ConstArray(b3Float4) cpuVertices,
-							__global b3Float4 *sepAxis,
-							b3MprSimplex_t *portal,
-							float *depth, b3Float4 *pdir, b3Float4 *pos)
-{
-	b3Float4 dir;
-	b3MprSupport_t v4;
-	unsigned long iterations;
-
-	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
-	b3Float4 *b3mpr_vec3_origin = &zero;
-
-	iterations = 1UL;
-	for (int i = 0; i < B3_MPR_MAX_ITERATIONS; i++)
-	//while (1)
-	{
-		// compute portal direction and obtain next support point
-		b3PortalDir(portal, &dir);
-
-		b3MprSupport(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &dir, &v4);
-
-		// reached tolerance -> find penetration info
-		if (portalReachTolerance(portal, &v4, &dir) || iterations == B3_MPR_MAX_ITERATIONS)
-		{
-			*depth = b3MprVec3PointTriDist2(b3mpr_vec3_origin, &b3MprSimplexPoint(portal, 1)->v, &b3MprSimplexPoint(portal, 2)->v, &b3MprSimplexPoint(portal, 3)->v, pdir);
-			*depth = B3_MPR_SQRT(*depth);
-
-			if (b3MprIsZero((*pdir).x) && b3MprIsZero((*pdir).y) && b3MprIsZero((*pdir).z))
-			{
-				*pdir = dir;
-			}
-			b3MprVec3Normalize(pdir);
-
-			// barycentric coordinates:
-			b3FindPos(portal, pos);
-
-			return;
-		}
-
-		b3ExpandPortal(portal, &v4);
-
-		iterations++;
-	}
-}
-
-B3_STATIC void b3FindPenetrTouch(b3MprSimplex_t *portal, float *depth, b3Float4 *dir, b3Float4 *pos)
-{
-	// Touching contact on portal's v1 - so depth is zero and direction
-	// is unimportant and pos can be guessed
-	*depth = 0.f;
-	b3Float4 zero = b3MakeFloat4(0, 0, 0, 0);
-	b3Float4 *b3mpr_vec3_origin = &zero;
-
-	b3MprVec3Copy(dir, b3mpr_vec3_origin);
-
-	b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);
-	b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);
-	b3MprVec3Scale(pos, 0.5);
-}
-
-B3_STATIC void b3FindPenetrSegment(b3MprSimplex_t *portal,
-								   float *depth, b3Float4 *dir, b3Float4 *pos)
-{
-	// Origin lies on v0-v1 segment.
-	// Depth is distance to v1, direction also and position must be
-	// computed
-
-	b3MprVec3Copy(pos, &b3MprSimplexPoint(portal, 1)->v1);
-	b3MprVec3Add(pos, &b3MprSimplexPoint(portal, 1)->v2);
-	b3MprVec3Scale(pos, 0.5f);
-
-	b3MprVec3Copy(dir, &b3MprSimplexPoint(portal, 1)->v);
-	*depth = B3_MPR_SQRT(b3MprVec3Len2(dir));
-	b3MprVec3Normalize(dir);
-}
-
-inline int b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB,
-							b3ConstArray(b3RigidBodyData_t) cpuBodyBuf,
-							b3ConstArray(b3ConvexPolyhedronData_t) cpuConvexData,
-							b3ConstArray(b3Collidable_t) cpuCollidables,
-							b3ConstArray(b3Float4) cpuVertices,
-							__global b3Float4 *sepAxis,
-							__global int *hasSepAxis,
-							float *depthOut, b3Float4 *dirOut, b3Float4 *posOut)
-{
-	b3MprSimplex_t portal;
-
-	//	if (!hasSepAxis[pairIndex])
-	//	return -1;
-
-	hasSepAxis[pairIndex] = 0;
-	int res;
-
-	// Phase 1: Portal discovery
-	res = b3DiscoverPortal(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, hasSepAxis, &portal);
-
-	//sepAxis[pairIndex] = *pdir;//or -dir?
