1 files changed, 0 insertions, 390 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
deleted file mode 100644
index b5f4a3c869..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,390 +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 "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btCompoundShape.h"
-#include "BulletCollision/BroadphaseCollision/btDbvt.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "LinearMath/btAabbUtil2.h"
-#include "btManifoldResult.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-btShapePairCallback gCompoundChildShapePairCallback = 0;
-
-btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
-	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
-	  m_isSwapped(isSwapped),
-	  m_sharedManifold(ci.m_manifold)
-{
-	m_ownsManifold = false;
-
-	const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	btAssert(colObjWrap->getCollisionShape()->isCompound());
-
-	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
-	m_compoundShapeRevision = compoundShape->getUpdateRevision();
-
-	preallocateChildAlgorithms(body0Wrap, body1Wrap);
-}
-
-void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-{
-	const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
-	btAssert(colObjWrap->getCollisionShape()->isCompound());
-
-	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
-
-	int numChildren = compoundShape->getNumChildShapes();
-	int i;
-
-	m_childCollisionAlgorithms.resize(numChildren);
-	for (i = 0; i < numChildren; i++)
-	{
-		if (compoundShape->getDynamicAabbTree())
-		{
-			m_childCollisionAlgorithms[i] = 0;
-		}
-		else
-		{
-			const btCollisionShape* childShape = compoundShape->getChildShape(i);
-
-			btCollisionObjectWrapper childWrap(colObjWrap, childShape, colObjWrap->getCollisionObject(), colObjWrap->getWorldTransform(), -1, i);  //wrong child trans, but unused (hopefully)
-			m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap, otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
-
-			btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsContact;
-			btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsClosestPoints;
-		}
-	}
-}
-
-void btCompoundCollisionAlgorithm::removeChildAlgorithms()
-{
-	int numChildren = m_childCollisionAlgorithms.size();
-	int i;
-	for (i = 0; i < numChildren; i++)
-	{
-		if (m_childCollisionAlgorithms[i])
-		{
-			m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
-			m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
-		}
-	}
-}
-
-btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
-{
-	removeChildAlgorithms();
-}
-
-struct btCompoundLeafCallback : btDbvt::ICollide
-{
-public:
-	const btCollisionObjectWrapper* m_compoundColObjWrap;
-	const btCollisionObjectWrapper* m_otherObjWrap;
-	btDispatcher* m_dispatcher;
-	const btDispatcherInfo& m_dispatchInfo;
-	btManifoldResult* m_resultOut;
-	btCollisionAlgorithm** m_childCollisionAlgorithms;
-	btPersistentManifold* m_sharedManifold;
-
-	btCompoundLeafCallback(const btCollisionObjectWrapper* compoundObjWrap, const btCollisionObjectWrapper* otherObjWrap, btDispatcher* dispatcher, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut, btCollisionAlgorithm** childCollisionAlgorithms, btPersistentManifold* sharedManifold)
-		: m_compoundColObjWrap(compoundObjWrap), m_otherObjWrap(otherObjWrap), m_dispatcher(dispatcher), m_dispatchInfo(dispatchInfo), m_resultOut(resultOut), m_childCollisionAlgorithms(childCollisionAlgorithms), m_sharedManifold(sharedManifold)
-	{
-	}
-
-	void ProcessChildShape(const btCollisionShape* childShape, int index)
-	{
-		btAssert(index >= 0);
-		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
-		btAssert(index < compoundShape->getNumChildShapes());
-
-		if (gCompoundChildShapePairCallback)
-		{
-			if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
-				return;
-		}
-
-		//backup
-		btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
-
-		const btTransform& childTrans = compoundShape->getChildTransform(index);
-		btTransform newChildWorldTrans = orgTrans * childTrans;
-
-		//perform an AABB check first
-		btVector3 aabbMin0, aabbMax0;
-		childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
-
-		btVector3 extendAabb(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
-		aabbMin0 -= extendAabb;
-		aabbMax0 += extendAabb;
-
-		btVector3 aabbMin1, aabbMax1;
-		m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
-
-
-		if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
-		{
-			btTransform preTransform = childTrans;
-			if (this->m_compoundColObjWrap->m_preTransform)
-			{
-				preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform));
-			}
-			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index);
-
-			btCollisionAlgorithm* algo = 0;
-			bool allocatedAlgorithm = false;
-
-			if (m_resultOut->m_closestPointDistanceThreshold > 0)
-			{
-				algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
-				allocatedAlgorithm = true;
-			}
-			else
-			{
-				//the contactpoint is still projected back using the original inverted worldtrans
-				if (!m_childCollisionAlgorithms[index])
-				{
-					m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
-				}
-				algo = m_childCollisionAlgorithms[index];
-			}
-
-			const btCollisionObjectWrapper* tmpWrap = 0;
-
-			///detect swapping case
-			if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
-			{
-				tmpWrap = m_resultOut->getBody0Wrap();
-				m_resultOut->setBody0Wrap(&compoundWrap);
-				m_resultOut->setShapeIdentifiersA(-1, index);
-			}
-			else
-			{
-				tmpWrap = m_resultOut->getBody1Wrap();
-				m_resultOut->setBody1Wrap(&compoundWrap);
-				m_resultOut->setShapeIdentifiersB(-1, index);
-			}
-
-			algo->processCollision(&compoundWrap, m_otherObjWrap, m_dispatchInfo, m_resultOut);
-
-#if 0
-			if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
-			{
-				btVector3 worldAabbMin,worldAabbMax;
-				m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
-				m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
-			}
-#endif
-
-			if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
