1 files changed, 0 insertions, 409 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
deleted file mode 100644
index 441a89c6bb..0000000000
--- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ /dev/null
@@ -1,409 +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 "btHeightfieldTerrainShape.h"
-
-#include "LinearMath/btTransformUtil.h"
-
-
-
-btHeightfieldTerrainShape::btHeightfieldTerrainShape
-(
-int heightStickWidth, int heightStickLength, const void* heightfieldData,
-btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
-PHY_ScalarType hdt, bool flipQuadEdges
-)
-{
-	initialize(heightStickWidth, heightStickLength, heightfieldData,
-	           heightScale, minHeight, maxHeight, upAxis, hdt,
-	           flipQuadEdges);
-}
-
-
-
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,const void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
-{
-	// legacy constructor: support only float or unsigned char,
-	// 	and min height is zero
-	PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
-	btScalar minHeight = 0.0f;
-
-	// previously, height = uchar * maxHeight / 65535.
-	// So to preserve legacy behavior, heightScale = maxHeight / 65535
-	btScalar heightScale = maxHeight / 65535;
-
-	initialize(heightStickWidth, heightStickLength, heightfieldData,
-	           heightScale, minHeight, maxHeight, upAxis, hdt,
-	           flipQuadEdges);
-}
-
-
-
-void btHeightfieldTerrainShape::initialize
-(
-int heightStickWidth, int heightStickLength, const void* heightfieldData,
-btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
-PHY_ScalarType hdt, bool flipQuadEdges
-)
-{
-	// validation
-	btAssert(heightStickWidth > 1);// && "bad width");
-	btAssert(heightStickLength > 1);// && "bad length");
-	btAssert(heightfieldData);// && "null heightfield data");
-	// btAssert(heightScale) -- do we care?  Trust caller here
-	btAssert(minHeight <= maxHeight);// && "bad min/max height");
-	btAssert(upAxis >= 0 && upAxis < 3);// && "bad upAxis--should be in range [0,2]");
-	btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT);// && "Bad height data type enum");
-
-	// initialize member variables
-	m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
-	m_heightStickWidth = heightStickWidth;
-	m_heightStickLength = heightStickLength;
-	m_minHeight = minHeight;
-	m_maxHeight = maxHeight;
-	m_width = (btScalar) (heightStickWidth - 1);
-	m_length = (btScalar) (heightStickLength - 1);
-	m_heightScale = heightScale;
-	m_heightfieldDataUnknown = heightfieldData;
-	m_heightDataType = hdt;
-	m_flipQuadEdges = flipQuadEdges;
-	m_useDiamondSubdivision = false;
-	m_useZigzagSubdivision = false;
-	m_upAxis = upAxis;
-	m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
-
-	// determine min/max axis-aligned bounding box (aabb) values
-	switch (m_upAxis)
-	{
-	case 0:
-		{
-			m_localAabbMin.setValue(m_minHeight, 0, 0);
-			m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
-			break;
-		}
-	case 1:
-		{
-			m_localAabbMin.setValue(0, m_minHeight, 0);
-			m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
-			break;
-		};
-	case 2:
-		{
-			m_localAabbMin.setValue(0, 0, m_minHeight);
-			m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
-			break;
-		}
-	default:
-		{
-			//need to get valid m_upAxis
-			btAssert(0);// && "Bad m_upAxis");
-		}
-	}
-
-	// remember origin (defined as exact middle of aabb)
-	m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
-}
-
-
-
-btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
-{
-}
-
-
-
-void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-{
-	btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
-
-	btVector3 localOrigin(0, 0, 0);
-	localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
-	localOrigin *= m_localScaling;
-
-	btMatrix3x3 abs_b = t.getBasis().absolute();  
-	btVector3 center = t.getOrigin();
-    btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-	extent += btVector3(getMargin(),getMargin(),getMargin());
-
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-}
-
-
-/// This returns the "raw" (user's initial) height, not the actual height.
-/// The actual height needs to be adjusted to be relative to the center
-///   of the heightfield's AABB.
-btScalar
-btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const
-{
-	btScalar val = 0.f;
-	switch (m_heightDataType)
-	{
-	case PHY_FLOAT:
-		{
-			val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
-			break;
-		}
-
-	case PHY_UCHAR:
-		{
-			unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
-			val = heightFieldValue * m_heightScale;
-			break;
-		}
-
-	case PHY_SHORT:
-		{
-			short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x];
-			val = hfValue * m_heightScale;
-			break;
-		}
-
-	default:
-		{
-			btAssert(!"Bad m_heightDataType");
-		}
-	}
-
-	return val;
-}
-
-
-
-
-/// this returns the vertex in bullet-local coordinates
-void	btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
-{
-	btAssert(x>=0);
-	btAssert(y>=0);
-	btAssert(x<m_heightStickWidth);
-	btAssert(y<m_heightStickLength);
-
-	btScalar	height = getRawHeightFieldValue(x,y);
-
-	switch (m_upAxis)
-	{
-	case 0:
-		{
-		vertex.setValue(
-			height - m_localOrigin.getX(),
-			(-m_width/btScalar(2.0)) + x,
-			(-m_length/btScalar(2.0) ) + y
-			);
-			break;
-		}
-	case 1:
-		{
-			vertex.setValue(
-			(-m_width/btScalar(2.0)) + x,
-			height - m_localOrigin.getY(),
-			(-m_length/btScalar(2.0)) + y
-			);
-			break;
-		};
-	case 2:
-		{
-			vertex.setValue(
-			(-m_width/btScalar(2.0)) + x,
-			(-m_length/btScalar(2.0)) + y,
-			height - m_localOrigin.getZ()
-			);
-			break;
-		}
-	default:
-		{
-			//need to get valid m_upAxis
-			btAssert(0);
-		}
-	}
-
-	vertex*=m_localScaling;
-}
-
-
-
-static inline int
-getQuantized
-(
-btScalar x
-)
-{
-	if (x < 0.0) {
-		return (int) (x - 0.5);
-	}
-	return (int) (x + 0.5);
-}
-
-
-
-/// given input vector, return quantized version
-/**
-  This routine is basically determining the gridpoint indices for a given
-  input vector, answering the question: "which gridpoint is closest to the
-  provided point?".