-
-	switch (res)
-	{
-		case 0:
-		{
-			// Phase 2: Portal refinement
-
-			res = b3RefinePortal(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &portal);
-			if (res < 0)
-				return -1;
-
-			// Phase 3. Penetration info
-			b3FindPenetr(pairIndex, bodyIndexA, bodyIndexB, cpuBodyBuf, cpuConvexData, cpuCollidables, cpuVertices, sepAxis, &portal, depthOut, dirOut, posOut);
-			hasSepAxis[pairIndex] = 1;
-			sepAxis[pairIndex] = -*dirOut;
-			break;
-		}
-		case 1:
-		{
-			// Touching contact on portal's v1.
-			b3FindPenetrTouch(&portal, depthOut, dirOut, posOut);
-			break;
-		}
-		case 2:
-		{
-			b3FindPenetrSegment(&portal, depthOut, dirOut, posOut);
-			break;
-		}
-		default:
-		{
-			hasSepAxis[pairIndex] = 0;
-			//if (res < 0)
-			//{
-			// Origin isn't inside portal - no collision.
-			return -1;
-			//}
-		}
-	};
-
-	return 0;
-};
-
-#endif  //B3_MPR_PENETRATION_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h
deleted file mode 100644
index 6e991e14b0..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h
+++ /dev/null
@@ -1,175 +0,0 @@
-
-#ifndef B3_NEW_CONTACT_REDUCTION_H
-#define B3_NEW_CONTACT_REDUCTION_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#define GET_NPOINTS(x) (x).m_worldNormalOnB.w
-
-int b3ExtractManifoldSequentialGlobal(__global const b3Float4* p, int nPoints, b3Float4ConstArg nearNormal, b3Int4* contactIdx)
-{
-	if (nPoints == 0)
-		return 0;
-
-	if (nPoints <= 4)
-		return nPoints;
-
-	if (nPoints > 64)
-		nPoints = 64;
-
-	b3Float4 center = b3MakeFloat4(0, 0, 0, 0);
-	{
-		for (int i = 0; i < nPoints; i++)
-			center += p[i];
-		center /= (float)nPoints;
-	}
-
-	//	sample 4 directions
-
-	b3Float4 aVector = p[0] - center;
-	b3Float4 u = b3Cross(nearNormal, aVector);
-	b3Float4 v = b3Cross(nearNormal, u);
-	u = b3Normalized(u);
-	v = b3Normalized(v);
-
-	//keep point with deepest penetration
-	float minW = FLT_MAX;
-
-	int minIndex = -1;
-
-	b3Float4 maxDots;
-	maxDots.x = FLT_MIN;
-	maxDots.y = FLT_MIN;
-	maxDots.z = FLT_MIN;
-	maxDots.w = FLT_MIN;
-
-	//	idx, distance
-	for (int ie = 0; ie < nPoints; ie++)
-	{
-		if (p[ie].w < minW)
-		{
-			minW = p[ie].w;
-			minIndex = ie;
-		}
-		float f;
-		b3Float4 r = p[ie] - center;
-		f = b3Dot(u, r);
-		if (f < maxDots.x)
-		{
-			maxDots.x = f;
-			contactIdx[0].x = ie;
-		}
-
-		f = b3Dot(-u, r);
-		if (f < maxDots.y)
-		{
-			maxDots.y = f;
-			contactIdx[0].y = ie;
-		}
-
-		f = b3Dot(v, r);
-		if (f < maxDots.z)
-		{
-			maxDots.z = f;
-			contactIdx[0].z = ie;
-		}
-
-		f = b3Dot(-v, r);
-		if (f < maxDots.w)
-		{
-			maxDots.w = f;
-			contactIdx[0].w = ie;
-		}
-	}
-
-	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-	{
-		//replace the first contact with minimum (todo: replace contact with least penetration)
