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.

1 files changed, 0 insertions, 866 deletions

diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
deleted file mode 100644
index 73e3db1010..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,866 +0,0 @@
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-/*
-Author: Francisco Leon Najera
-Concave-Concave Collision
-
-*/
-
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "btGImpactCollisionAlgorithm.h"
-#include "btContactProcessing.h"
-#include "LinearMath/btQuickprof.h"
-
-//! Class for accessing the plane equation
-class btPlaneShape : public btStaticPlaneShape
-{
-public:
-	btPlaneShape(const btVector3& v, float f)
-		: btStaticPlaneShape(v, f)
-	{
-	}
-
-	void get_plane_equation(btVector4& equation)
-	{
-		equation[0] = m_planeNormal[0];
-		equation[1] = m_planeNormal[1];
-		equation[2] = m_planeNormal[2];
-		equation[3] = m_planeConstant;
-	}
-
-	void get_plane_equation_transformed(const btTransform& trans, btVector4& equation) const
-	{
-		const btVector3 normal = trans.getBasis() * m_planeNormal;
-		equation[0] = normal[0];
-		equation[1] = normal[1];
-		equation[2] = normal[2];
-		equation[3] = normal.dot(trans * (m_planeConstant * m_planeNormal));
-	}
-};
-
-//////////////////////////////////////////////////////////////////////////////////////////////
-#ifdef TRI_COLLISION_PROFILING
-
-btClock g_triangle_clock;
-
-float g_accum_triangle_collision_time = 0;
-int g_count_triangle_collision = 0;
-
-void bt_begin_gim02_tri_time()
-{
-	g_triangle_clock.reset();
-}
-
-void bt_end_gim02_tri_time()
-{
-	g_accum_triangle_collision_time += g_triangle_clock.getTimeMicroseconds();
-	g_count_triangle_collision++;
-}
-#endif  //TRI_COLLISION_PROFILING
-//! Retrieving shapes shapes
-/*!
-Declared here due of insuficent space on Pool allocators
-*/
-//!@{
-class GIM_ShapeRetriever
-{
-public:
-	const btGImpactShapeInterface* m_gim_shape;
-	btTriangleShapeEx m_trishape;
-	btTetrahedronShapeEx m_tetrashape;
-
-public:
-	class ChildShapeRetriever
-	{
-	public:
-		GIM_ShapeRetriever* m_parent;
-		virtual const btCollisionShape* getChildShape(int index)
-		{
-			return m_parent->m_gim_shape->getChildShape(index);
-		}
-		virtual ~ChildShapeRetriever() {}
-	};
-
-	class TriangleShapeRetriever : public ChildShapeRetriever
-	{
-	public:
-		virtual btCollisionShape* getChildShape(int index)
-		{
-			m_parent->m_gim_shape->getBulletTriangle(index, m_parent->m_trishape);
-			return &m_parent->m_trishape;
-		}
-		virtual ~TriangleShapeRetriever() {}
-	};
-
-	class TetraShapeRetriever : public ChildShapeRetriever
-	{
-	public:
-		virtual btCollisionShape* getChildShape(int index)
-		{
-			m_parent->m_gim_shape->getBulletTetrahedron(index, m_parent->m_tetrashape);
-			return &m_parent->m_tetrashape;
-		}
-	};
-
-public:
-	ChildShapeRetriever m_child_retriever;
-	TriangleShapeRetriever m_tri_retriever;
-	TetraShapeRetriever m_tetra_retriever;
-	ChildShapeRetriever* m_current_retriever;
-
-	GIM_ShapeRetriever(const btGImpactShapeInterface* gim_shape)
-	{
-		m_gim_shape = gim_shape;
-		//select retriever
-		if (m_gim_shape->needsRetrieveTriangles())
-		{
-			m_current_retriever = &m_tri_retriever;
-		}
-		else if (m_gim_shape->needsRetrieveTetrahedrons())
-		{
-			m_current_retriever = &m_tetra_retriever;
-		}
-		else
-		{
-			m_current_retriever = &m_child_retriever;
