1 files changed, 0 insertions, 209 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
deleted file mode 100644
index bc68b285b8..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,209 +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 "btSphereBoxCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-//#include <stdio.h>
-
-btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
-	: btActivatingCollisionAlgorithm(ci, col0Wrap, col1Wrap),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf),
-	  m_isSwapped(isSwapped)
-{
-	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped ? col1Wrap : col0Wrap;
-	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped ? col0Wrap : col1Wrap;
-
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(), boxObjWrap->getCollisionObject()))
-	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(), boxObjWrap->getCollisionObject());
-		m_ownManifold = true;
-	}
-}
-
-btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
-	}
-}
-
-void btSphereBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)dispatchInfo;
-	(void)resultOut;
-	if (!m_manifoldPtr)
-		return;
-
-	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
-	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
-
-	btVector3 pOnBox;
-
-	btVector3 normalOnSurfaceB;
-	btScalar penetrationDepth;
-	btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin();
-	const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
-	btScalar radius = sphere0->getRadius();
-	btScalar maxContactDistance = m_manifoldPtr->getContactBreakingThreshold();
-
-	resultOut->setPersistentManifold(m_manifoldPtr);
-
-	if (getSphereDistance(boxObjWrap, pOnBox, normalOnSurfaceB, penetrationDepth, sphereCenter, radius, maxContactDistance))
-	{
-		/// report a contact. internally this will be kept persistent, and contact reduction is done
-		resultOut->addContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth);
-	}
-
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr->getNumContacts())
-		{
-			resultOut->refreshContactPoints();
-		}
-	}
-}
-
-btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	(void)col0;
-	(void)col1;
-
-	//not yet
-	return btScalar(1.);
-}
-
-bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& sphereCenter, btScalar fRadius, btScalar maxContactDistance)
-{
-	const btBoxShape* boxShape = (const btBoxShape*)boxObjWrap->getCollisionShape();
-	btVector3 const& boxHalfExtent = boxShape->getHalfExtentsWithoutMargin();
-	btScalar boxMargin = boxShape->getMargin();
-	penetrationDepth = 1.0f;
-
-	// convert the sphere position to the box's local space
-	btTransform const& m44T = boxObjWrap->getWorldTransform();
-	btVector3 sphereRelPos = m44T.invXform(sphereCenter);
-
-	// Determine the closest point to the sphere center in the box
-	btVector3 closestPoint = sphereRelPos;
-	closestPoint.setX(btMin(boxHalfExtent.getX(), closestPoint.getX()));
-	closestPoint.setX(btMax(-boxHalfExtent.getX(), closestPoint.getX()));
-	closestPoint.setY(btMin(boxHalfExtent.getY(), closestPoint.getY()));
-	closestPoint.setY(btMax(-boxHalfExtent.getY(), closestPoint.getY()));
-	closestPoint.setZ(btMin(boxHalfExtent.getZ(), closestPoint.getZ()));
-	closestPoint.setZ(btMax(-boxHalfExtent.getZ(), closestPoint.getZ()));
-
-	btScalar intersectionDist = fRadius + boxMargin;
-	btScalar contactDist = intersectionDist + maxContactDistance;
-	normal = sphereRelPos - closestPoint;
-
-	//if there is no penetration, we are done
-	btScalar dist2 = normal.length2();
-	if (dist2 > contactDist * contactDist)
-	{
-		return false;
-	}
-
-	btScalar distance;
-
-	//special case if the sphere center is inside the box
-	if (dist2 <= SIMD_EPSILON)
-	{
-		distance = -getSpherePenetration(boxHalfExtent, sphereRelPos, closestPoint, normal);
-	}
-	else  //compute the penetration details
-	{
-		distance = normal.length();
-		normal /= distance;
-	}
-
-	pointOnBox = closestPoint + normal * boxMargin;
-	//	v3PointOnSphere = sphereRelPos - (normal * fRadius);
-	penetrationDepth = distance - intersectionDist;
-
-	// transform back in world space
-	btVector3 tmp = m44T(pointOnBox);
-	pointOnBox = tmp;
-	//	tmp = m44T(v3PointOnSphere);
-	//	v3PointOnSphere = tmp;
-	tmp = m44T.getBasis() * normal;
-	normal = tmp;
-
-	return true;
-}
-
-btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration(btVector3 const& boxHalfExtent, btVector3 const& sphereRelPos, btVector3& closestPoint, btVector3& normal)
-{
-	//project the center of the sphere on the closest face of the box
-	btScalar faceDist = boxHalfExtent.getX() - sphereRelPos.getX();
-	btScalar minDist = faceDist;
-	closestPoint.setX(boxHalfExtent.getX());
-	normal.setValue(btScalar(1.0f), btScalar(0.0f), btScalar(0.0f));
-
-	faceDist = boxHalfExtent.getX() + sphereRelPos.getX();
-	if (faceDist < minDist)
-	{
-		minDist = faceDist;
-		closestPoint = sphereRelPos;
-		closestPoint.setX(-boxHalfExtent.getX());
-		normal.setValue(btScalar(-1.0f), btScalar(0.0f), btScalar(0.0f));
-	}
-
-	faceDist = boxHalfExtent.getY() - sphereRelPos.getY();
-	if (faceDist < minDist)
-	{
-		minDist = faceDist;
-		closestPoint = sphereRelPos;
-		closestPoint.setY(boxHalfExtent.getY());
-		normal.setValue(btScalar(0.0f), btScalar(1.0f), btScalar(0.0f));
-	}
-
-	faceDist = boxHalfExtent.getY() + sphereRelPos.getY();
-	if (faceDist < minDist)
-	{
-		minDist = faceDist;
-		closestPoint = sphereRelPos;
-		closestPoint.setY(-boxHalfExtent.getY());
-		normal.setValue(btScalar(0.0f), btScalar(-1.0f), btScalar(0.0f));
-	}
-
-	faceDist = boxHalfExtent.getZ() - sphereRelPos.getZ();
-	if (faceDist < minDist)
-	{
-		minDist = faceDist;
-		closestPoint = sphereRelPos;
-		closestPoint.setZ(boxHalfExtent.getZ());
-		normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(1.0f));
-	}
-
-	faceDist = boxHalfExtent.getZ() + sphereRelPos.getZ();
-	if (faceDist < minDist)
-	{
-		minDist = faceDist;
-		closestPoint = sphereRelPos;
-		closestPoint.setZ(-boxHalfExtent.getZ());
-		normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(-1.0f));
-	}
-
-	return minDist;
-}