1 files changed, 0 insertions, 289 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
deleted file mode 100644
index 25b2b1ea46..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ /dev/null
@@ -1,289 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-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.
-*/
-
-#include "btCollisionDispatcher.h"
-#include "LinearMath/btQuickprof.h"
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "LinearMath/btPoolAllocator.h"
-#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-#ifdef BT_DEBUG
-#include <stdio.h>
-#endif
-
-btCollisionDispatcher::btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration) : m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
-																								 m_collisionConfiguration(collisionConfiguration)
-{
-	int i;
-
-	setNearCallback(defaultNearCallback);
-
-	m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool();
-
-	m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool();
-
-	for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++)
-	{
-		for (int j = 0; j < MAX_BROADPHASE_COLLISION_TYPES; j++)
-		{
-			m_doubleDispatchContactPoints[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i, j);
-			btAssert(m_doubleDispatchContactPoints[i][j]);
-			m_doubleDispatchClosestPoints[i][j] = m_collisionConfiguration->getClosestPointsAlgorithmCreateFunc(i, j);
-		}
-	}
-}
-
-void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc)
-{
-	m_doubleDispatchContactPoints[proxyType0][proxyType1] = createFunc;
-}
-
-void btCollisionDispatcher::registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc)
-{
-	m_doubleDispatchClosestPoints[proxyType0][proxyType1] = createFunc;
-}
-
-btCollisionDispatcher::~btCollisionDispatcher()
-{
-}
-
-btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	//btAssert(gNumManifold < 65535);
-
-	//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
-
-	btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold), body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
-																																: gContactBreakingThreshold;
-
-	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold());
-
-	void* mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
-	if (NULL == mem)
-	{
-		//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
-		if ((m_dispatcherFlags & CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION) == 0)
-		{
-			mem = btAlignedAlloc(sizeof(btPersistentManifold), 16);
-		}
-		else
-		{
-			btAssert(0);
-			//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
-			return 0;
-		}
-	}
-	btPersistentManifold* manifold = new (mem) btPersistentManifold(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
-	manifold->m_index1a = m_manifoldsPtr.size();
-	m_manifoldsPtr.push_back(manifold);
-
-	return manifold;
-}
-
-void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
-{
-	manifold->clearManifold();
-}
-
-void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
-{
-	//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
-	clearManifold(manifold);
-
-	int findIndex = manifold->m_index1a;
-	btAssert(findIndex < m_manifoldsPtr.size());
-	m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
-	m_manifoldsPtr[findIndex]->m_index1a = findIndex;
-	m_manifoldsPtr.pop_back();
-
-	manifold->~btPersistentManifold();
-	if (m_persistentManifoldPoolAllocator->validPtr(manifold))
-	{
-		m_persistentManifoldPoolAllocator->freeMemory(manifold);
-	}
-	else
-	{
-		btAlignedFree(manifold);
-	}
-}
-
-btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType algoType)
-{
-	btCollisionAlgorithmConstructionInfo ci;
-
-	ci.m_dispatcher1 = this;
-	ci.m_manifold = sharedManifold;
-	btCollisionAlgorithm* algo = 0;
-	if (algoType == BT_CONTACT_POINT_ALGORITHMS)
-	{
-		algo = m_doubleDispatchContactPoints[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
-	}
-	else
-	{
-		algo = m_doubleDispatchClosestPoints[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
-	}
-
-	return algo;
-}
-
-bool btCollisionDispatcher::needsResponse(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	//here you can do filtering
-	bool hasResponse =
-		(body0->hasContactResponse() && body1->hasContactResponse());
-	//no response between two static/kinematic bodies:
-	hasResponse = hasResponse &&
-				  ((!body0->isStaticOrKinematicObject()) || (!body1->isStaticOrKinematicObject()));
-	return hasResponse;
-}
-
-bool btCollisionDispatcher::needsCollision(const btCollisionObject* body0, const btCollisionObject* body1)
-{
-	btAssert(body0);
-	btAssert(body1);
-
-	bool needsCollision = true;
-
-#ifdef BT_DEBUG
-	if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
-	{
-		//broadphase filtering already deals with this
-		if (body0->isStaticOrKinematicObject() && body1->isStaticOrKinematicObject())
-		{
-			m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
-			printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
-		}
-	}
-#endif  //BT_DEBUG
-
-	if ((!body0->isActive()) && (!body1->isActive()))
-		needsCollision = false;
-	else if ((!body0->checkCollideWith(body1)) || (!body1->checkCollideWith(body0)))
-		needsCollision = false;
-
-	return needsCollision;
-}
-
-///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
-///this is useful for the collision dispatcher.