-		}
-
-		m_current_retriever->m_parent = this;
-	}
-
-	const btCollisionShape* getChildShape(int index)
-	{
-		return m_current_retriever->getChildShape(index);
-	}
-};
-
-//!@}
-
-#ifdef TRI_COLLISION_PROFILING
-
-//! Gets the average time in miliseconds of tree collisions
-float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime()
-{
-	return btGImpactBoxSet::getAverageTreeCollisionTime();
-}
-
-//! Gets the average time in miliseconds of triangle collisions
-float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
-{
-	if (g_count_triangle_collision == 0) return 0;
-
-	float avgtime = g_accum_triangle_collision_time;
-	avgtime /= (float)g_count_triangle_collision;
-
-	g_accum_triangle_collision_time = 0;
-	g_count_triangle_collision = 0;
-
-	return avgtime;
-}
-
-#endif  //TRI_COLLISION_PROFILING
-
-btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap)
-{
-	m_manifoldPtr = NULL;
-	m_convex_algorithm = NULL;
-}
-
-btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm()
-{
-	clearCache();
-}
-
-void btGImpactCollisionAlgorithm::addContactPoint(const btCollisionObjectWrapper* body0Wrap,
-												  const btCollisionObjectWrapper* body1Wrap,
-												  const btVector3& point,
-												  const btVector3& normal,
-												  btScalar distance)
-{
-	m_resultOut->setShapeIdentifiersA(m_part0, m_triface0);
-	m_resultOut->setShapeIdentifiersB(m_part1, m_triface1);
-	checkManifold(body0Wrap, body1Wrap);
-	m_resultOut->addContactPoint(normal, point, distance);
-}
-
-void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
-	const btCollisionObjectWrapper* body0Wrap,
-	const btCollisionObjectWrapper* body1Wrap,
-	const btCollisionShape* shape0,
-	const btCollisionShape* shape1)
-{
-	{
-		btCollisionAlgorithm* algor = newAlgorithm(body0Wrap, body1Wrap);
-		// post :	checkManifold is called
-
-		m_resultOut->setShapeIdentifiersA(m_part0, m_triface0);
-		m_resultOut->setShapeIdentifiersB(m_part1, m_triface1);
-
-		algor->processCollision(body0Wrap, body1Wrap, *m_dispatchInfo, m_resultOut);
-
-		algor->~btCollisionAlgorithm();
-		m_dispatcher->freeCollisionAlgorithm(algor);
-	}
-}
-
-void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
-	const btCollisionObjectWrapper* body0Wrap,
-	const btCollisionObjectWrapper* body1Wrap,
-	const btCollisionShape* shape0,
-	const btCollisionShape* shape1)
-{
-	m_resultOut->setShapeIdentifiersA(m_part0, m_triface0);
-	m_resultOut->setShapeIdentifiersB(m_part1, m_triface1);
-
-	btCollisionObjectWrapper ob0(body0Wrap, shape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0);
-	btCollisionObjectWrapper ob1(body1Wrap, shape1, body1Wrap->getCollisionObject(), body1Wrap->getWorldTransform(), m_part1, m_triface1);
-	checkConvexAlgorithm(&ob0, &ob1);
-	m_convex_algorithm->processCollision(&ob0, &ob1, *m_dispatchInfo, m_resultOut);
-}
-
-void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
-	const btTransform& trans0,
-	const btTransform& trans1,
-	const btGImpactShapeInterface* shape0,
-	const btGImpactShapeInterface* shape1, btPairSet& pairset)
-{
-	if (shape0->hasBoxSet() && shape1->hasBoxSet())
-	{
-		btGImpactBoxSet::find_collision(shape0->getBoxSet(), trans0, shape1->getBoxSet(), trans1, pairset);
-	}
-	else
-	{
-		btAABB boxshape0;
-		btAABB boxshape1;
-		int i = shape0->getNumChildShapes();
-
-		while (i--)
-		{
