1 files changed, 0 insertions, 500 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp
deleted file mode 100644
index a5dab74a34..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.cpp
+++ /dev/null
@@ -1,500 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-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.
-*/
-//Originally written by Erwin Coumans
-
-#include "b3ConvexUtility.h"
-#include "Bullet3Geometry/b3ConvexHullComputer.h"
-#include "Bullet3Geometry/b3GrahamScan2dConvexHull.h"
-#include "Bullet3Common/b3Quaternion.h"
-#include "Bullet3Common/b3HashMap.h"
-
-b3ConvexUtility::~b3ConvexUtility()
-{
-}
-
-bool b3ConvexUtility::initializePolyhedralFeatures(const b3Vector3* orgVertices, int numPoints, bool mergeCoplanarTriangles)
-{
-	b3ConvexHullComputer conv;
-	conv.compute(&orgVertices[0].getX(), sizeof(b3Vector3), numPoints, 0.f, 0.f);
-
-	b3AlignedObjectArray<b3Vector3> faceNormals;
-	int numFaces = conv.faces.size();
-	faceNormals.resize(numFaces);
-	b3ConvexHullComputer* convexUtil = &conv;
-
-	b3AlignedObjectArray<b3MyFace> tmpFaces;
-	tmpFaces.resize(numFaces);
-
-	int numVertices = convexUtil->vertices.size();
-	m_vertices.resize(numVertices);
-	for (int p = 0; p < numVertices; p++)
-	{
-		m_vertices[p] = convexUtil->vertices[p];
-	}
-
-	for (int i = 0; i < numFaces; i++)
-	{
-		int face = convexUtil->faces[i];
-		//printf("face=%d\n",face);
-		const b3ConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
-		const b3ConvexHullComputer::Edge* edge = firstEdge;
-
-		b3Vector3 edges[3];
-		int numEdges = 0;
-		//compute face normals
-
-		do
-		{
-			int src = edge->getSourceVertex();
-			tmpFaces[i].m_indices.push_back(src);
-			int targ = edge->getTargetVertex();
-			b3Vector3 wa = convexUtil->vertices[src];
-
-			b3Vector3 wb = convexUtil->vertices[targ];
-			b3Vector3 newEdge = wb - wa;
-			newEdge.normalize();
-			if (numEdges < 2)
-				edges[numEdges++] = newEdge;
-
-			edge = edge->getNextEdgeOfFace();
-		} while (edge != firstEdge);
-
-		b3Scalar planeEq = 1e30f;
-
-		if (numEdges == 2)
-		{
-			faceNormals[i] = edges[0].cross(edges[1]);
-			faceNormals[i].normalize();
-			tmpFaces[i].m_plane[0] = faceNormals[i].getX();
-			tmpFaces[i].m_plane[1] = faceNormals[i].getY();
-			tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
-			tmpFaces[i].m_plane[3] = planeEq;
-		}
-		else
-		{
-			b3Assert(0);  //degenerate?
-			faceNormals[i].setZero();
-		}
-
-		for (int v = 0; v < tmpFaces[i].m_indices.size(); v++)
-		{
-			b3Scalar eq = m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
-			if (planeEq > eq)
-			{
-				planeEq = eq;
-			}
-		}
-		tmpFaces[i].m_plane[3] = -planeEq;
-	}
-
-	//merge coplanar faces and copy them to m_polyhedron
-
-	b3Scalar faceWeldThreshold = 0.999f;
-	b3AlignedObjectArray<int> todoFaces;
-	for (int i = 0; i < tmpFaces.size(); i++)
-		todoFaces.push_back(i);
-
-	while (todoFaces.size())
-	{
-		b3AlignedObjectArray<int> coplanarFaceGroup;
-		int refFace = todoFaces[todoFaces.size() - 1];
-
-		coplanarFaceGroup.push_back(refFace);
-		b3MyFace& faceA = tmpFaces[refFace];
-		todoFaces.pop_back();
-
-		b3Vector3 faceNormalA = b3MakeVector3(faceA.m_plane[0], faceA.m_plane[1], faceA.m_plane[2]);
