bullet: Streamline bundling, remove extraneous src/ folder

Document version and how to extract sources in thirdparty/README.md.
Drop unnecessary CMake and Premake files.
Simplify SCsub, drop unused one.

4 files changed, 0 insertions, 315 deletions

diff --git a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ContactConstraint4.h b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ContactConstraint4.h
deleted file mode 100644
index 68cf65e312..0000000000
--- a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ContactConstraint4.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef B3_CONTACT_CONSTRAINT5_H
-#define B3_CONTACT_CONSTRAINT5_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-
-typedef struct b3ContactConstraint4 b3ContactConstraint4_t;
-
-
-struct b3ContactConstraint4
-{
-
-	b3Float4 m_linear;//normal?
-	b3Float4 m_worldPos[4];
-	b3Float4 m_center;	//	friction
-	float m_jacCoeffInv[4];
-	float m_b[4];
-	float m_appliedRambdaDt[4];
-	float m_fJacCoeffInv[2];	//	friction
-	float m_fAppliedRambdaDt[2];	//	friction
-
-	unsigned int m_bodyA;
-	unsigned int m_bodyB;
-	int			m_batchIdx;
-	unsigned int m_paddings;
-
-};
-
-//inline	void setFrictionCoeff(float value) { m_linear[3] = value; }
-inline	float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint) 
-{
-	return constraint->m_linear.w; 
-}
-
-#endif //B3_CONTACT_CONSTRAINT5_H
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ConvertConstraint4.h b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ConvertConstraint4.h
deleted file mode 100644
index 805a2bd3ea..0000000000
--- a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ConvertConstraint4.h
+++ /dev/null
@@ -1,153 +0,0 @@
-
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-#include "Bullet3Dynamics/shared/b3ContactConstraint4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-
-void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q);
- void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q)
-{
-  if (b3Fabs(n.z) > 0.70710678f) {
-    // choose p in y-z plane
-    float a = n.y*n.y + n.z*n.z;
-    float k = 1.f/sqrt(a);
-    p[0].x = 0;
-	p[0].y = -n.z*k;
-	p[0].z = n.y*k;
-    // set q = n x p
-    q[0].x = a*k;
-	q[0].y = -n.x*p[0].z;
-	q[0].z = n.x*p[0].y;
-  }
-  else {
-    // choose p in x-y plane
-    float a = n.x*n.x + n.y*n.y;
-    float k = 1.f/sqrt(a);
-    p[0].x = -n.y*k;
-	p[0].y = n.x*k;
-	p[0].z = 0;
-    // set q = n x p
-    q[0].x = -n.z*p[0].y;
-	q[0].y = n.z*p[0].x;
-	q[0].z = a*k;
-  }
-}
-
-
- 
-void setLinearAndAngular( b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)
-{
-	*linear = b3MakeFloat4(n.x,n.y,n.z,0.f);
-	*angular0 = b3Cross3(r0, n);
-	*angular1 = -b3Cross3(r1, n);
-}
-
-
-float calcRelVel( b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,
-	b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1 )
-{
-	return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1);
-}
-
-
-float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1,
-					float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)
-{
-	//	linear0,1 are normlized
-	float jmj0 = invMass0;//b3Dot3F4(linear0, linear0)*invMass0;
-	float jmj1 = b3Dot3F4(mtMul3(angular0,*invInertia0), angular0);
-	float jmj2 = invMass1;//b3Dot3F4(linear1, linear1)*invMass1;
-	float jmj3 = b3Dot3F4(mtMul3(angular1,*invInertia1), angular1);
-	return -1.f/(jmj0+jmj1+jmj2+jmj3);
-}
-
-
-void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,
-	b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB, 
-	__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,
-	b3ContactConstraint4_t* dstC )
-{
-	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
-	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
-
-	float dtInv = 1.f/dt;
-	for(int ic=0; ic<4; ic++)
-	{
-		dstC->m_appliedRambdaDt[ic] = 0.f;
-	}
-	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
-
-
-	dstC->m_linear = src->m_worldNormalOnB;
-	dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );
-	for(int ic=0; ic<4; ic++)
-	{
-		b3Float4 r0 = src->m_worldPosB[ic] - posA;
-		b3Float4 r1 = src->m_worldPosB[ic] - posB;
-
-		if( ic >= src->m_worldNormalOnB.w )//npoints
-		{
-			dstC->m_jacCoeffInv[ic] = 0.f;
-			continue;
-		}
-
-		float relVelN;
-		{
-			b3Float4 linear, angular0, angular1;
-			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);
-
-			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
-				invMassA, &invInertiaA, invMassB, &invInertiaB );
-
-			relVelN = calcRelVel(linear, -linear, angular0, angular1,
-				linVelA, angVelA, linVelB, angVelB);
-
-			float e = 0.f;//src->getRestituitionCoeff();
-			if( relVelN*relVelN < 0.004f ) e = 0.f;
-
-			dstC->m_b[ic] = e*relVelN;
-			//float penetration = src->m_worldPosB[ic].w;
