1 files changed, 0 insertions, 164 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
deleted file mode 100644
index 9d61e75dac..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
+++ /dev/null
@@ -1,164 +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 "btGjkConvexCast.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "btGjkPairDetector.h"
-#include "btPointCollector.h"
-#include "LinearMath/btTransformUtil.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define MAX_ITERATIONS 64
-#else
-#define MAX_ITERATIONS 32
-#endif
-
-btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver)
-	: m_simplexSolver(simplexSolver),
-	  m_convexA(convexA),
-	  m_convexB(convexB)
-{
-}
-
-bool btGjkConvexCast::calcTimeOfImpact(
-	const btTransform& fromA,
-	const btTransform& toA,
-	const btTransform& fromB,
-	const btTransform& toB,
-	CastResult& result)
-{
-	m_simplexSolver->reset();
-
-	/// compute linear velocity for this interval, to interpolate
-	//assume no rotation/angular velocity, assert here?
-	btVector3 linVelA, linVelB;
-	linVelA = toA.getOrigin() - fromA.getOrigin();
-	linVelB = toB.getOrigin() - fromB.getOrigin();
-
-	btScalar radius = btScalar(0.001);
-	btScalar lambda = btScalar(0.);
-	btVector3 v(1, 0, 0);
-
-	int maxIter = MAX_ITERATIONS;
-
-	btVector3 n;
-	n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	bool hasResult = false;
-	btVector3 c;
-	btVector3 r = (linVelA - linVelB);
-
-	btScalar lastLambda = lambda;
-	//btScalar epsilon = btScalar(0.001);
-
-	int numIter = 0;
-	//first solution, using GJK
-
-	btTransform identityTrans;
-	identityTrans.setIdentity();
-
-	//	result.drawCoordSystem(sphereTr);
-
-	btPointCollector pointCollector;
-
-	btGjkPairDetector gjk(m_convexA, m_convexB, m_simplexSolver, 0);  //m_penetrationDepthSolver);
-	btGjkPairDetector::ClosestPointInput input;
-
-	//we don't use margins during CCD
-	//	gjk.setIgnoreMargin(true);
-
-	input.m_transformA = fromA;
-	input.m_transformB = fromB;
-	gjk.getClosestPoints(input, pointCollector, 0);
-
-	hasResult = pointCollector.m_hasResult;
-	c = pointCollector.m_pointInWorld;
-
-	if (hasResult)
-	{
-		btScalar dist;
-		dist = pointCollector.m_distance;
-		n = pointCollector.m_normalOnBInWorld;
-
-		//not close enough
-		while (dist > radius)
-		{
-			numIter++;
-			if (numIter > maxIter)
-			{
-				return false;  //todo: report a failure
-			}
-			btScalar dLambda = btScalar(0.);
-
-			btScalar projectedLinearVelocity = r.dot(n);
-
-			dLambda = dist / (projectedLinearVelocity);
-
-			lambda = lambda - dLambda;
-
-			if (lambda > btScalar(1.))
-				return false;
-
-			if (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
-			result.DebugDraw(lambda);
-			input.m_transformA.getOrigin().setInterpolate3(fromA.getOrigin(), toA.getOrigin(), lambda);
-			input.m_transformB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
-
-			gjk.getClosestPoints(input, pointCollector, 0);
-			if (pointCollector.m_hasResult)
-			{
-				if (pointCollector.m_distance < btScalar(0.))
-				{
-					result.m_fraction = lastLambda;
-					n = pointCollector.m_normalOnBInWorld;
-					result.m_normal = n;
-					result.m_hitPoint = pointCollector.m_pointInWorld;
-					return true;
-				}
-				c = pointCollector.m_pointInWorld;
-				n = pointCollector.m_normalOnBInWorld;
-				dist = pointCollector.m_distance;
-			}
-			else
-			{
-				//??
-				return false;
-			}
-		}
-
-		//is n normalized?
-		//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-		if (n.dot(r) >= -result.m_allowedPenetration)
-			return false;
-
-		result.m_fraction = lambda;
-		result.m_normal = n;
-		result.m_hitPoint = c;
-		return true;
-	}
-
-	return false;
-}