1 files changed, 0 insertions, 411 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
deleted file mode 100644
index 6873a95d90..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,411 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
-
-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.
-*/
-
-///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library.
-///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross
-
-#include "btBox2dBox2dCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
-#include "BulletCollision/CollisionShapes/btBox2dShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-#define USE_PERSISTENT_CONTACTS 1
-
-btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* obj0Wrap, const btCollisionObjectWrapper* obj1Wrap)
-	: btActivatingCollisionAlgorithm(ci, obj0Wrap, obj1Wrap),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf)
-{
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(), obj1Wrap->getCollisionObject()))
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(), obj1Wrap->getCollisionObject());
-		m_ownManifold = true;
-	}
-}
-
-btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
-
-//#include <stdio.h>
-void btBox2dBox2dCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	if (!m_manifoldPtr)
-		return;
-
-	const btBox2dShape* box0 = (const btBox2dShape*)body0Wrap->getCollisionShape();
-	const btBox2dShape* box1 = (const btBox2dShape*)body1Wrap->getCollisionShape();
-
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-	b2CollidePolygons(resultOut, box0, body0Wrap->getWorldTransform(), box1, body1Wrap->getWorldTransform());
-
-	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
-	if (m_ownManifold)
-	{
-		resultOut->refreshContactPoints();
-	}
-}
-
-btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
-{
-	//not yet
-	return 1.f;
-}
-
-struct ClipVertex
-{
-	btVector3 v;
-	int id;
-	//b2ContactID id;
-	//b2ContactID id;
-};
-
-#define b2Dot(a, b) (a).dot(b)
-#define b2Mul(a, b) (a) * (b)
-#define b2MulT(a, b) (a).transpose() * (b)
-#define b2Cross(a, b) (a).cross(b)
-#define btCrossS(a, s) btVector3(s* a.getY(), -s* a.getX(), 0.f)
-
-int b2_maxManifoldPoints = 2;
-
-static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
-							 const btVector3& normal, btScalar offset)
-{
-	// Start with no output points
-	int numOut = 0;
-
-	// Calculate the distance of end points to the line
-	btScalar distance0 = b2Dot(normal, vIn[0].v) - offset;
-	btScalar distance1 = b2Dot(normal, vIn[1].v) - offset;
-
-	// If the points are behind the plane
-	if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
-	if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
-
-	// If the points are on different sides of the plane
-	if (distance0 * distance1 < 0.0f)
-	{
-		// Find intersection point of edge and plane
-		btScalar interp = distance0 / (distance0 - distance1);
-		vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
-		if (distance0 > 0.0f)
-		{
-			vOut[numOut].id = vIn[0].id;
-		}
-		else
-		{
-			vOut[numOut].id = vIn[1].id;
-		}
-		++numOut;
-	}
-
-	return numOut;
-}
-
-// Find the separation between poly1 and poly2 for a give edge normal on poly1.
-static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
-							   const btBox2dShape* poly2, const btTransform& xf2)
-{
-	const btVector3* vertices1 = poly1->getVertices();
-	const btVector3* normals1 = poly1->getNormals();
-
-	int count2 = poly2->getVertexCount();
-	const btVector3* vertices2 = poly2->getVertices();
-
-	btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
-
-	// Convert normal from poly1's frame into poly2's frame.
-	btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
-	btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World);
-
-	// Find support vertex on poly2 for -normal.
-	int index = 0;
-	btScalar minDot = BT_LARGE_FLOAT;
-
-	if (count2 > 0)
-		index = (int)normal1.minDot(vertices2, count2, minDot);
-
-	btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
-	btVector3 v2 = b2Mul(xf2, vertices2[index]);
-	btScalar separation = b2Dot(v2 - v1, normal1World);
-	return separation;
-}
-
-// Find the max separation between poly1 and poly2 using edge normals from poly1.
-static btScalar FindMaxSeparation(int* edgeIndex,
-								  const btBox2dShape* poly1, const btTransform& xf1,
-								  const btBox2dShape* poly2, const btTransform& xf2)
-{
-	int count1 = poly1->getVertexCount();
-	const btVector3* normals1 = poly1->getNormals();
-
-	// Vector pointing from the centroid of poly1 to the centroid of poly2.
-	btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid());
-	btVector3 dLocal1 = b2MulT(xf1.getBasis(), d);
-
-	// Find edge normal on poly1 that has the largest projection onto d.
-	int edge = 0;
-	btScalar maxDot;
-	if (count1 > 0)
-		edge = (int)dLocal1.maxDot(normals1, count1, maxDot);
-
-	// Get the separation for the edge normal.
-	btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
-	if (s > 0.0f)
-	{
-		return s;
-	}
-
-	// Check the separation for the previous edge normal.
-	int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
-	btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
-	if (sPrev > 0.0f)
-	{
-		return sPrev;
-	}
-
-	// Check the separation for the next edge normal.
-	int nextEdge = edge + 1 < count1 ? edge + 1 : 0;
-	btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
-	if (sNext > 0.0f)
-	{
-		return sNext;
-	}
-
-	// Find the best edge and the search direction.
-	int bestEdge;
-	btScalar bestSeparation;
-	int increment;
-	if (sPrev > s && sPrev > sNext)
-	{
-		increment = -1;
-		bestEdge = prevEdge;
-		bestSeparation = sPrev;
-	}
-	else if (sNext > s)
-	{
-		increment = 1;
-		bestEdge = nextEdge;
-		bestSeparation = sNext;
-	}
-	else
-	{
-		*edgeIndex = edge;
-		return s;
-	}
-
-	// Perform a local search for the best edge normal.