-			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;
-			dstC->m_appliedRambdaDt[ic] = 0.f;
-		}
-	}
-
-	if( src->m_worldNormalOnB.w > 0 )//npoints
-	{	//	prepare friction
-		b3Float4 center = b3MakeFloat4(0.f,0.f,0.f,0.f);
-		for(int i=0; i<src->m_worldNormalOnB.w; i++) 
-			center += src->m_worldPosB[i];
-		center /= (float)src->m_worldNormalOnB.w;
-
-		b3Float4 tangent[2];
-		b3PlaneSpace1(src->m_worldNormalOnB,&tangent[0],&tangent[1]);
-		
-		b3Float4 r[2];
-		r[0] = center - posA;
-		r[1] = center - posB;
-
-		for(int i=0; i<2; i++)
-		{
-			b3Float4 linear, angular0, angular1;
-			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);
-
-			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
-				invMassA, &invInertiaA, invMassB, &invInertiaB );
-			dstC->m_fAppliedRambdaDt[i] = 0.f;
-		}
-		dstC->m_center = center;
-	}
-
-	for(int i=0; i<4; i++)
-	{
-		if( i<src->m_worldNormalOnB.w )
-		{
-			dstC->m_worldPos[i] = src->m_worldPosB[i];
-		}
-		else
-		{
-			dstC->m_worldPos[i] = b3MakeFloat4(0.f,0.f,0.f,0.f);
-		}
-	}
-}
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3Inertia.h b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3Inertia.h
deleted file mode 100644
index 96fe9f8b39..0000000000
--- a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3Inertia.h
+++ /dev/null
@@ -1,15 +0,0 @@
-
-
-#ifndef B3_INERTIA_H
-#define B3_INERTIA_H
-
-#include "Bullet3Common/shared/b3Mat3x3.h"
-
-struct b3Inertia
-{
-	b3Mat3x3 m_invInertiaWorld;
-	b3Mat3x3 m_initInvInertia;
-};
-
-
-#endif //B3_INERTIA_H
\ No newline at end of file
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3IntegrateTransforms.h b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3IntegrateTransforms.h
deleted file mode 100644
index e96f90d3f3..0000000000
--- a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3IntegrateTransforms.h
+++ /dev/null
@@ -1,113 +0,0 @@
-
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-
-
-inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
-{
-	
-	if (bodies[nodeID].m_invMass != 0.f)
-	{
-		float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);
-
-		//angular velocity
-		{
-			b3Float4 axis;
-			//add some hardcoded angular damping
-			bodies[nodeID].m_angVel.x *= angularDamping;
-			bodies[nodeID].m_angVel.y *= angularDamping;
-			bodies[nodeID].m_angVel.z *= angularDamping;
-			
-			b3Float4 angvel = bodies[nodeID].m_angVel;
-
-			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));
-			
-			//limit the angular motion
-			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
-			{
-				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;
-			}
-			if(fAngle < 0.001f)
-			{
-				// use Taylor's expansions of sync function
-				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);
-			}
-			else
-			{
-				// sync(fAngle) = sin(c*fAngle)/t
-				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);
-			}
-			
-			b3Quat dorn;
-			dorn.x = axis.x;
-			dorn.y = axis.y;
-			dorn.z = axis.z;
-			dorn.w = b3Cos(fAngle * timeStep * 0.5f);
-			b3Quat orn0 = bodies[nodeID].m_quat;
-			b3Quat predictedOrn = b3QuatMul(dorn, orn0);
-			predictedOrn = b3QuatNormalized(predictedOrn);
-			bodies[nodeID].m_quat=predictedOrn;
-		}
-		//linear velocity		
-		bodies[nodeID].m_pos +=  bodies[nodeID].m_linVel * timeStep;
-		
-		//apply gravity
-		bodies[nodeID].m_linVel += gravityAcceleration * timeStep;
-		
-	}
-	
-}
-
-inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)
-{
-	float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);
-	
-	if( (body->m_invMass != 0.f))
-	{
-		//angular velocity
-		{
-			b3Float4 axis;
-			//add some hardcoded angular damping
-			body->m_angVel.x *= angularDamping;
-			body->m_angVel.y *= angularDamping;
-			body->m_angVel.z *= angularDamping;
-			
-			b3Float4 angvel = body->m_angVel;
-			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));
-			//limit the angular motion
-			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)
-			{
-				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;
-			}
-			if(fAngle < 0.001f)
-			{
-				// use Taylor's expansions of sync function
-				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);
-			}
-			else
-			{
-				// sync(fAngle) = sin(c*fAngle)/t
-				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);
-			}
-			b3Quat dorn;
-			dorn.x = axis.x;
-			dorn.y = axis.y;
-			dorn.z = axis.z;
-			dorn.w = b3Cos(fAngle * timeStep * 0.5f);
-			b3Quat orn0 = body->m_quat;
-
-			b3Quat predictedOrn = b3QuatMul(dorn, orn0);
-			predictedOrn = b3QuatNormalized(predictedOrn);
-			body->m_quat=predictedOrn;
-		}
-
-		//apply gravity
-		body->m_linVel += gravityAcceleration * timeStep;
-
-		//linear velocity		
-		body->m_pos +=  body->m_linVel * timeStep;
-		
-	}
-	
-}