1 files changed, 0 insertions, 283 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
deleted file mode 100644
index f6987cc760..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
+++ /dev/null
@@ -1,283 +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.
-*/
-
-#include "btConvexTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btQuaternion.h"
-#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
-
-btConvexTriangleMeshShape ::btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb)
-	: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
-{
-	m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
-	if (calcAabb)
-		recalcLocalAabb();
-}
-
-///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
-///but then we are duplicating
-class LocalSupportVertexCallback : public btInternalTriangleIndexCallback
-{
-	btVector3 m_supportVertexLocal;
-
-public:
-	btScalar m_maxDot;
-	btVector3 m_supportVecLocal;
-
-	LocalSupportVertexCallback(const btVector3& supportVecLocal)
-		: m_supportVertexLocal(btScalar(0.), btScalar(0.), btScalar(0.)),
-		  m_maxDot(btScalar(-BT_LARGE_FLOAT)),
-		  m_supportVecLocal(supportVecLocal)
-	{
-	}
-
-	virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-	{
-		(void)triangleIndex;
-		(void)partId;
-
-		for (int i = 0; i < 3; i++)
-		{
-			btScalar dot = m_supportVecLocal.dot(triangle[i]);
-			if (dot > m_maxDot)
-			{
-				m_maxDot = dot;
-				m_supportVertexLocal = triangle[i];
-			}
-		}
-	}
-
-	btVector3 GetSupportVertexLocal()
-	{
-		return m_supportVertexLocal;
-	}
-};
-
-btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
-{
-	btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
-
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
-	{
-		vec.setValue(1, 0, 0);
-	}
-	else
-	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
-		vec *= rlen;
-	}
-
-	LocalSupportVertexCallback supportCallback(vec);
-	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-	m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
-	supVec = supportCallback.GetSupportVertexLocal();
-
-	return supVec;
-}
-
-void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
-	//use 'w' component of supportVerticesOut?
-	{
-		for (int i = 0; i < numVectors; i++)
-		{
-			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
-		}
-	}
-
-	///@todo: could do the batch inside the callback!
-
-	for (int j = 0; j < numVectors; j++)
-	{
-		const btVector3& vec = vectors[j];
-		LocalSupportVertexCallback supportCallback(vec);
-		btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-		m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
-		supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
-	}
-}
-
-btVector3 btConvexTriangleMeshShape::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;
-}
-
-//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
-//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
-int btConvexTriangleMeshShape::getNumVertices() const
-{
-	//cache this?
-	return 0;
-}
-
-int btConvexTriangleMeshShape::getNumEdges() const
-{
-	return 0;
-}
-
-void btConvexTriangleMeshShape::getEdge(int, btVector3&, btVector3&) const
-{
-	btAssert(0);
-}
-
-void btConvexTriangleMeshShape::getVertex(int, btVector3&) const
-{
-	btAssert(0);
-}
-
-int btConvexTriangleMeshShape::getNumPlanes() const
-{
-	return 0;
-}
-
-void btConvexTriangleMeshShape::getPlane(btVector3&, btVector3&, int) const
-{
-	btAssert(0);
-}
-
-//not yet
-bool btConvexTriangleMeshShape::isInside(const btVector3&, btScalar) const
-{
-	btAssert(0);
-	return false;
-}
-
-void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
-{
-	m_stridingMesh->setScaling(scaling);
-
-	recalcLocalAabb();
-}
-
-const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
-{
-	return m_stridingMesh->getScaling();
-}
-
-void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const
-{
-	class CenterCallback : public btInternalTriangleIndexCallback
-	{
-		bool first;
-		btVector3 ref;
-		btVector3 sum;
-		btScalar volume;
-
-	public:
-		CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
-		{
-		}
-
-		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-		{
-			(void)triangleIndex;
-			(void)partId;
-			if (first)
-			{
-				ref = triangle[0];
-				first = false;
-			}
-			else
-			{
-				btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
-				sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
-				volume += vol;
-			}
-		}
-
-		btVector3 getCenter()
-		{
-			return (volume > 0) ? sum / volume : ref;
-		}
-
-		btScalar getVolume()
-		{
-			return volume * btScalar(1. / 6);
-		}
-	};
-
-	class InertiaCallback : public btInternalTriangleIndexCallback
-	{
-		btMatrix3x3 sum;
-		btVector3 center;
-
-	public:
-		InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
-		{
-		}
-
-		virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
-		{
-			(void)triangleIndex;
-			(void)partId;
-			btMatrix3x3 i;
-			btVector3 a = triangle[0] - center;
-			btVector3 b = triangle[1] - center;
-			btVector3 c = triangle[2] - center;
-			btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
-			for (int j = 0; j < 3; j++)
-			{
-				for (int k = 0; k <= j; k++)
-				{
-					i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
-				}
-			}
-			btScalar i00 = -i[0][0];
-			btScalar i11 = -i[1][1];
-			btScalar i22 = -i[2][2];
-			i[0][0] = i11 + i22;
-			i[1][1] = i22 + i00;
-			i[2][2] = i00 + i11;
-			sum[0] += i[0];
-			sum[1] += i[1];
-			sum[2] += i[2];
-		}
-
-		btMatrix3x3& getInertia()
-		{
-			return sum;
-		}
-	};
-
-	CenterCallback centerCallback;
-	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-	m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
-	btVector3 center = centerCallback.getCenter();
-	principal.setOrigin(center);
-	volume = centerCallback.getVolume();
-
-	InertiaCallback inertiaCallback(center);
-	m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
-
-	btMatrix3x3& i = inertiaCallback.getInertia();
-	i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
-	inertia.setValue(i[0][0], i[1][1], i[2][2]);
-	inertia /= volume;
-}