-		for (int j = todoFaces.size() - 1; j >= 0; j--)
-		{
-			int i = todoFaces[j];
-			b3MyFace& faceB = tmpFaces[i];
-			b3Vector3 faceNormalB = b3MakeVector3(faceB.m_plane[0], faceB.m_plane[1], faceB.m_plane[2]);
-			if (faceNormalA.dot(faceNormalB) > faceWeldThreshold)
-			{
-				coplanarFaceGroup.push_back(i);
-				todoFaces.remove(i);
-			}
-		}
-
-		bool did_merge = false;
-		if (coplanarFaceGroup.size() > 1)
-		{
-			//do the merge: use Graham Scan 2d convex hull
-
-			b3AlignedObjectArray<b3GrahamVector3> orgpoints;
-			b3Vector3 averageFaceNormal = b3MakeVector3(0, 0, 0);
-
-			for (int i = 0; i < coplanarFaceGroup.size(); i++)
-			{
-				//				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
-
-				b3MyFace& face = tmpFaces[coplanarFaceGroup[i]];
-				b3Vector3 faceNormal = b3MakeVector3(face.m_plane[0], face.m_plane[1], face.m_plane[2]);
-				averageFaceNormal += faceNormal;
-				for (int f = 0; f < face.m_indices.size(); f++)
-				{
-					int orgIndex = face.m_indices[f];
-					b3Vector3 pt = m_vertices[orgIndex];
-
-					bool found = false;
-
-					for (int i = 0; i < orgpoints.size(); i++)
-					{
-						//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
-						if (orgpoints[i].m_orgIndex == orgIndex)
-						{
-							found = true;
-							break;
-						}
-					}
-					if (!found)
-						orgpoints.push_back(b3GrahamVector3(pt, orgIndex));
-				}
-			}
-
-			b3MyFace combinedFace;
-			for (int i = 0; i < 4; i++)
-				combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
-
-			b3AlignedObjectArray<b3GrahamVector3> hull;
-
-			averageFaceNormal.normalize();
-			b3GrahamScanConvexHull2D(orgpoints, hull, averageFaceNormal);
-
-			for (int i = 0; i < hull.size(); i++)
-			{
-				combinedFace.m_indices.push_back(hull[i].m_orgIndex);
-				for (int k = 0; k < orgpoints.size(); k++)
-				{
-					if (orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
-					{
-						orgpoints[k].m_orgIndex = -1;  // invalidate...
-						break;
-					}
-				}
-			}
-
-			// are there rejected vertices?
-			bool reject_merge = false;
-
-			for (int i = 0; i < orgpoints.size(); i++)
-			{
-				if (orgpoints[i].m_orgIndex == -1)
-					continue;  // this is in the hull...
-				// this vertex is rejected -- is anybody else using this vertex?
-				for (int j = 0; j < tmpFaces.size(); j++)
-				{
-					b3MyFace& face = tmpFaces[j];
-					// is this a face of the current coplanar group?
-					bool is_in_current_group = false;
-					for (int k = 0; k < coplanarFaceGroup.size(); k++)
-					{
-						if (coplanarFaceGroup[k] == j)
-						{
-							is_in_current_group = true;
-							break;
-						}
-					}
-					if (is_in_current_group)  // ignore this face...
-						continue;
-					// does this face use this rejected vertex?
-					for (int v = 0; v < face.m_indices.size(); v++)
-					{
-						if (face.m_indices[v] == orgpoints[i].m_orgIndex)
-						{
-							// this rejected vertex is used in another face -- reject merge
-							reject_merge = true;
-							break;
-						}
-					}
-					if (reject_merge)
-						break;
-				}
-				if (reject_merge)
-					break;
-			}
-
-			if (!reject_merge)
-			{
-				// do this merge!
