1 files changed, 0 insertions, 171 deletions
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