1 files changed, 0 insertions, 244 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
deleted file mode 100644
index 703de45922..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ /dev/null
@@ -1,244 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-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.
-*/
-
-#if defined(_WIN32) || defined(__i386__)
-#define BT_USE_SSE_IN_API
-#endif
-
-#include "btConvexHullShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btQuaternion.h"
-#include "LinearMath/btSerializer.h"
-#include "btConvexPolyhedron.h"
-#include "LinearMath/btConvexHullComputer.h"
-
-btConvexHullShape ::btConvexHullShape(const btScalar* points, int numPoints, int stride) : btPolyhedralConvexAabbCachingShape()
-{
-	m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
-	m_unscaledPoints.resize(numPoints);
-
-	unsigned char* pointsAddress = (unsigned char*)points;
-
-	for (int i = 0; i < numPoints; i++)
-	{
-		btScalar* point = (btScalar*)pointsAddress;
-		m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]);
-		pointsAddress += stride;
-	}
-
-	recalcLocalAabb();
-}
-
-void btConvexHullShape::setLocalScaling(const btVector3& scaling)
-{
-	m_localScaling = scaling;
-	recalcLocalAabb();
-}
-
-void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAabb)
-{
-	m_unscaledPoints.push_back(point);
-	if (recalculateLocalAabb)
-		recalcLocalAabb();
-}
-
-btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
-	btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
-	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
-
-	// Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically.
-	if (0 < m_unscaledPoints.size())
-	{
-		btVector3 scaled = vec * m_localScaling;
-		int index = (int)scaled.maxDot(&m_unscaledPoints[0], m_unscaledPoints.size(), maxDot);  // FIXME: may violate encapsulation of m_unscaledPoints
-		return m_unscaledPoints[index] * m_localScaling;
-	}
-
-	return supVec;
-}
-
-void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	btScalar newDot;
-	//use 'w' component of supportVerticesOut?
-	{
-		for (int i = 0; i < numVectors; i++)
-		{
-			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
-		}
-	}
-
-	for (int j = 0; j < numVectors; j++)
-	{
-		btVector3 vec = vectors[j] * m_localScaling;  // dot(a*b,c) = dot(a,b*c)
-		if (0 < m_unscaledPoints.size())
-		{
-			int i = (int)vec.maxDot(&m_unscaledPoints[0], m_unscaledPoints.size(), newDot);
-			supportVerticesOut[j] = getScaledPoint(i);
-			supportVerticesOut[j][3] = newDot;
-		}
-		else
-			supportVerticesOut[j][3] = -BT_LARGE_FLOAT;
-	}
-}
-
-btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec) const
-{
-	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
-
-	if (getMargin() != btScalar(0.))
-	{
-		btVector3 vecnorm = vec;
-		if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
-		{
-			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
-		}
-		vecnorm.normalize();
-		supVertex += getMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-void btConvexHullShape::optimizeConvexHull()
-{
-	btConvexHullComputer conv;
-	conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3), m_unscaledPoints.size(), 0.f, 0.f);
-	int numVerts = conv.vertices.size();
-	m_unscaledPoints.resize(0);
-	for (int i = 0; i < numVerts; i++)
-	{
-		m_unscaledPoints.push_back(conv.vertices[i]);
-	}
-}
-
-//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
-//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
-int btConvexHullShape::getNumVertices() const
-{
-	return m_unscaledPoints.size();
-}
-
-int btConvexHullShape::getNumEdges() const
-{
-	return m_unscaledPoints.size();
-}
-
-void btConvexHullShape::getEdge(int i, btVector3& pa, btVector3& pb) const
-{
-	int index0 = i % m_unscaledPoints.size();
-	int index1 = (i + 1) % m_unscaledPoints.size();
-	pa = getScaledPoint(index0);
-	pb = getScaledPoint(index1);
-}
-
-void btConvexHullShape::getVertex(int i, btVector3& vtx) const
-{
-	vtx = getScaledPoint(i);
-}
-
-int btConvexHullShape::getNumPlanes() const
-{
-	return 0;
-}
-
-void btConvexHullShape::getPlane(btVector3&, btVector3&, int) const
-{
-	btAssert(0);
-}
-
-//not yet
-bool btConvexHullShape::isInside(const btVector3&, btScalar) const
-{
-	btAssert(0);
-	return false;
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	//int szc = sizeof(btConvexHullShapeData);
-	btConvexHullShapeData* shapeData = (btConvexHullShapeData*)dataBuffer;
-	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
-
-	int numElem = m_unscaledPoints.size();
-	shapeData->m_numUnscaledPoints = numElem;
-#ifdef BT_USE_DOUBLE_PRECISION
-	shapeData->m_unscaledPointsFloatPtr = 0;
-	shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]) : 0;
-#else
-	shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]) : 0;
-	shapeData->m_unscaledPointsDoublePtr = 0;
-#endif
-
-	if (numElem)
-	{
-		int sz = sizeof(btVector3Data);
-		//	int sz2 = sizeof(btVector3DoubleData);
-		//	int sz3 = sizeof(btVector3FloatData);
-		btChunk* chunk = serializer->allocate(sz, numElem);
-		btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
-		for (int i = 0; i < numElem; i++, memPtr++)
-		{
-			m_unscaledPoints[i].serialize(*memPtr);
-		}
-		serializer->finalizeChunk(chunk, btVector3DataName, BT_ARRAY_CODE, (void*)&m_unscaledPoints[0]);
-	}
-
-	// Fill padding with zeros to appease msan.
-	memset(shapeData->m_padding3, 0, sizeof(shapeData->m_padding3));
-
-	return "btConvexHullShapeData";
-}
-
-void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const
-{
-#if 1
-	minProj = FLT_MAX;
-	maxProj = -FLT_MAX;
-
-	int numVerts = m_unscaledPoints.size();
-	for (int i = 0; i < numVerts; i++)
-	{
-		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
-		btVector3 pt = trans * vtx;
-		btScalar dp = pt.dot(dir);
-		if (dp < minProj)
-		{
-			minProj = dp;
-			witnesPtMin = pt;
-		}
-		if (dp > maxProj)
-		{
-			maxProj = dp;
-			witnesPtMax = pt;
-		}
-	}
-#else
-	btVector3 localAxis = dir * trans.getBasis();
-	witnesPtMin = trans(localGetSupportingVertex(localAxis));
-	witnesPtMax = trans(localGetSupportingVertex(-localAxis));
-
-	minProj = witnesPtMin.dot(dir);
-	maxProj = witnesPtMax.dot(dir);
-#endif
-
-	if (minProj > maxProj)
-	{
-		btSwap(minProj, maxProj);
-		btSwap(witnesPtMin, witnesPtMax);
-	}
-}