-				did_merge = true;
-				m_faces.push_back(combinedFace);
-			}
-		}
-		if (!did_merge)
-		{
-			for (int i = 0; i < coplanarFaceGroup.size(); i++)
-			{
-				b3MyFace face = tmpFaces[coplanarFaceGroup[i]];
-				m_faces.push_back(face);
-			}
-		}
-	}
-
-	initialize();
-
-	return true;
-}
-
-inline bool IsAlmostZero(const b3Vector3& v)
-{
-	if (fabsf(v.getX()) > 1e-6 || fabsf(v.getY()) > 1e-6 || fabsf(v.getZ()) > 1e-6) return false;
-	return true;
-}
-
-struct b3InternalVertexPair
-{
-	b3InternalVertexPair(short int v0, short int v1)
-		: m_v0(v0),
-		  m_v1(v1)
-	{
-		if (m_v1 > m_v0)
-			b3Swap(m_v0, m_v1);
-	}
-	short int m_v0;
-	short int m_v1;
-	int getHash() const
-	{
-		return m_v0 + (m_v1 << 16);
-	}
-	bool equals(const b3InternalVertexPair& other) const
-	{
-		return m_v0 == other.m_v0 && m_v1 == other.m_v1;
-	}
-};
-
-struct b3InternalEdge
-{
-	b3InternalEdge()
-		: m_face0(-1),
-		  m_face1(-1)
-	{
-	}
-	short int m_face0;
-	short int m_face1;
-};
-
-//
-
-#ifdef TEST_INTERNAL_OBJECTS
-bool b3ConvexUtility::testContainment() const
-{
-	for (int p = 0; p < 8; p++)
-	{
-		b3Vector3 LocalPt;
-		if (p == 0)
-			LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], m_extents[2]);
-		else if (p == 1)
-			LocalPt = m_localCenter + b3Vector3(m_extents[0], m_extents[1], -m_extents[2]);
-		else if (p == 2)
-			LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], m_extents[2]);
-		else if (p == 3)
-			LocalPt = m_localCenter + b3Vector3(m_extents[0], -m_extents[1], -m_extents[2]);
-		else if (p == 4)
-			LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], m_extents[2]);
-		else if (p == 5)
-			LocalPt = m_localCenter + b3Vector3(-m_extents[0], m_extents[1], -m_extents[2]);
-		else if (p == 6)
-			LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], m_extents[2]);
-		else if (p == 7)
-			LocalPt = m_localCenter + b3Vector3(-m_extents[0], -m_extents[1], -m_extents[2]);
-
-		for (int i = 0; i < m_faces.size(); i++)
-		{
-			const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
-			const b3Scalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
-			if (d > 0.0f)
-				return false;
-		}
-	}
-	return true;
-}
-#endif
-
-void b3ConvexUtility::initialize()
-{
-	b3HashMap<b3InternalVertexPair, b3InternalEdge> edges;
-
-	b3Scalar TotalArea = 0.0f;
-
-	m_localCenter.setValue(0, 0, 0);
-	for (int i = 0; i < m_faces.size(); i++)
-	{
-		int numVertices = m_faces[i].m_indices.size();
-		int NbTris = numVertices;
-		for (int j = 0; j < NbTris; j++)
-		{
-			int k = (j + 1) % numVertices;
-			b3InternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
-			b3InternalEdge* edptr = edges.find(vp);
-			b3Vector3 edge = m_vertices[vp.m_v1] - m_vertices[vp.m_v0];
-			edge.normalize();
-
-			bool found = false;
-			b3Vector3 diff, diff2;
-
-			for (int p = 0; p < m_uniqueEdges.size(); p++)
-			{
-				diff = m_uniqueEdges[p] - edge;
-				diff2 = m_uniqueEdges[p] + edge;
-
-				//	if ((diff.length2()==0.f) ||
-				//	(diff2.length2()==0.f))
-
-				if (IsAlmostZero(diff) ||
-					IsAlmostZero(diff2))
-				{
-					found = true;
-					break;
-				}
-			}
-
-			if (!found)
-			{
-				m_uniqueEdges.push_back(edge);
-			}
-
-			if (edptr)
-			{
-				//TBD: figure out why I added this assert
-				//				b3Assert(edptr->m_face0>=0);
-				//			b3Assert(edptr->m_face1<0);
-				edptr->m_face1 = i;
-			}
-			else
-			{
