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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp71
1 files changed, 0 insertions, 71 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
deleted file mode 100644
index d4b6a651de..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
+++ /dev/null
@@ -1,71 +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 "btMinkowskiSumShape.h"
-
-btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA, const btConvexShape* shapeB)
- : btConvexInternalShape(),
- m_shapeA(shapeA),
- m_shapeB(shapeB)
-{
- m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
- m_transA.setIdentity();
- m_transB.setIdentity();
-}
-
-btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
- btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec * m_transA.getBasis()));
- btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec * m_transB.getBasis()));
- return supVertexA - supVertexB;
-}
-
-void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
- ///@todo: could make recursive use of batching. probably this shape is not used frequently.
- for (int i = 0; i < numVectors; i++)
- {
- supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
- }
-}
-
-btScalar btMinkowskiSumShape::getMargin() const
-{
- return m_shapeA->getMargin() + m_shapeB->getMargin();
-}
-
-void btMinkowskiSumShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
- (void)mass;
- //inertia of the AABB of the Minkowski sum
- btTransform identity;
- identity.setIdentity();
- btVector3 aabbMin, aabbMax;
- getAabb(identity, aabbMin, aabbMax);
-
- btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
-
- btScalar margin = getMargin();
-
- btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
- btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
- btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
- const btScalar x2 = lx * lx;
- const btScalar y2 = ly * ly;
- const btScalar z2 = lz * lz;
- const btScalar scaledmass = mass * btScalar(0.08333333);
-
- inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
-}