1 files changed, 0 insertions, 175 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h
deleted file mode 100644
index 6e991e14b0..0000000000
--- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3NewContactReduction.h
+++ /dev/null
@@ -1,175 +0,0 @@
-
-#ifndef B3_NEW_CONTACT_REDUCTION_H
-#define B3_NEW_CONTACT_REDUCTION_H
-
-#include "Bullet3Common/shared/b3Float4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-
-#define GET_NPOINTS(x) (x).m_worldNormalOnB.w
-
-int b3ExtractManifoldSequentialGlobal(__global const b3Float4* p, int nPoints, b3Float4ConstArg nearNormal, b3Int4* contactIdx)
-{
-	if (nPoints == 0)
-		return 0;
-
-	if (nPoints <= 4)
-		return nPoints;
-
-	if (nPoints > 64)
-		nPoints = 64;
-
-	b3Float4 center = b3MakeFloat4(0, 0, 0, 0);
-	{
-		for (int i = 0; i < nPoints; i++)
-			center += p[i];
-		center /= (float)nPoints;
-	}
-
-	//	sample 4 directions
-
-	b3Float4 aVector = p[0] - center;
-	b3Float4 u = b3Cross(nearNormal, aVector);
-	b3Float4 v = b3Cross(nearNormal, u);
-	u = b3Normalized(u);
-	v = b3Normalized(v);
-
-	//keep point with deepest penetration
-	float minW = FLT_MAX;
-
-	int minIndex = -1;
-
-	b3Float4 maxDots;
-	maxDots.x = FLT_MIN;
-	maxDots.y = FLT_MIN;
-	maxDots.z = FLT_MIN;
-	maxDots.w = FLT_MIN;
-
-	//	idx, distance
-	for (int ie = 0; ie < nPoints; ie++)
-	{
-		if (p[ie].w < minW)
-		{
-			minW = p[ie].w;
-			minIndex = ie;
-		}
-		float f;
-		b3Float4 r = p[ie] - center;
-		f = b3Dot(u, r);
-		if (f < maxDots.x)
-		{
-			maxDots.x = f;
-			contactIdx[0].x = ie;
-		}
-
-		f = b3Dot(-u, r);
-		if (f < maxDots.y)
-		{
-			maxDots.y = f;
-			contactIdx[0].y = ie;
-		}
-
-		f = b3Dot(v, r);
-		if (f < maxDots.z)
-		{
-			maxDots.z = f;
-			contactIdx[0].z = ie;
-		}
-
-		f = b3Dot(-v, r);
-		if (f < maxDots.w)
-		{
-			maxDots.w = f;
-			contactIdx[0].w = ie;
-		}
-	}
-
-	if (contactIdx[0].x != minIndex && contactIdx[0].y != minIndex && contactIdx[0].z != minIndex && contactIdx[0].w != minIndex)
-	{
-		//replace the first contact with minimum (todo: replace contact with least penetration)
-		contactIdx[0].x = minIndex;
-	}
-
-	return 4;
-}
-
-__kernel void b3NewContactReductionKernel(__global b3Int4* pairs,
-										  __global const b3RigidBodyData_t* rigidBodies,
-										  __global const b3Float4* separatingNormals,
-										  __global const int* hasSeparatingAxis,
-										  __global struct b3Contact4Data* globalContactsOut,
-										  __global b3Int4* clippingFaces,
-										  __global b3Float4* worldVertsB2,
-										  volatile __global int* nGlobalContactsOut,
-										  int vertexFaceCapacity,
-										  int contactCapacity,
-										  int numPairs,
-										  int pairIndex)
-{
-	//    int i = get_global_id(0);
-	//int pairIndex = i;
-	int i = pairIndex;
-
-	b3Int4 contactIdx;
-	contactIdx = b3MakeInt4(0, 1, 2, 3);
-
-	if (i < numPairs)
-	{
-		if (hasSeparatingAxis[i])
-		{
-			int nPoints = clippingFaces[pairIndex].w;
-
-			if (nPoints > 0)
-			{
-				__global b3Float4* pointsIn = &worldVertsB2[pairIndex * vertexFaceCapacity];
-				b3Float4 normal = -separatingNormals[i];
-
-				int nReducedContacts = b3ExtractManifoldSequentialGlobal(pointsIn, nPoints, normal, &contactIdx);
-
-				int dstIdx;
-				dstIdx = b3AtomicInc(nGlobalContactsOut);
-
-				//#if 0
-				b3Assert(dstIdx < contactCapacity);
-				if (dstIdx < contactCapacity)
-				{
-					__global struct b3Contact4Data* c = &globalContactsOut[dstIdx];
-					c->m_worldNormalOnB = -normal;
-					c->m_restituitionCoeffCmp = (0.f * 0xffff);
-					c->m_frictionCoeffCmp = (0.7f * 0xffff);
-					c->m_batchIdx = pairIndex;
-					int bodyA = pairs[pairIndex].x;
-					int bodyB = pairs[pairIndex].y;
-
-					pairs[pairIndex].w = dstIdx;
-
-					c->m_bodyAPtrAndSignBit = rigidBodies[bodyA].m_invMass == 0 ? -bodyA : bodyA;
-					c->m_bodyBPtrAndSignBit = rigidBodies[bodyB].m_invMass == 0 ? -bodyB : bodyB;
-					c->m_childIndexA = -1;
-					c->m_childIndexB = -1;
-
-					switch (nReducedContacts)
-					{
-						case 4:
-							c->m_worldPosB[3] = pointsIn[contactIdx.w];
-						case 3:
-							c->m_worldPosB[2] = pointsIn[contactIdx.z];
-						case 2:
-							c->m_worldPosB[1] = pointsIn[contactIdx.y];
-						case 1:
-							c->m_worldPosB[0] = pointsIn[contactIdx.x];
-						default:
-						{
-						}
-					};
-
-					GET_NPOINTS(*c) = nReducedContacts;
-				}
-
-				//#endif
-
-			}  //		if (numContactsOut>0)
-		}      //		if (hasSeparatingAxis[i])
-	}          //	if (i<numPairs)
-}
-#endif