1 files changed, 0 insertions, 316 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
deleted file mode 100644
index 750718f57f..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,316 +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 "btSoftBodyConcaveCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionShapes/btConcaveShape.h"
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
-#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletSoftBody/btSoftBody.h"
-
-#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)  //make this configurable
-
-btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
-	: btCollisionAlgorithm(ci),
-	  m_isSwapped(isSwapped),
-	  m_btSoftBodyTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped)
-{
-}
-
-btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
-{
-}
-
-btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
-																																														 m_dispatchInfoPtr(0)
-{
-	m_softBody = (isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject());
-	m_triBody = isSwapped ? body0Wrap->getCollisionObject() : body1Wrap->getCollisionObject();
-
-	//
-	// create the manifold from the dispatcher 'manifold pool'
-	//
-	//	  m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
-
-	clearCache();
-}
-
-btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
-{
-	clearCache();
-	//	m_dispatcher->releaseManifold( m_manifoldPtr );
-}
-
-void btSoftBodyTriangleCallback::clearCache()
-{
-	for (int i = 0; i < m_shapeCache.size(); i++)
-	{
-		btTriIndex* tmp = m_shapeCache.getAtIndex(i);
-		btAssert(tmp);
-		btAssert(tmp->m_childShape);
-		m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);  //necessary?
-		delete tmp->m_childShape;
-	}
-	m_shapeCache.clear();
-}
-
-void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
-{
-	//just for debugging purposes
-	//printf("triangle %d",m_triangleCount++);
-
-	btCollisionAlgorithmConstructionInfo ci;
-	ci.m_dispatcher1 = m_dispatcher;
-
-	///debug drawing of the overlapping triangles
-	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
-	{
-		btVector3 color(1, 1, 0);
-		const btTransform& tr = m_triBody->getWorldTransform();
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
-		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
-	}
-
-	btTriIndex triIndex(partId, triangleIndex, 0);
-	btHashKey<btTriIndex> triKey(triIndex.getUid());
-
-	btTriIndex* shapeIndex = m_shapeCache[triKey];
-	if (shapeIndex)
-	{
-		btCollisionShape* tm = shapeIndex->m_childShape;
-		btAssert(tm);
-
-		//copy over user pointers to temporary shape
-		tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
-
-		btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
-		//btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->getWorldTransform());//??
-		btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex);
-		ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType);  //m_manifoldPtr);
-
-		colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
-		colAlgo->~btCollisionAlgorithm();
-		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-
-		return;
-	}
-
-	//aabb filter is already applied!
-
-	//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
-
-	//	if (m_softBody->getCollisionShape()->getShapeType()==
-	{
-		//		btVector3 other;
-		btVector3 normal = (triangle[1] - triangle[0]).cross(triangle[2] - triangle[0]);
-		normal.normalize();
-		normal *= BT_SOFTBODY_TRIANGLE_EXTRUSION;
-		//		other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
-		//		other+=normal*22.f;
-		btVector3 pts[6] = {triangle[0] + normal,
-							triangle[1] + normal,
-							triangle[2] + normal,
-							triangle[0] - normal,
-							triangle[1] - normal,
-							triangle[2] - normal};
-
-		btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(), 6);
-
-		//		btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
-
-		//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
-		//	tm.setMargin(m_collisionMarginTriangle);
-
-		//copy over user pointers to temporary shape
-		tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
-
-		btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
-		btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex);  //btTransform::getIdentity());//??
