1 files changed, 0 insertions, 222 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
deleted file mode 100644
index 38df8d4808..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
+++ /dev/null
@@ -1,222 +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 "btContinuousConvexCollision.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
-#include "LinearMath/btTransformUtil.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-#include "btGjkPairDetector.h"
-#include "btPointCollector.h"
-#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
-
-btContinuousConvexCollision::btContinuousConvexCollision(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
-	: m_simplexSolver(simplexSolver),
-	  m_penetrationDepthSolver(penetrationDepthSolver),
-	  m_convexA(convexA),
-	  m_convexB1(convexB),
-	  m_planeShape(0)
-{
-}
-
-btContinuousConvexCollision::btContinuousConvexCollision(const btConvexShape* convexA, const btStaticPlaneShape* plane)
-	: m_simplexSolver(0),
-	  m_penetrationDepthSolver(0),
-	  m_convexA(convexA),
-	  m_convexB1(0),
-	  m_planeShape(plane)
-{
-}
-
-/// This maximum should not be necessary. It allows for untested/degenerate cases in production code.
-/// You don't want your game ever to lock-up.
-#define MAX_ITERATIONS 64
-
-void btContinuousConvexCollision::computeClosestPoints(const btTransform& transA, const btTransform& transB, btPointCollector& pointCollector)
-{
-	if (m_convexB1)
-	{
-		m_simplexSolver->reset();
-		btGjkPairDetector gjk(m_convexA, m_convexB1, m_convexA->getShapeType(), m_convexB1->getShapeType(), m_convexA->getMargin(), m_convexB1->getMargin(), m_simplexSolver, m_penetrationDepthSolver);
-		btGjkPairDetector::ClosestPointInput input;
-		input.m_transformA = transA;
-		input.m_transformB = transB;
-		gjk.getClosestPoints(input, pointCollector, 0);
-	}
-	else
-	{
-		//convex versus plane
-		const btConvexShape* convexShape = m_convexA;
-		const btStaticPlaneShape* planeShape = m_planeShape;
-
-		const btVector3& planeNormal = planeShape->getPlaneNormal();
-		const btScalar& planeConstant = planeShape->getPlaneConstant();
-
-		btTransform convexWorldTransform = transA;
-		btTransform convexInPlaneTrans;
-		convexInPlaneTrans = transB.inverse() * convexWorldTransform;
-		btTransform planeInConvex;
-		planeInConvex = convexWorldTransform.inverse() * transB;
-
-		btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
-
-		btVector3 vtxInPlane = convexInPlaneTrans(vtx);
-		btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
-
-		btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
-		btVector3 vtxInPlaneWorld = transB * vtxInPlaneProjected;
-		btVector3 normalOnSurfaceB = transB.getBasis() * planeNormal;
-
-		pointCollector.addContactPoint(
-			normalOnSurfaceB,
-			vtxInPlaneWorld,
-			distance);
-	}
-}
-
-bool btContinuousConvexCollision::calcTimeOfImpact(
-	const btTransform& fromA,
-	const btTransform& toA,
-	const btTransform& fromB,
-	const btTransform& toB,
-	CastResult& result)
-{
-	/// compute linear and angular velocity for this interval, to interpolate
-	btVector3 linVelA, angVelA, linVelB, angVelB;
-	btTransformUtil::calculateVelocity(fromA, toA, btScalar(1.), linVelA, angVelA);
-	btTransformUtil::calculateVelocity(fromB, toB, btScalar(1.), linVelB, angVelB);
-
-	btScalar boundingRadiusA = m_convexA->getAngularMotionDisc();
-	btScalar boundingRadiusB = m_convexB1 ? m_convexB1->getAngularMotionDisc() : 0.f;
-
-	btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
-	btVector3 relLinVel = (linVelB - linVelA);
-
-	btScalar relLinVelocLength = (linVelB - linVelA).length();
-
-	if ((relLinVelocLength + maxAngularProjectedVelocity) == 0.f)
-		return false;
-
-	btScalar lambda = btScalar(0.);
-
-	btVector3 n;
-	n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	bool hasResult = false;
-	btVector3 c;
-
-	btScalar lastLambda = lambda;
-	//btScalar epsilon = btScalar(0.001);
-
-	int numIter = 0;
-	//first solution, using GJK
-
-	btScalar radius = 0.001f;
-	//	result.drawCoordSystem(sphereTr);
-
-	btPointCollector pointCollector1;
-
-	{
-		computeClosestPoints(fromA, fromB, pointCollector1);
-
-		hasResult = pointCollector1.m_hasResult;
-		c = pointCollector1.m_pointInWorld;
-	}
-
-	if (hasResult)
-	{
-		btScalar dist;
-		dist = pointCollector1.m_distance + result.m_allowedPenetration;
-		n = pointCollector1.m_normalOnBInWorld;
-		btScalar projectedLinearVelocity = relLinVel.dot(n);
-		if ((projectedLinearVelocity + maxAngularProjectedVelocity) <= SIMD_EPSILON)
-			return false;
-
-		//not close enough
-		while (dist > radius)
-		{
-			if (result.m_debugDrawer)
-			{
-				result.m_debugDrawer->drawSphere(c, 0.2f, btVector3(1, 1, 1));
-			}
-			btScalar dLambda = btScalar(0.);
-
-			projectedLinearVelocity = relLinVel.dot(n);
-
-			//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-			if ((projectedLinearVelocity + maxAngularProjectedVelocity) <= SIMD_EPSILON)
-				return false;
-
-			dLambda = dist / (projectedLinearVelocity + maxAngularProjectedVelocity);
-
-			lambda += dLambda;
-
-			if (lambda > btScalar(1.) || lambda < btScalar(0.))
-				return false;
-
-			//todo: next check with relative epsilon
-			if (lambda <= lastLambda)
-			{
-				return false;
-				//n.setValue(0,0,0);
-				//break;
-			}
-			lastLambda = lambda;
-
-			//interpolate to next lambda
-			btTransform interpolatedTransA, interpolatedTransB, relativeTrans;
-
-			btTransformUtil::integrateTransform(fromA, linVelA, angVelA, lambda, interpolatedTransA);
-			btTransformUtil::integrateTransform(fromB, linVelB, angVelB, lambda, interpolatedTransB);
-			relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA);
-
-			if (result.m_debugDrawer)
-			{
-				result.m_debugDrawer->drawSphere(interpolatedTransA.getOrigin(), 0.2f, btVector3(1, 0, 0));
-			}
-
-			result.DebugDraw(lambda);
-
-			btPointCollector pointCollector;
-			computeClosestPoints(interpolatedTransA, interpolatedTransB, pointCollector);
-
-			if (pointCollector.m_hasResult)
-			{
-				dist = pointCollector.m_distance + result.m_allowedPenetration;
-				c = pointCollector.m_pointInWorld;
-				n = pointCollector.m_normalOnBInWorld;
-			}
-			else
-			{
-				result.reportFailure(-1, numIter);
-				return false;
-			}
-
-			numIter++;
-			if (numIter > MAX_ITERATIONS)
-			{
-				result.reportFailure(-2, numIter);
-				return false;
-			}
-		}
-
-		result.m_fraction = lambda;
-		result.m_normal = n;
-		result.m_hitPoint = c;
-		return true;
-	}
-
-	return false;
-}