-		contactIdx[0].x = minIndex;
-	}
-
-	return 4;
-}
-
-__kernel void b3NewContactReductionKernel(__global b3Int4* pairs,
-										  __global const b3RigidBodyData_t* rigidBodies,
-										  __global const b3Float4* separatingNormals,
-										  __global const int* hasSeparatingAxis,
-										  __global struct b3Contact4Data* globalContactsOut,
-										  __global b3Int4* clippingFaces,
-										  __global b3Float4* worldVertsB2,
-										  volatile __global int* nGlobalContactsOut,
-										  int vertexFaceCapacity,
-										  int contactCapacity,
-										  int numPairs,
-										  int pairIndex)
-{
-	//    int i = get_global_id(0);
-	//int pairIndex = i;
-	int i = pairIndex;
-
-	b3Int4 contactIdx;
-	contactIdx = b3MakeInt4(0, 1, 2, 3);
-
-	if (i < numPairs)
-	{
-		if (hasSeparatingAxis[i])
-		{
-			int nPoints = clippingFaces[pairIndex].w;
-
-			if (nPoints > 0)
-			{
-				__global b3Float4* pointsIn = &worldVertsB2[pairIndex * vertexFaceCapacity];
-				b3Float4 normal = -separatingNormals[i];
-
-				int nReducedContacts = b3ExtractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);
-
-				int dstIdx;
-				dstIdx = b3AtomicInc(nGlobalContactsOut);
-
-				//#if 0
-				b3Assert(dstIdx < contactCapacity);
-				if (dstIdx < contactCapacity)
-				{
-					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
-					c->m_worldNormalOnB = -normal;
-					c->m_restituitionCoeffCmp = (0.f * 0xffff);
-					c->m_frictionCoeffCmp = (0.7f * 0xffff);
-					c->m_batchIdx = pairIndex;
-					int bodyA = pairs[pairIndex].x;
-					int bodyB = pairs[pairIndex].y;
-
-					pairs[pairIndex].w = dstIdx;
-
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass == 0 ? -bodyA : bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass == 0 ? -bodyB : bodyB;
-					c->m_childIndexA = -1;
-					c->m_childIndexB = -1;
-
-					switch (nReducedContacts)
-					{
-						case 4:
-							c->m_worldPosB[3] = pointsIn[contactIdx.w];
-						case 3:
-							c->m_worldPosB[2] = pointsIn[contactIdx.z];
-						case 2:
-							c->m_worldPosB[1] = pointsIn[contactIdx.y];
-						case 1:
-							c->m_worldPosB[0] = pointsIn[contactIdx.x];
-						default:
-						{
-						}
-					};
-
-					GET_NPOINTS(*c) = nReducedContacts;
-				}
-
-				//#endif
-
-			}  //		if (numContactsOut>0)
-		}      //		if (hasSeparatingAxis[i])
-	}          //	if (i<numPairs)
-}
-#endif
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h
deleted file mode 100644
index ba796eac72..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h
+++ /dev/null
@@ -1,88 +0,0 @@
-
-
-#ifndef B3_QUANTIZED_BVH_NODE_H
-#define B3_QUANTIZED_BVH_NODE_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-
-#define B3_MAX_NUM_PARTS_IN_BITS 10
-
-///b3QuantizedBvhNodeData is a compressed aabb node, 16 bytes.
