1 files changed, 0 insertions, 153 deletions
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