-			shape0->getChildAabb(i, trans0, boxshape0.m_min, boxshape0.m_max);
-
-			int j = shape1->getNumChildShapes();
-			while (j--)
-			{
-				shape1->getChildAabb(i, trans1, boxshape1.m_min, boxshape1.m_max);
-
-				if (boxshape1.has_collision(boxshape0))
-				{
-					pairset.push_pair(i, j);
-				}
-			}
-		}
-	}
-}
-
-void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
-	const btTransform& trans0,
-	const btTransform& trans1,
-	const btGImpactShapeInterface* shape0,
-	const btCollisionShape* shape1,
-	btAlignedObjectArray<int>& collided_primitives)
-{
-	btAABB boxshape;
-
-	if (shape0->hasBoxSet())
-	{
-		btTransform trans1to0 = trans0.inverse();
-		trans1to0 *= trans1;
-
-		shape1->getAabb(trans1to0, boxshape.m_min, boxshape.m_max);
-
-		shape0->getBoxSet()->boxQuery(boxshape, collided_primitives);
-	}
-	else
-	{
-		shape1->getAabb(trans1, boxshape.m_min, boxshape.m_max);
-
-		btAABB boxshape0;
-		int i = shape0->getNumChildShapes();
-
-		while (i--)
-		{
-			shape0->getChildAabb(i, trans0, boxshape0.m_min, boxshape0.m_max);
-
-			if (boxshape.has_collision(boxshape0))
-			{
-				collided_primitives.push_back(i);
-			}
-		}
-	}
-}
-
-void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
-														const btCollisionObjectWrapper* body1Wrap,
-														const btGImpactMeshShapePart* shape0,
-														const btGImpactMeshShapePart* shape1,
-														const int* pairs, int pair_count)
-{
-	btTriangleShapeEx tri0;
-	btTriangleShapeEx tri1;
-
-	shape0->lockChildShapes();
-	shape1->lockChildShapes();
-
-	const int* pair_pointer = pairs;
-
-	while (pair_count--)
-	{
-		m_triface0 = *(pair_pointer);
-		m_triface1 = *(pair_pointer + 1);
-		pair_pointer += 2;
-
-		shape0->getBulletTriangle(m_triface0, tri0);
-		shape1->getBulletTriangle(m_triface1, tri1);
-
-		//collide two convex shapes
-		if (tri0.overlap_test_conservative(tri1))
-		{
-			convex_vs_convex_collision(body0Wrap, body1Wrap, &tri0, &tri1);
-		}
-	}
-
-	shape0->unlockChildShapes();
-	shape1->unlockChildShapes();
-}
-
-void btGImpactCollisionAlgorithm::collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
-														const btCollisionObjectWrapper* body1Wrap,
-														const btGImpactMeshShapePart* shape0,
-														const btGImpactMeshShapePart* shape1,
-														const int* pairs, int pair_count)
-{
-	btTransform orgtrans0 = body0Wrap->getWorldTransform();
-	btTransform orgtrans1 = body1Wrap->getWorldTransform();
-
-	btPrimitiveTriangle ptri0;
-	btPrimitiveTriangle ptri1;
-	GIM_TRIANGLE_CONTACT contact_data;
-
-	shape0->lockChildShapes();
-	shape1->lockChildShapes();
-
-	const int* pair_pointer = pairs;
-
-	while (pair_count--)
-	{
-		m_triface0 = *(pair_pointer);
-		m_triface1 = *(pair_pointer + 1);
-		pair_pointer += 2;
-
-		shape0->getPrimitiveTriangle(m_triface0, ptri0);
-		shape1->getPrimitiveTriangle(m_triface1, ptri1);
-
-#ifdef TRI_COLLISION_PROFILING
-		bt_begin_gim02_tri_time();
-#endif
-
-		ptri0.applyTransform(orgtrans0);
-		ptri1.applyTransform(orgtrans1);
-
-		//build planes
-		ptri0.buildTriPlane();
-		ptri1.buildTriPlane();
-		// test conservative
-
-		if (ptri0.overlap_test_conservative(ptri1))
-		{
-			if (ptri0.find_triangle_collision_clip_method(ptri1, contact_data))
-			{
-				int j = contact_data.m_point_count;
-				while (j--)
-				{
-					addContactPoint(body0Wrap, body1Wrap,