-///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-typedef struct b3QuantizedBvhNodeData b3QuantizedBvhNodeData_t;
-
-struct b3QuantizedBvhNodeData
-{
-	//12 bytes
-	unsigned short int m_quantizedAabbMin[3];
-	unsigned short int m_quantizedAabbMax[3];
-	//4 bytes
-	int m_escapeIndexOrTriangleIndex;
-};
-
-inline int b3GetTriangleIndex(const b3QuantizedBvhNodeData* rootNode)
-{
-	unsigned int x = 0;
-	unsigned int y = (~(x & 0)) << (31 - B3_MAX_NUM_PARTS_IN_BITS);
-	// Get only the lower bits where the triangle index is stored
-	return (rootNode->m_escapeIndexOrTriangleIndex & ~(y));
-}
-
-inline int b3IsLeaf(const b3QuantizedBvhNodeData* rootNode)
-{
-	//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-	return (rootNode->m_escapeIndexOrTriangleIndex >= 0) ? 1 : 0;
-}
-
-inline int b3GetEscapeIndex(const b3QuantizedBvhNodeData* rootNode)
-{
-	return -rootNode->m_escapeIndexOrTriangleIndex;
-}
-
-inline void b3QuantizeWithClamp(unsigned short* out, b3Float4ConstArg point2, int isMax, b3Float4ConstArg bvhAabbMin, b3Float4ConstArg bvhAabbMax, b3Float4ConstArg bvhQuantization)
-{
-	b3Float4 clampedPoint = b3MaxFloat4(point2, bvhAabbMin);
-	clampedPoint = b3MinFloat4(clampedPoint, bvhAabbMax);
-
-	b3Float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;
-	if (isMax)
-	{
-		out[0] = (unsigned short)(((unsigned short)(v.x + 1.f) | 1));
-		out[1] = (unsigned short)(((unsigned short)(v.y + 1.f) | 1));
-		out[2] = (unsigned short)(((unsigned short)(v.z + 1.f) | 1));
-	}
-	else
-	{
-		out[0] = (unsigned short)(((unsigned short)(v.x) & 0xfffe));
-		out[1] = (unsigned short)(((unsigned short)(v.y) & 0xfffe));
-		out[2] = (unsigned short)(((unsigned short)(v.z) & 0xfffe));
-	}
-}
-
-inline int b3TestQuantizedAabbAgainstQuantizedAabbSlow(
-	const unsigned short int* aabbMin1,
-	const unsigned short int* aabbMax1,
-	const unsigned short int* aabbMin2,
-	const unsigned short int* aabbMax2)
-{
-	//int overlap = 1;
-	if (aabbMin1[0] > aabbMax2[0])
-		return 0;
-	if (aabbMax1[0] < aabbMin2[0])
-		return 0;
-	if (aabbMin1[1] > aabbMax2[1])
-		return 0;
-	if (aabbMax1[1] < aabbMin2[1])
-		return 0;
-	if (aabbMin1[2] > aabbMax2[2])
-		return 0;
-	if (aabbMax1[2] < aabbMin2[2])
-		return 0;
-	return 1;
-	//overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;
-	//overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;
-	//overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;
-	//return overlap;
-}
-
-#endif  //B3_QUANTIZED_BVH_NODE_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h
deleted file mode 100644
index c108255b9f..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3ReduceContacts.h
+++ /dev/null
@@ -1,89 +0,0 @@
-#ifndef B3_REDUCE_CONTACTS_H
-#define B3_REDUCE_CONTACTS_H
-
-inline int b3ReduceContacts(const b3Float4* p, int nPoints, const b3Float4& nearNormal, b3Int4* contactIdx)
-{
-	if (nPoints == 0)
-		return 0;
-
-	if (nPoints <= 4)
-		return nPoints;
-
-	if (nPoints > 64)
-		nPoints = 64;
-
-	b3Float4 center = b3MakeFloat4(0, 0, 0, 0);
-	{
-		for (int i = 0; i < nPoints; i++)
-			center += p[i];
-		center /= (float)nPoints;
-	}
-