-
-		ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType);  //m_manifoldPtr);
-
-		colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
-		colAlgo->~btCollisionAlgorithm();
-		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-
-		triIndex.m_childShape = tm;
-		m_shapeCache.insert(triKey, triIndex);
-	}
-}
-
-void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	m_dispatchInfoPtr = &dispatchInfo;
-	m_collisionMarginTriangle = collisionMarginTriangle + btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
-	m_resultOut = resultOut;
-
-	btVector3 aabbWorldSpaceMin, aabbWorldSpaceMax;
-	m_softBody->getAabb(aabbWorldSpaceMin, aabbWorldSpaceMax);
-	btVector3 halfExtents = (aabbWorldSpaceMax - aabbWorldSpaceMin) * btScalar(0.5);
-	btVector3 softBodyCenter = (aabbWorldSpaceMax + aabbWorldSpaceMin) * btScalar(0.5);
-
-	btTransform softTransform;
-	softTransform.setIdentity();
-	softTransform.setOrigin(softBodyCenter);
-
-	btTransform convexInTriangleSpace;
-	convexInTriangleSpace = triBodyWrap->getWorldTransform().inverse() * softTransform;
-	btTransformAabb(halfExtents, m_collisionMarginTriangle, convexInTriangleSpace, m_aabbMin, m_aabbMax);
-}
-
-void btSoftBodyConcaveCollisionAlgorithm::clearCache()
-{
-	m_btSoftBodyTriangleCallback.clearCache();
-}
-
-void btSoftBodyConcaveCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	//btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
-	const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap;
-
-	if (triBody->getCollisionShape()->isConcave())
-	{
-		const btCollisionObject* triOb = triBody->getCollisionObject();
-		const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triOb->getCollisionShape());
-
-		//	if (convexBody->getCollisionShape()->isConvex())
-		{
-			btScalar collisionMarginTriangle = concaveShape->getMargin();
-
-			//			resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
-			m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, triBody, dispatchInfo, resultOut);
-
-			concaveShape->processAllTriangles(&m_btSoftBodyTriangleCallback, m_btSoftBodyTriangleCallback.getAabbMin(), m_btSoftBodyTriangleCallback.getAabbMax());
-
-			//	resultOut->refreshContactPoints();
-		}
-	}
-}
-
-btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
-{
-	(void)resultOut;
-	(void)dispatchInfo;
-	btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
-	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
-
-	//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
-
-	//only perform CCD above a certain threshold, this prevents blocking on the long run
-	//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
-	btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
-	if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
-	{
-		return btScalar(1.);
-	}
-
-	//const btVector3& from = convexbody->m_worldTransform.getOrigin();
-	//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
-	//todo: only do if the motion exceeds the 'radius'
-
-	btTransform triInv = triBody->getWorldTransform().inverse();
-	btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
-	btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
-
-	struct LocalTriangleSphereCastCallback : public btTriangleCallback
-	{
-		btTransform m_ccdSphereFromTrans;
-		btTransform m_ccdSphereToTrans;
-		btTransform m_meshTransform;
-
-		btScalar m_ccdSphereRadius;
-		btScalar m_hitFraction;
-
-		LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar hitFraction)
-			: m_ccdSphereFromTrans(from),
-			  m_ccdSphereToTrans(to),
-			  m_ccdSphereRadius(ccdSphereRadius),
-			  m_hitFraction(hitFraction)
-		{
-		}
-
-		virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
-		{
-			(void)partId;
-			(void)triangleIndex;
-			//do a swept sphere for now
-			btTransform ident;
-			ident.setIdentity();
-			btConvexCast::CastResult castResult;
-			castResult.m_fraction = m_hitFraction;
-			btSphereShape pointShape(m_ccdSphereRadius);
-			btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
-			btVoronoiSimplexSolver simplexSolver;
-			btSubsimplexConvexCast convexCaster(&pointShape, &triShape, &simplexSolver);
-			//GjkConvexCast	convexCaster(&pointShape,convexShape,&simplexSolver);
-			//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
-			//local space?
-
-			if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans, m_ccdSphereToTrans,
-											  ident, ident, castResult))
-			{
-				if (m_hitFraction > castResult.m_fraction)
-					m_hitFraction = castResult.m_fraction;
-			}
-		}
-	};
-
-	if (triBody->getCollisionShape()->isConcave())
-	{
-		btVector3 rayAabbMin = convexFromLocal.getOrigin();
-		rayAabbMin.setMin(convexToLocal.getOrigin());
-		btVector3 rayAabbMax = convexFromLocal.getOrigin();
-		rayAabbMax.setMax(convexToLocal.getOrigin());
-		btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
-		rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
-		rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
-
-		btScalar curHitFraction = btScalar(1.);  //is this available?
-		LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
-														convexbody->getCcdSweptSphereRadius(), curHitFraction);
-
-		raycastCallback.m_hitFraction = convexbody->getHitFraction();
-
-		btCollisionObject* concavebody = triBody;
-
-		btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
-
-		if (triangleMesh)
-		{
-			triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
-		}
-
-		if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
-		{
-			convexbody->setHitFraction(raycastCallback.m_hitFraction);
-			return raycastCallback.m_hitFraction;
-		}
-	}
-
-	return btScalar(1.);
-}