-class btCollisionPairCallback : public btOverlapCallback
-{
-	const btDispatcherInfo& m_dispatchInfo;
-	btCollisionDispatcher* m_dispatcher;
-
-public:
-	btCollisionPairCallback(const btDispatcherInfo& dispatchInfo, btCollisionDispatcher* dispatcher)
-		: m_dispatchInfo(dispatchInfo),
-		  m_dispatcher(dispatcher)
-	{
-	}
-
-	/*btCollisionPairCallback& operator=(btCollisionPairCallback& other)
-	{
-		m_dispatchInfo = other.m_dispatchInfo;
-		m_dispatcher = other.m_dispatcher;
-		return *this;
-	}
-	*/
-
-	virtual ~btCollisionPairCallback() {}
-
-	virtual bool processOverlap(btBroadphasePair& pair)
-	{
-		(*m_dispatcher->getNearCallback())(pair, *m_dispatcher, m_dispatchInfo);
-		return false;
-	}
-};
-
-void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher)
-{
-	//m_blockedForChanges = true;
-
-	btCollisionPairCallback collisionCallback(dispatchInfo, this);
-
-	{
-		BT_PROFILE("processAllOverlappingPairs");
-		pairCache->processAllOverlappingPairs(&collisionCallback, dispatcher, dispatchInfo);
-	}
-
-	//m_blockedForChanges = false;
-}
-
-//by default, Bullet will use this near callback
-void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
-{
-	btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
-	btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
-
-	if (dispatcher.needsCollision(colObj0, colObj1))
-	{
-		btCollisionObjectWrapper obj0Wrap(0, colObj0->getCollisionShape(), colObj0, colObj0->getWorldTransform(), -1, -1);
-		btCollisionObjectWrapper obj1Wrap(0, colObj1->getCollisionShape(), colObj1, colObj1->getWorldTransform(), -1, -1);
-
-		//dispatcher will keep algorithms persistent in the collision pair
-		if (!collisionPair.m_algorithm)
-		{
-			collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap, &obj1Wrap, 0, BT_CONTACT_POINT_ALGORITHMS);
-		}
-
-		if (collisionPair.m_algorithm)
-		{
-			btManifoldResult contactPointResult(&obj0Wrap, &obj1Wrap);
-
-			if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
-			{
-				//discrete collision detection query
-
-				collisionPair.m_algorithm->processCollision(&obj0Wrap, &obj1Wrap, dispatchInfo, &contactPointResult);
-			}
-			else
-			{
-				//continuous collision detection query, time of impact (toi)
-				btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0, colObj1, dispatchInfo, &contactPointResult);
-				if (dispatchInfo.m_timeOfImpact > toi)
-					dispatchInfo.m_timeOfImpact = toi;
-			}
-		}
-	}
-}
-
-void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
-{
-	void* mem = m_collisionAlgorithmPoolAllocator->allocate(size);
-	if (NULL == mem)
-	{
-		//warn user for overflow?
-		return btAlignedAlloc(static_cast<size_t>(size), 16);
-	}
-	return mem;
-}
-
-void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
-{
-	if (m_collisionAlgorithmPoolAllocator->validPtr(ptr))
-	{
-		m_collisionAlgorithmPoolAllocator->freeMemory(ptr);
-	}
-	else
-	{
-		btAlignedFree(ptr);
-	}
-}