-	for (;;)
-	{
-		if (increment == -1)
-			edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
-		else
-			edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
-
-		s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
-		if (s > 0.0f)
-		{
-			return s;
-		}
-
-		if (s > bestSeparation)
-		{
-			bestEdge = edge;
-			bestSeparation = s;
-		}
-		else
-		{
-			break;
-		}
-	}
-
-	*edgeIndex = bestEdge;
-	return bestSeparation;
-}
-
-static void FindIncidentEdge(ClipVertex c[2],
-							 const btBox2dShape* poly1, const btTransform& xf1, int edge1,
-							 const btBox2dShape* poly2, const btTransform& xf2)
-{
-	const btVector3* normals1 = poly1->getNormals();
-
-	int count2 = poly2->getVertexCount();
-	const btVector3* vertices2 = poly2->getVertices();
-	const btVector3* normals2 = poly2->getNormals();
-
-	btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
-
-	// Get the normal of the reference edge in poly2's frame.
-	btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
-
-	// Find the incident edge on poly2.
-	int index = 0;
-	btScalar minDot = BT_LARGE_FLOAT;
-	for (int i = 0; i < count2; ++i)
-	{
-		btScalar dot = b2Dot(normal1, normals2[i]);
-		if (dot < minDot)
-		{
-			minDot = dot;
-			index = i;
-		}
-	}
-
-	// Build the clip vertices for the incident edge.
-	int i1 = index;
-	int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
-
-	c[0].v = b2Mul(xf2, vertices2[i1]);
-	//	c[0].id.features.referenceEdge = (unsigned char)edge1;
-	//	c[0].id.features.incidentEdge = (unsigned char)i1;
-	//	c[0].id.features.incidentVertex = 0;
-
-	c[1].v = b2Mul(xf2, vertices2[i2]);
-	//	c[1].id.features.referenceEdge = (unsigned char)edge1;
-	//	c[1].id.features.incidentEdge = (unsigned char)i2;
-	//	c[1].id.features.incidentVertex = 1;
-}
-
-// Find edge normal of max separation on A - return if separating axis is found
-// Find edge normal of max separation on B - return if separation axis is found
-// Choose reference edge as min(minA, minB)
-// Find incident edge
-// Clip
-
-// The normal points from 1 to 2
-void b2CollidePolygons(btManifoldResult* manifold,
-					   const btBox2dShape* polyA, const btTransform& xfA,
-					   const btBox2dShape* polyB, const btTransform& xfB)
-{
-	int edgeA = 0;
-	btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
-	if (separationA > 0.0f)
-		return;
-
-	int edgeB = 0;
-	btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
-	if (separationB > 0.0f)
-		return;
-
-	const btBox2dShape* poly1;  // reference poly
-	const btBox2dShape* poly2;  // incident poly
-	btTransform xf1, xf2;
-	int edge1;  // reference edge
-	unsigned char flip;
-	const btScalar k_relativeTol = 0.98f;
-	const btScalar k_absoluteTol = 0.001f;
-
-	// TODO_ERIN use "radius" of poly for absolute tolerance.
-	if (separationB > k_relativeTol * separationA + k_absoluteTol)
-	{
-		poly1 = polyB;
-		poly2 = polyA;
-		xf1 = xfB;
-		xf2 = xfA;
-		edge1 = edgeB;
-		flip = 1;
-	}
-	else
-	{
-		poly1 = polyA;
-		poly2 = polyB;
-		xf1 = xfA;
-		xf2 = xfB;
-		edge1 = edgeA;
-		flip = 0;
-	}
-
-	ClipVertex incidentEdge[2];
-	FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
-
-	int count1 = poly1->getVertexCount();
-	const btVector3* vertices1 = poly1->getVertices();
-
-	btVector3 v11 = vertices1[edge1];
-	btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1 + 1] : vertices1[0];
-
-	//btVector3 dv = v12 - v11;
-	btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
-	sideNormal.normalize();
-	btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
-
-	v11 = b2Mul(xf1, v11);
-	v12 = b2Mul(xf1, v12);
-
-	btScalar frontOffset = b2Dot(frontNormal, v11);
-	btScalar sideOffset1 = -b2Dot(sideNormal, v11);
-	btScalar sideOffset2 = b2Dot(sideNormal, v12);
-
-	// Clip incident edge against extruded edge1 side edges.
-	ClipVertex clipPoints1[2];
-	clipPoints1[0].v.setValue(0, 0, 0);
-	clipPoints1[1].v.setValue(0, 0, 0);
-
-	ClipVertex clipPoints2[2];
-	clipPoints2[0].v.setValue(0, 0, 0);
-	clipPoints2[1].v.setValue(0, 0, 0);
-
-	int np;
-
-	// Clip to box side 1
-	np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1);
-
-	if (np < 2)
-		return;
-
-	// Clip to negative box side 1
-	np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
-
-	if (np < 2)
-	{
-		return;
-	}
-
-	// Now clipPoints2 contains the clipped points.
-	btVector3 manifoldNormal = flip ? -frontNormal : frontNormal;
-
-	int pointCount = 0;
-	for (int i = 0; i < b2_maxManifoldPoints; ++i)
-	{
-		btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
-
-		if (separation <= 0.0f)
-		{
-			//b2ManifoldPoint* cp = manifold->points + pointCount;
-			//btScalar separation = separation;
-			//cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
-			//cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
-
-			manifold->addContactPoint(-manifoldNormal, clipPoints2[i].v, separation);
-
-			//			cp->id = clipPoints2[i].id;
-			//			cp->id.features.flip = flip;
-			++pointCount;
-		}
-	}
-
-	//	manifold->pointCount = pointCount;}
-}