-									contact_data.m_points[j],
-									contact_data.m_separating_normal,
-									-contact_data.m_penetration_depth);
-				}
-			}
-		}
-
-#ifdef TRI_COLLISION_PROFILING
-		bt_end_gim02_tri_time();
-#endif
-	}
-
-	shape0->unlockChildShapes();
-	shape1->unlockChildShapes();
-}
-
-void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
-	const btCollisionObjectWrapper* body0Wrap,
-	const btCollisionObjectWrapper* body1Wrap,
-	const btGImpactShapeInterface* shape0,
-	const btGImpactShapeInterface* shape1)
-{
-	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE)
-	{
-		const btGImpactMeshShape* meshshape0 = static_cast<const btGImpactMeshShape*>(shape0);
-		m_part0 = meshshape0->getMeshPartCount();
-
-		while (m_part0--)
-		{
-			gimpact_vs_gimpact(body0Wrap, body1Wrap, meshshape0->getMeshPart(m_part0), shape1);
-		}
-
-		return;
-	}
-
-	if (shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE)
-	{
-		const btGImpactMeshShape* meshshape1 = static_cast<const btGImpactMeshShape*>(shape1);
-		m_part1 = meshshape1->getMeshPartCount();
-
-		while (m_part1--)
-		{
-			gimpact_vs_gimpact(body0Wrap, body1Wrap, shape0, meshshape1->getMeshPart(m_part1));
-		}
-
-		return;
-	}
-
-	btTransform orgtrans0 = body0Wrap->getWorldTransform();
-	btTransform orgtrans1 = body1Wrap->getWorldTransform();
-
-	btPairSet pairset;
-
-	gimpact_vs_gimpact_find_pairs(orgtrans0, orgtrans1, shape0, shape1, pairset);
-
-	if (pairset.size() == 0) return;
-
-	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
-		shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
-	{
-		const btGImpactMeshShapePart* shapepart0 = static_cast<const btGImpactMeshShapePart*>(shape0);
-		const btGImpactMeshShapePart* shapepart1 = static_cast<const btGImpactMeshShapePart*>(shape1);
-//specialized function
-#ifdef BULLET_TRIANGLE_COLLISION
-		collide_gjk_triangles(body0Wrap, body1Wrap, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size());
-#else
-		collide_sat_triangles(body0Wrap, body1Wrap, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size());
-#endif
-
-		return;
-	}
-
-	//general function
-
-	shape0->lockChildShapes();
-	shape1->lockChildShapes();
-
-	GIM_ShapeRetriever retriever0(shape0);
-	GIM_ShapeRetriever retriever1(shape1);
-
-	bool child_has_transform0 = shape0->childrenHasTransform();
-	bool child_has_transform1 = shape1->childrenHasTransform();
-
-	int i = pairset.size();
-	while (i--)
-	{
-		GIM_PAIR* pair = &pairset[i];
-		m_triface0 = pair->m_index1;
-		m_triface1 = pair->m_index2;
-		const btCollisionShape* colshape0 = retriever0.getChildShape(m_triface0);
-		const btCollisionShape* colshape1 = retriever1.getChildShape(m_triface1);
-
-		btTransform tr0 = body0Wrap->getWorldTransform();
-		btTransform tr1 = body1Wrap->getWorldTransform();
-
-		if (child_has_transform0)
-		{
-			tr0 = orgtrans0 * shape0->getChildTransform(m_triface0);
-		}
-
-		if (child_has_transform1)
-		{
-			tr1 = orgtrans1 * shape1->getChildTransform(m_triface1);
-		}
-
-		btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), tr0, m_part0, m_triface0);
-		btCollisionObjectWrapper ob1(body1Wrap, colshape1, body1Wrap->getCollisionObject(), tr1, m_part1, m_triface1);
-
-		//collide two convex shapes
-		convex_vs_convex_collision(&ob0, &ob1, colshape0, colshape1);
-	}
-
-	shape0->unlockChildShapes();
-	shape1->unlockChildShapes();
-}
-
