1 files changed, 0 insertions, 143 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
deleted file mode 100644
index 37458339e7..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+++ /dev/null
@@ -1,143 +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 "btSubSimplexConvexCast.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-
-#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
-#include "btPointCollector.h"
-#include "LinearMath/btTransformUtil.h"
-
-btSubsimplexConvexCast::btSubsimplexConvexCast(const btConvexShape* convexA, const btConvexShape* convexB, btSimplexSolverInterface* simplexSolver)
-	: m_simplexSolver(simplexSolver),
-	  m_convexA(convexA),
-	  m_convexB(convexB)
-{
-}
-
-
-bool btSubsimplexConvexCast::calcTimeOfImpact(
-	const btTransform& fromA,
-	const btTransform& toA,
-	const btTransform& fromB,
-	const btTransform& toB,
-	CastResult& result)
-{
-	m_simplexSolver->reset();
-
-	btVector3 linVelA, linVelB;
-	linVelA = toA.getOrigin() - fromA.getOrigin();
-	linVelB = toB.getOrigin() - fromB.getOrigin();
-
-	btScalar lambda = btScalar(0.);
-
-	btTransform interpolatedTransA = fromA;
-	btTransform interpolatedTransB = fromB;
-
-	///take relative motion
-	btVector3 r = (linVelA - linVelB);
-	btVector3 v;
-
-	btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r * fromA.getBasis()));
-	btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r * fromB.getBasis()));
-	v = supVertexA - supVertexB;
-	int maxIter = result.m_subSimplexCastMaxIterations;
-
-	btVector3 n;
-	n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-
-	btVector3 c;
-
-	btScalar dist2 = v.length2();
-
-
-
-	btVector3 w, p;
-	btScalar VdotR;
-
-	while ((dist2 > result.m_subSimplexCastEpsilon) && maxIter--)
-	{
-		supVertexA = interpolatedTransA(m_convexA->localGetSupportingVertex(-v * interpolatedTransA.getBasis()));
-		supVertexB = interpolatedTransB(m_convexB->localGetSupportingVertex(v * interpolatedTransB.getBasis()));
-		w = supVertexA - supVertexB;
-
-		btScalar VdotW = v.dot(w);
-
-		if (lambda > btScalar(1.0))
-		{
-			return false;
-		}
-
-		if (VdotW > btScalar(0.))
-		{
-			VdotR = v.dot(r);
-
-			if (VdotR >= -(SIMD_EPSILON * SIMD_EPSILON))
-				return false;
-			else
-			{
-				lambda = lambda - VdotW / VdotR;
-				//interpolate to next lambda
-				//	x = s + lambda * r;
-				interpolatedTransA.getOrigin().setInterpolate3(fromA.getOrigin(), toA.getOrigin(), lambda);
-				interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
-				//m_simplexSolver->reset();
-				//check next line
-				w = supVertexA - supVertexB;
-
-				n = v;
-			}
-		}
-		///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.
-		if (!m_simplexSolver->inSimplex(w))
-			m_simplexSolver->addVertex(w, supVertexA, supVertexB);
-
-		if (m_simplexSolver->closest(v))
-		{
-			dist2 = v.length2();
-
-			//todo: check this normal for validity
-			//n=v;
-			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
-			//printf("DIST2=%f\n",dist2);
-			//printf("numverts = %i\n",m_simplexSolver->numVertices());
-		}
-		else
-		{
-			dist2 = btScalar(0.);
-		}
-	}
-
-	//int numiter = MAX_ITERATIONS - maxIter;
-	//	printf("number of iterations: %d", numiter);
-
-	//don't report a time of impact when moving 'away' from the hitnormal
-
-	result.m_fraction = lambda;
-	if (n.length2() >= (SIMD_EPSILON * SIMD_EPSILON))
-		result.m_normal = n.normalized();
-	else
-		result.m_normal = btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-
-	//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-	if (result.m_normal.dot(r) >= -result.m_allowedPenetration)
-		return false;
-
-	btVector3 hitA, hitB;
-	m_simplexSolver->compute_points(hitA, hitB);
-	result.m_hitPoint = hitB;
-	return true;
-}