-	//	sample 4 directions
-
-	b3Float4 aVector = p[0] - center;
-	b3Float4 u = b3Cross3(nearNormal, aVector);
-	b3Float4 v = b3Cross3(nearNormal, u);
-	u = b3FastNormalized3(u);
-	v = b3FastNormalized3(v);
-
-	//keep point with deepest penetration
-	float minW = FLT_MAX;
-
-	int minIndex = -1;
-
-	b3Float4 maxDots;
-	maxDots.x = FLT_MIN;
-	maxDots.y = FLT_MIN;
-	maxDots.z = FLT_MIN;
-	maxDots.w = FLT_MIN;
-
-	//	idx, distance
-	for (int ie = 0; ie < nPoints; ie++)
-	{
-		if (p[ie].w < minW)
-		{
-			minW = p[ie].w;
-			minIndex = ie;
-		}
-		float f;
-		b3Float4 r = p[ie] - center;
-		f = b3Dot3F4(u, r);
-		if (f < maxDots.x)
-		{
-			maxDots.x = f;
-			contactIdx[0].x = ie;
-		}
-
-		f = b3Dot3F4(-u, r);
-		if (f < maxDots.y)
-		{
-			maxDots.y = f;
-			contactIdx[0].y = ie;
-		}
-
-		f = b3Dot3F4(v, r);
-		if (f < maxDots.z)
-		{
-			maxDots.z = f;
-			contactIdx[0].z = ie;
-		}
-
-		f = b3Dot3F4(-v, r);
-		if (f < maxDots.w)
-		{
-			maxDots.w = f;
-			contactIdx[0].w = ie;
-		}
-	}
-
-	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-	{
-		//replace the first contact with minimum (todo: replace contact with least penetration)
-		contactIdx[0].x = minIndex;
-	}
-
-	return 4;
-}
-
-#endif  //B3_REDUCE_CONTACTS_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h
deleted file mode 100644
index 663e946fc1..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef B3_RIGIDBODY_DATA_H
-#define B3_RIGIDBODY_DATA_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Common/shared/b3Quat.h"
-#include "Bullet3Common/shared/b3Mat3x3.h"
-
-typedef struct b3RigidBodyData b3RigidBodyData_t;
-
-struct b3RigidBodyData
-{
-	b3Float4 m_pos;
-	b3Quat m_quat;
-	b3Float4 m_linVel;
-	b3Float4 m_angVel;
-
-	int m_collidableIdx;
-	float m_invMass;
-	float m_restituitionCoeff;
-	float m_frictionCoeff;
-};
-
-typedef struct b3InertiaData b3InertiaData_t;
-
-struct b3InertiaData
-{
-	b3Mat3x3 m_invInertiaWorld;
-	b3Mat3x3 m_initInvInertia;
-};
-
-#endif  //B3_RIGIDBODY_DATA_H
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h
deleted file mode 100644
index e0c3a5cf97..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef B3_UPDATE_AABBS_H
-#define B3_UPDATE_AABBS_H
-
-#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-void b3ComputeWorldAabb(int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)
-{
-	__global const b3RigidBodyData_t* body = &bodies[bodyId];
-
-	b3Float4 position = body->m_pos;
-	b3Quat orientation = body->m_quat;
-
-	int collidableIndex = body->m_collidableIdx;
-	int shapeIndex = collidables[collidableIndex].m_shapeIndex;
-
-	if (shapeIndex >= 0)
-	{
-		b3Aabb_t localAabb = localShapeAABB[collidableIndex];
-		b3Aabb_t worldAabb;
-
-		b3Float4 aabbAMinOut, aabbAMaxOut;
-		float margin = 0.f;
-		b3TransformAabb2(localAabb.m_minVec, localAabb.m_maxVec, margin, position, orientation, &aabbAMinOut, &aabbAMaxOut);
-
-		worldAabb.m_minVec = aabbAMinOut;
-		worldAabb.m_minIndices[3] = bodyId;
-		worldAabb.m_maxVec = aabbAMaxOut;
-		worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass == 0.f ? 0 : 1;
-		worldAabbs[bodyId] = worldAabb;
-	}
-}
-
-#endif  //B3_UPDATE_AABBS_H