-void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
-												   const btCollisionObjectWrapper* body1Wrap,
-												   const btGImpactShapeInterface* shape0,
-												   const btCollisionShape* shape1, bool swapped)
-{
-	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE)
-	{
-		const btGImpactMeshShape* meshshape0 = static_cast<const btGImpactMeshShape*>(shape0);
-		int& part = swapped ? m_part1 : m_part0;
-		part = meshshape0->getMeshPartCount();
-
-		while (part--)
-		{
-			gimpact_vs_shape(body0Wrap,
-							 body1Wrap,
-							 meshshape0->getMeshPart(part),
-							 shape1, swapped);
-		}
-
-		return;
-	}
-
-#ifdef GIMPACT_VS_PLANE_COLLISION
-	if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
-		shape1->getShapeType() == STATIC_PLANE_PROXYTYPE)
-	{
-		const btGImpactMeshShapePart* shapepart = static_cast<const btGImpactMeshShapePart*>(shape0);
-		const btStaticPlaneShape* planeshape = static_cast<const btStaticPlaneShape*>(shape1);
-		gimpacttrimeshpart_vs_plane_collision(body0Wrap, body1Wrap, shapepart, planeshape, swapped);
-		return;
-	}
-
-#endif
-
-	if (shape1->isCompound())
-	{
-		const btCompoundShape* compoundshape = static_cast<const btCompoundShape*>(shape1);
-		gimpact_vs_compoundshape(body0Wrap, body1Wrap, shape0, compoundshape, swapped);
-		return;
-	}
-	else if (shape1->isConcave())
-	{
-		const btConcaveShape* concaveshape = static_cast<const btConcaveShape*>(shape1);
-		gimpact_vs_concave(body0Wrap, body1Wrap, shape0, concaveshape, swapped);
-		return;
-	}
-
-	btTransform orgtrans0 = body0Wrap->getWorldTransform();
-
-	btTransform orgtrans1 = body1Wrap->getWorldTransform();
-
-	btAlignedObjectArray<int> collided_results;
-
-	gimpact_vs_shape_find_pairs(orgtrans0, orgtrans1, shape0, shape1, collided_results);
-
-	if (collided_results.size() == 0) return;
-
-	shape0->lockChildShapes();
-
-	GIM_ShapeRetriever retriever0(shape0);
-
-	bool child_has_transform0 = shape0->childrenHasTransform();
-
-	int i = collided_results.size();
-
-	while (i--)
-	{
-		int child_index = collided_results[i];
-		if (swapped)
-			m_triface1 = child_index;
-		else
-			m_triface0 = child_index;
-
-		const btCollisionShape* colshape0 = retriever0.getChildShape(child_index);
-
-		btTransform tr0 = body0Wrap->getWorldTransform();
-
-		if (child_has_transform0)
-		{
-			tr0 = orgtrans0 * shape0->getChildTransform(child_index);
-		}
-
-		btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0);
-		const btCollisionObjectWrapper* prevObj;
-
-		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject())
-		{
-			prevObj = m_resultOut->getBody0Wrap();
-			m_resultOut->setBody0Wrap(&ob0);
-		}
-		else
-		{
-			prevObj = m_resultOut->getBody1Wrap();
-			m_resultOut->setBody1Wrap(&ob0);
-		}
-
-		//collide two shapes
-		if (swapped)
-		{
-			shape_vs_shape_collision(body1Wrap, &ob0, shape1, colshape0);
-		}
-		else
-		{
-			shape_vs_shape_collision(&ob0, body1Wrap, colshape0, shape1);
-		}
-
-		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject())
-		{
-			m_resultOut->setBody0Wrap(prevObj);
-		}
-		else
-		{
-			m_resultOut->setBody1Wrap(prevObj);
-		}
-	}
-
-	shape0->unlockChildShapes();
-}
-
-void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
-														   const btCollisionObjectWrapper* body1Wrap,
-														   const btGImpactShapeInterface* shape0,