-				b3InternalEdge ed;
-				ed.m_face0 = i;
-				edges.insert(vp, ed);
-			}
-		}
-	}
-
-#ifdef USE_CONNECTED_FACES
-	for (int i = 0; i < m_faces.size(); i++)
-	{
-		int numVertices = m_faces[i].m_indices.size();
-		m_faces[i].m_connectedFaces.resize(numVertices);
-
-		for (int j = 0; j < numVertices; j++)
-		{
-			int k = (j + 1) % numVertices;
-			b3InternalVertexPair vp(m_faces[i].m_indices[j], m_faces[i].m_indices[k]);
-			b3InternalEdge* edptr = edges.find(vp);
-			b3Assert(edptr);
-			b3Assert(edptr->m_face0 >= 0);
-			b3Assert(edptr->m_face1 >= 0);
-
-			int connectedFace = (edptr->m_face0 == i) ? edptr->m_face1 : edptr->m_face0;
-			m_faces[i].m_connectedFaces[j] = connectedFace;
-		}
-	}
-#endif  //USE_CONNECTED_FACES
-
-	for (int i = 0; i < m_faces.size(); i++)
-	{
-		int numVertices = m_faces[i].m_indices.size();
-		int NbTris = numVertices - 2;
-
-		const b3Vector3& p0 = m_vertices[m_faces[i].m_indices[0]];
-		for (int j = 1; j <= NbTris; j++)
-		{
-			int k = (j + 1) % numVertices;
-			const b3Vector3& p1 = m_vertices[m_faces[i].m_indices[j]];
-			const b3Vector3& p2 = m_vertices[m_faces[i].m_indices[k]];
-			b3Scalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
-			b3Vector3 Center = (p0 + p1 + p2) / 3.0f;
-			m_localCenter += Area * Center;
-			TotalArea += Area;
-		}
-	}
-	m_localCenter /= TotalArea;
-
-#ifdef TEST_INTERNAL_OBJECTS
-	if (1)
-	{
-		m_radius = FLT_MAX;
-		for (int i = 0; i < m_faces.size(); i++)
-		{
-			const b3Vector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
-			const b3Scalar dist = b3Fabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
-			if (dist < m_radius)
-				m_radius = dist;
-		}
-
-		b3Scalar MinX = FLT_MAX;
-		b3Scalar MinY = FLT_MAX;
-		b3Scalar MinZ = FLT_MAX;
-		b3Scalar MaxX = -FLT_MAX;
-		b3Scalar MaxY = -FLT_MAX;
-		b3Scalar MaxZ = -FLT_MAX;
-		for (int i = 0; i < m_vertices.size(); i++)
-		{
-			const b3Vector3& pt = m_vertices[i];
-			if (pt.getX() < MinX) MinX = pt.getX();
-			if (pt.getX() > MaxX) MaxX = pt.getX();
-			if (pt.getY() < MinY) MinY = pt.getY();
-			if (pt.getY() > MaxY) MaxY = pt.getY();
-			if (pt.getZ() < MinZ) MinZ = pt.getZ();
-			if (pt.getZ() > MaxZ) MaxZ = pt.getZ();
-		}
-		mC.setValue(MaxX + MinX, MaxY + MinY, MaxZ + MinZ);
-		mE.setValue(MaxX - MinX, MaxY - MinY, MaxZ - MinZ);
-
-		//		const b3Scalar r = m_radius / sqrtf(2.0f);
-		const b3Scalar r = m_radius / sqrtf(3.0f);
-		const int LargestExtent = mE.maxAxis();
-		const b3Scalar Step = (mE[LargestExtent] * 0.5f - r) / 1024.0f;
-		m_extents[0] = m_extents[1] = m_extents[2] = r;
-		m_extents[LargestExtent] = mE[LargestExtent] * 0.5f;
-		bool FoundBox = false;
-		for (int j = 0; j < 1024; j++)
-		{
-			if (testContainment())
-			{
-				FoundBox = true;
-				break;
-			}
-
-			m_extents[LargestExtent] -= Step;
-		}
-		if (!FoundBox)
-		{
-			m_extents[0] = m_extents[1] = m_extents[2] = r;
-		}
-		else
-		{
-			// Refine the box
-			const b3Scalar Step = (m_radius - r) / 1024.0f;
-			const int e0 = (1 << LargestExtent) & 3;
-			const int e1 = (1 << e0) & 3;
-
-			for (int j = 0; j < 1024; j++)
-			{
-				const b3Scalar Saved0 = m_extents[e0];
-				const b3Scalar Saved1 = m_extents[e1];
-				m_extents[e0] += Step;
-				m_extents[e1] += Step;
-
-				if (!testContainment())
-				{
-					m_extents[e0] = Saved0;
-					m_extents[e1] = Saved1;
-					break;
-				}
-			}
-		}
-	}
-#endif
-}