-			{
-				m_resultOut->setBody0Wrap(tmpWrap);
-			}
-			else
-			{
-				m_resultOut->setBody1Wrap(tmpWrap);
-			}
-			if (allocatedAlgorithm)
-			{
-				algo->~btCollisionAlgorithm();
-				m_dispatcher->freeCollisionAlgorithm(algo);
-			}
-		}
-	}
-	void Process(const btDbvtNode* leaf)
-	{
-		int index = leaf->dataAsInt;
-
-		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
-		const btCollisionShape* childShape = compoundShape->getChildShape(index);
-
-#if 0
-		if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
-		{
-			btVector3 worldAabbMin,worldAabbMax;
-			btTransform	orgTrans = m_compoundColObjWrap->getWorldTransform();
-			btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
-			m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
-		}
-#endif
-
-		ProcessChildShape(childShape, index);
-	}
-};
-
-void btCompoundCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
-
-	btAssert(colObjWrap->getCollisionShape()->isCompound());
-	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
-
-	///btCompoundShape might have changed:
-	////make sure the internal child collision algorithm caches are still valid
-	if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
-	{
-		///clear and update all
-		removeChildAlgorithms();
-
-		preallocateChildAlgorithms(body0Wrap, body1Wrap);
-		m_compoundShapeRevision = compoundShape->getUpdateRevision();
-	}
-
-	if (m_childCollisionAlgorithms.size() == 0)
-		return;
-
-	const btDbvt* tree = compoundShape->getDynamicAabbTree();
-	//use a dynamic aabb tree to cull potential child-overlaps
-	btCompoundLeafCallback callback(colObjWrap, otherObjWrap, m_dispatcher, dispatchInfo, resultOut, &m_childCollisionAlgorithms[0], m_sharedManifold);
-
-	///we need to refresh all contact manifolds
-	///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
-	///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
-	{
-		int i;
-		manifoldArray.resize(0);
-		for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
-		{
-			if (m_childCollisionAlgorithms[i])
-			{
-				m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
-				for (int m = 0; m < manifoldArray.size(); m++)
-				{
-					if (manifoldArray[m]->getNumContacts())
-					{
-						resultOut->setPersistentManifold(manifoldArray[m]);
-						resultOut->refreshContactPoints();
-						resultOut->setPersistentManifold(0);  //??necessary?
-					}
-				}
-				manifoldArray.resize(0);
-			}
-		}
-	}
-
-	if (tree)
-	{
-		btVector3 localAabbMin, localAabbMax;
-		btTransform otherInCompoundSpace;
-		otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
-		otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace, localAabbMin, localAabbMax);
-		btVector3 extraExtends(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
-		localAabbMin -= extraExtends;
-		localAabbMax += extraExtends;
-
-		const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
-		//process all children, that overlap with  the given AABB bounds
-		tree->collideTVNoStackAlloc(tree->m_root, bounds, stack2, callback);
-	}
-	else
-	{
-		//iterate over all children, perform an AABB check inside ProcessChildShape
-		int numChildren = m_childCollisionAlgorithms.size();
-		int i;
-		for (i = 0; i < numChildren; i++)
-		{
-			callback.ProcessChildShape(compoundShape->getChildShape(i), i);
-		}
-	}
-
-	{
-		//iterate over all children, perform an AABB check inside ProcessChildShape
-		int numChildren = m_childCollisionAlgorithms.size();
-		int i;
-		manifoldArray.resize(0);
-		const btCollisionShape* childShape = 0;
-		btTransform orgTrans;
-
-		btTransform newChildWorldTrans;
-		btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
-
-		for (i = 0; i < numChildren; i++)
-		{
-			if (m_childCollisionAlgorithms[i])
-			{
-				childShape = compoundShape->getChildShape(i);
-				//if not longer overlapping, remove the algorithm
-				orgTrans = colObjWrap->getWorldTransform();
-
-				const btTransform& childTrans = compoundShape->getChildTransform(i);
-				newChildWorldTrans = orgTrans * childTrans;
-
-				//perform an AABB check first
-				childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
-				otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
-
-				if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
-				{
-					m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
-					m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
-					m_childCollisionAlgorithms[i] = 0;
-				}
-			}
-		}
-	}
-}
-
-btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	btAssert(0);
-	//needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
-	btCollisionObject* colObj = m_isSwapped ? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped ? body0 : body1;
-
-	btAssert(colObj->getCollisionShape()->isCompound());
-
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
-
-	//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
-	//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
-	//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
-	//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
-	//then use each overlapping node AABB against Tree0
-	//and vise versa.
-
-	btScalar hitFraction = btScalar(1.);
-
-	int numChildren = m_childCollisionAlgorithms.size();
-	int i;
-	btTransform orgTrans;
-	btScalar frac;
-	for (i = 0; i < numChildren; i++)
-	{
-		//btCollisionShape* childShape = compoundShape->getChildShape(i);
-
-		//backup
-		orgTrans = colObj->getWorldTransform();
-
-		const btTransform& childTrans = compoundShape->getChildTransform(i);
-		//btTransform	newChildWorldTrans = orgTrans*childTrans ;
-		colObj->setWorldTransform(orgTrans * childTrans);
-
-		//btCollisionShape* tmpShape = colObj->getCollisionShape();
-		//colObj->internalSetTemporaryCollisionShape( childShape );
-		frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj, otherObj, dispatchInfo, resultOut);
-		if (frac < hitFraction)
-		{
-			hitFraction = frac;
-		}
-		//revert back
-		//colObj->internalSetTemporaryCollisionShape( tmpShape);
-		colObj->setWorldTransform(orgTrans);
-	}
-	return hitFraction;
-}