-														   const btCompoundShape* shape1, bool swapped)
-{
-	btTransform orgtrans1 = body1Wrap->getWorldTransform();
-
-	int i = shape1->getNumChildShapes();
-	while (i--)
-	{
-		const btCollisionShape* colshape1 = shape1->getChildShape(i);
-		btTransform childtrans1 = orgtrans1 * shape1->getChildTransform(i);
-
-		btCollisionObjectWrapper ob1(body1Wrap, colshape1, body1Wrap->getCollisionObject(), childtrans1, -1, i);
-
-		const btCollisionObjectWrapper* tmp = 0;
-		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob1.getCollisionObject())
-		{
-			tmp = m_resultOut->getBody0Wrap();
-			m_resultOut->setBody0Wrap(&ob1);
-		}
-		else
-		{
-			tmp = m_resultOut->getBody1Wrap();
-			m_resultOut->setBody1Wrap(&ob1);
-		}
-		//collide child shape
-		gimpact_vs_shape(body0Wrap, &ob1,
-						 shape0, colshape1, swapped);
-
-		if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob1.getCollisionObject())
-		{
-			m_resultOut->setBody0Wrap(tmp);
-		}
-		else
-		{
-			m_resultOut->setBody1Wrap(tmp);
-		}
-	}
-}
-
-void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
-	const btCollisionObjectWrapper* body0Wrap,
-	const btCollisionObjectWrapper* body1Wrap,
-	const btGImpactMeshShapePart* shape0,
-	const btStaticPlaneShape* shape1, bool swapped)
-{
-	btTransform orgtrans0 = body0Wrap->getWorldTransform();
-	btTransform orgtrans1 = body1Wrap->getWorldTransform();
-
-	const btPlaneShape* planeshape = static_cast<const btPlaneShape*>(shape1);
-	btVector4 plane;
-	planeshape->get_plane_equation_transformed(orgtrans1, plane);
-
-	//test box against plane
-
-	btAABB tribox;
-	shape0->getAabb(orgtrans0, tribox.m_min, tribox.m_max);
-	tribox.increment_margin(planeshape->getMargin());
-
-	if (tribox.plane_classify(plane) != BT_CONST_COLLIDE_PLANE) return;
-
-	shape0->lockChildShapes();
-
-	btScalar margin = shape0->getMargin() + planeshape->getMargin();
-
-	btVector3 vertex;
-	int vi = shape0->getVertexCount();
-	while (vi--)
-	{
-		shape0->getVertex(vi, vertex);
-		vertex = orgtrans0(vertex);
-
-		btScalar distance = vertex.dot(plane) - plane[3] - margin;
-
-		if (distance < 0.0)  //add contact
-		{
-			if (swapped)
-			{
-				addContactPoint(body1Wrap, body0Wrap,
-								vertex,
-								-plane,
-								distance);
-			}
-			else
-			{
-				addContactPoint(body0Wrap, body1Wrap,
-								vertex,
-								plane,
-								distance);
-			}
-		}
-	}
-
-	shape0->unlockChildShapes();
-}
-
-class btGImpactTriangleCallback : public btTriangleCallback
-{
-public:
-	btGImpactCollisionAlgorithm* algorithm;
-	const btCollisionObjectWrapper* body0Wrap;
-	const btCollisionObjectWrapper* body1Wrap;
-	const btGImpactShapeInterface* gimpactshape0;
-	bool swapped;
-	btScalar margin;
-
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-	{
-		btTriangleShapeEx tri1(triangle[0], triangle[1], triangle[2]);
-		tri1.setMargin(margin);
-		if (swapped)
-		{
-			algorithm->setPart0(partId);
-			algorithm->setFace0(triangleIndex);
-		}
-		else
-		{
-			algorithm->setPart1(partId);
-			algorithm->setFace1(triangleIndex);
-		}
-
-		btCollisionObjectWrapper ob1Wrap(body1Wrap, &tri1, body1Wrap->getCollisionObject(), body1Wrap->getWorldTransform(), partId, triangleIndex);
-		const btCollisionObjectWrapper* tmp = 0;
-
-		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject() == ob1Wrap.getCollisionObject())
-		{
