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diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
deleted file mode 100644
index 9087f84398..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
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-/*
-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 "btConvex2dConvex2dAlgorithm.h"
-
-//#include <stdio.h>
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
-{
- m_simplexSolver = simplexSolver;
- m_pdSolver = pdSolver;
-}
-
-btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
-{
-}
-
-btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
- : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
- m_simplexSolver(simplexSolver),
- m_pdSolver(pdSolver),
- m_ownManifold(false),
- m_manifoldPtr(mf),
- m_lowLevelOfDetail(false)
-{
- (void)body0Wrap;
- (void)body1Wrap;
-}
-
-btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
-{
- if (m_ownManifold)
- {
- if (m_manifoldPtr)
- m_dispatcher->releaseManifold(m_manifoldPtr);
- }
-}
-
-void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
-{
- m_lowLevelOfDetail = useLowLevel;
-}
-
-extern btScalar gContactBreakingThreshold;
-
-//
-// Convex-Convex collision algorithm
-//
-void btConvex2dConvex2dAlgorithm ::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
- if (!m_manifoldPtr)
- {
- //swapped?
- m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
- m_ownManifold = true;
- }
- resultOut->setPersistentManifold(m_manifoldPtr);
-
- //comment-out next line to test multi-contact generation
- //resultOut->getPersistentManifold()->clearManifold();
-
- const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
- const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
-
- btVector3 normalOnB;
- btVector3 pointOnBWorld;
-
- {
- btGjkPairDetector::ClosestPointInput input;
-
- btGjkPairDetector gjkPairDetector(min0, min1, m_simplexSolver, m_pdSolver);
- //TODO: if (dispatchInfo.m_useContinuous)
- gjkPairDetector.setMinkowskiA(min0);
- gjkPairDetector.setMinkowskiB(min1);
-
- {
- input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
- input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
- }
-
- input.m_transformA = body0Wrap->getWorldTransform();
- input.m_transformB = body1Wrap->getWorldTransform();
-
- gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
-
- btVector3 v0, v1;
- btVector3 sepNormalWorldSpace;
- }
-
- if (m_ownManifold)
- {
- resultOut->refreshContactPoints();
- }
-}
-
-btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
- (void)resultOut;
- (void)dispatchInfo;
- ///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
-
- ///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
- ///col0->m_worldTransform,
- btScalar resultFraction = btScalar(1.);
-
- btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
- btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
-
- if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
- squareMot1 < col1->getCcdSquareMotionThreshold())
- return resultFraction;
-
- //An adhoc way of testing the Continuous Collision Detection algorithms
- //One object is approximated as a sphere, to simplify things
- //Starting in penetration should report no time of impact
- //For proper CCD, better accuracy and handling of 'allowed' penetration should be added
- //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
-
- /// Convex0 against sphere for Convex1
- {
- btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
-
- btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
- btConvexCast::CastResult result;
- btVoronoiSimplexSolver voronoiSimplex;
- //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
- ///Simplification, one object is simplified as a sphere
- btGjkConvexCast ccd1(convex0, &sphere1, &voronoiSimplex);
- //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
- if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
- col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
- {
- //store result.m_fraction in both bodies
-
- if (col0->getHitFraction() > result.m_fraction)
- col0->setHitFraction(result.m_fraction);
-
- if (col1->getHitFraction() > result.m_fraction)
- col1->setHitFraction(result.m_fraction);
-
- if (resultFraction > result.m_fraction)
- resultFraction = result.m_fraction;
- }
- }
-
- /// Sphere (for convex0) against Convex1
- {
- btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
-
- btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
- btConvexCast::CastResult result;
- btVoronoiSimplexSolver voronoiSimplex;
- //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
- ///Simplification, one object is simplified as a sphere
- btGjkConvexCast ccd1(&sphere0, convex1, &voronoiSimplex);
- //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
- if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
- col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
- {
- //store result.m_fraction in both bodies
-
- if (col0->getHitFraction() > result.m_fraction)
- col0->setHitFraction(result.m_fraction);
-
- if (col1->getHitFraction() > result.m_fraction)
- col1->setHitFraction(result.m_fraction);
-
- if (resultFraction > result.m_fraction)
- resultFraction = result.m_fraction;
- }
- }
-
- return resultFraction;
-}
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