-
-  "with clamp" means that we restrict the point to be in the heightfield's
-  axis-aligned bounding box.
- */
-void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
-{
-	btVector3 clampedPoint(point);
-	clampedPoint.setMax(m_localAabbMin);
-	clampedPoint.setMin(m_localAabbMax);
-
-	out[0] = getQuantized(clampedPoint.getX());
-	out[1] = getQuantized(clampedPoint.getY());
-	out[2] = getQuantized(clampedPoint.getZ());
-		
-}
-
-
-
-/// process all triangles within the provided axis-aligned bounding box
-/**
-  basic algorithm:
-    - convert input aabb to local coordinates (scale down and shift for local origin)
-    - convert input aabb to a range of heightfield grid points (quantize)
-    - iterate over all triangles in that subset of the grid
- */
-void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
-{
-	// scale down the input aabb's so they are in local (non-scaled) coordinates
-	btVector3	localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
-	btVector3	localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
-
-	// account for local origin
-	localAabbMin += m_localOrigin;
-	localAabbMax += m_localOrigin;
-
-	//quantize the aabbMin and aabbMax, and adjust the start/end ranges
-	int	quantizedAabbMin[3];
-	int	quantizedAabbMax[3];
-	quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
-	quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
-	
-	// expand the min/max quantized values
-	// this is to catch the case where the input aabb falls between grid points!
-	for (int i = 0; i < 3; ++i) {
-		quantizedAabbMin[i]--;
-		quantizedAabbMax[i]++;
-	}	
-
-	int startX=0;
-	int endX=m_heightStickWidth-1;
-	int startJ=0;
-	int endJ=m_heightStickLength-1;
-
-	switch (m_upAxis)
-	{
-	case 0:
-		{
-			if (quantizedAabbMin[1]>startX)
-				startX = quantizedAabbMin[1];
-			if (quantizedAabbMax[1]<endX)
-				endX = quantizedAabbMax[1];
-			if (quantizedAabbMin[2]>startJ)
-				startJ = quantizedAabbMin[2];
-			if (quantizedAabbMax[2]<endJ)
-				endJ = quantizedAabbMax[2];
-			break;
-		}
-	case 1:
-		{
-			if (quantizedAabbMin[0]>startX)
-				startX = quantizedAabbMin[0];
-			if (quantizedAabbMax[0]<endX)
-				endX = quantizedAabbMax[0];
-			if (quantizedAabbMin[2]>startJ)
-				startJ = quantizedAabbMin[2];
-			if (quantizedAabbMax[2]<endJ)
-				endJ = quantizedAabbMax[2];
-			break;
-		};
-	case 2:
-		{
-			if (quantizedAabbMin[0]>startX)
-				startX = quantizedAabbMin[0];
-			if (quantizedAabbMax[0]<endX)
-				endX = quantizedAabbMax[0];
-			if (quantizedAabbMin[1]>startJ)
-				startJ = quantizedAabbMin[1];
-			if (quantizedAabbMax[1]<endJ)
-				endJ = quantizedAabbMax[1];
-			break;
-		}
-	default:
-		{
-			//need to get valid m_upAxis
-			btAssert(0);
-		}
-	}
-
-	
-  
-
-	for(int j=startJ; j<endJ; j++)
-	{
-		for(int x=startX; x<endX; x++)
-		{
-			btVector3 vertices[3];
-			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1))|| (m_useZigzagSubdivision  && !(j & 1)))
-			{
-        //first triangle
-        getVertex(x,j,vertices[0]);
-		getVertex(x, j + 1, vertices[1]);
-		getVertex(x + 1, j + 1, vertices[2]);
-        callback->processTriangle(vertices,x,j);
-        //second triangle
-      //  getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
-        getVertex(x+1,j+1,vertices[1]);
-		getVertex(x + 1, j, vertices[2]);
-		callback->processTriangle(vertices, x, j);
-
-			} else
-			{
-        //first triangle
-        getVertex(x,j,vertices[0]);
-        getVertex(x,j+1,vertices[1]);
-        getVertex(x+1,j,vertices[2]);
-        callback->processTriangle(vertices,x,j);
-        //second triangle
-        getVertex(x+1,j,vertices[0]);
-        //getVertex(x,j+1,vertices[1]);
-        getVertex(x+1,j+1,vertices[2]);
-        callback->processTriangle(vertices,x,j);
-			}
-		}
-	}
-
-	
-
-}
-
-void	btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
-{
-	//moving concave objects not supported
-	
-	inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-}
-
-void	btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
-{
-	m_localScaling = scaling;
-}
-const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
-{
-	return m_localScaling;
-}