-			tmp = algorithm->internalGetResultOut()->getBody0Wrap();
-			algorithm->internalGetResultOut()->setBody0Wrap(&ob1Wrap);
-		}
-		else
-		{
-			tmp = algorithm->internalGetResultOut()->getBody1Wrap();
-			algorithm->internalGetResultOut()->setBody1Wrap(&ob1Wrap);
-		}
-
-		algorithm->gimpact_vs_shape(
-			body0Wrap, &ob1Wrap, gimpactshape0, &tri1, swapped);
-
-		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject() == ob1Wrap.getCollisionObject())
-		{
-			algorithm->internalGetResultOut()->setBody0Wrap(tmp);
-		}
-		else
-		{
-			algorithm->internalGetResultOut()->setBody1Wrap(tmp);
-		}
-	}
-};
-
-void btGImpactCollisionAlgorithm::gimpact_vs_concave(
-	const btCollisionObjectWrapper* body0Wrap,
-	const btCollisionObjectWrapper* body1Wrap,
-	const btGImpactShapeInterface* shape0,
-	const btConcaveShape* shape1, bool swapped)
-{
-	//create the callback
-	btGImpactTriangleCallback tricallback;
-	tricallback.algorithm = this;
-	tricallback.body0Wrap = body0Wrap;
-	tricallback.body1Wrap = body1Wrap;
-	tricallback.gimpactshape0 = shape0;
-	tricallback.swapped = swapped;
-	tricallback.margin = shape1->getMargin();
-
-	//getting the trimesh AABB
-	btTransform gimpactInConcaveSpace;
-
-	gimpactInConcaveSpace = body1Wrap->getWorldTransform().inverse() * body0Wrap->getWorldTransform();
-
-	btVector3 minAABB, maxAABB;
-	shape0->getAabb(gimpactInConcaveSpace, minAABB, maxAABB);
-
-	shape1->processAllTriangles(&tricallback, minAABB, maxAABB);
-}
-
-void btGImpactCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	clearCache();
-
-	m_resultOut = resultOut;
-	m_dispatchInfo = &dispatchInfo;
-	const btGImpactShapeInterface* gimpactshape0;
-	const btGImpactShapeInterface* gimpactshape1;
-
-	if (body0Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
-	{
-		gimpactshape0 = static_cast<const btGImpactShapeInterface*>(body0Wrap->getCollisionShape());
-
-		if (body1Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
-		{
-			gimpactshape1 = static_cast<const btGImpactShapeInterface*>(body1Wrap->getCollisionShape());
-
-			gimpact_vs_gimpact(body0Wrap, body1Wrap, gimpactshape0, gimpactshape1);
-		}
-		else
-		{
-			gimpact_vs_shape(body0Wrap, body1Wrap, gimpactshape0, body1Wrap->getCollisionShape(), false);
-		}
-	}
-	else if (body1Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
-	{
-		gimpactshape1 = static_cast<const btGImpactShapeInterface*>(body1Wrap->getCollisionShape());
-
-		gimpact_vs_shape(body1Wrap, body0Wrap, gimpactshape1, body0Wrap->getCollisionShape(), true);
-	}
-
-	// Ensure that gContactProcessedCallback is called for concave shapes.
-	if (getLastManifold())
-	{
-		m_resultOut->refreshContactPoints();
-	}
-}
-
-btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	return 1.f;
-}
-
-///////////////////////////////////// REGISTERING ALGORITHM //////////////////////////////////////////////
-
-//! Use this function for register the algorithm externally
-void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher* dispatcher)
-{
-	static btGImpactCollisionAlgorithm::CreateFunc s_gimpact_cf;
-
-	int i;
-
-	for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++)
-	{
-		dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE, i, &s_gimpact_cf);
-	}
-
-	for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++)
-	{
-		dispatcher->registerCollisionCreateFunc(i, GIMPACT_SHAPE_PROXYTYPE, &s_gimpact_cf);
-	}
-}