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diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
deleted file mode 100644
index 4854f370f7..0000000000
--- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -1,500 +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.
-*/
-#if defined (_WIN32) || defined (__i386__)
-#define BT_USE_SSE_IN_API
-#endif
-
-#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
-#include "btConvexPolyhedron.h"
-#include "LinearMath/btConvexHullComputer.h"
-#include <new>
-#include "LinearMath/btGeometryUtil.h"
-#include "LinearMath/btGrahamScan2dConvexHull.h"
-
-
-btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
-m_polyhedron(0)
-{
-
-}
-
-btPolyhedralConvexShape::~btPolyhedralConvexShape()
-{
- if (m_polyhedron)
- {
- m_polyhedron->~btConvexPolyhedron();
- btAlignedFree(m_polyhedron);
- }
-}
-
-
-bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
-{
-
- if (m_polyhedron)
- {
- m_polyhedron->~btConvexPolyhedron();
- btAlignedFree(m_polyhedron);
- }
-
- void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
- m_polyhedron = new (mem) btConvexPolyhedron;
-
- btAlignedObjectArray<btVector3> orgVertices;
-
- for (int i=0;i<getNumVertices();i++)
- {
- btVector3& newVertex = orgVertices.expand();
- getVertex(i,newVertex);
- }
-
- btConvexHullComputer conv;
-
- if (shiftVerticesByMargin)
- {
- btAlignedObjectArray<btVector3> planeEquations;
- btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
-
- btAlignedObjectArray<btVector3> shiftedPlaneEquations;
- for (int p=0;p<planeEquations.size();p++)
- {
- btVector3 plane = planeEquations[p];
- // btScalar margin = getMargin();
- plane[3] -= getMargin();
- shiftedPlaneEquations.push_back(plane);
- }
-
- btAlignedObjectArray<btVector3> tmpVertices;
-
- btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
-
- conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
- } else
- {
-
- conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
- }
-
-
-
- btAlignedObjectArray<btVector3> faceNormals;
- int numFaces = conv.faces.size();
- faceNormals.resize(numFaces);
- btConvexHullComputer* convexUtil = &conv;
-
-
- btAlignedObjectArray<btFace> tmpFaces;
- tmpFaces.resize(numFaces);
-
- int numVertices = convexUtil->vertices.size();
- m_polyhedron->m_vertices.resize(numVertices);
- for (int p=0;p<numVertices;p++)
- {
- m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
- }
-
-
- for (int i=0;i<numFaces;i++)
- {
- int face = convexUtil->faces[i];
- //printf("face=%d\n",face);
- const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
- const btConvexHullComputer::Edge* edge = firstEdge;
-
- btVector3 edges[3];
- int numEdges = 0;
- //compute face normals
-
- do
- {
-
- int src = edge->getSourceVertex();
- tmpFaces[i].m_indices.push_back(src);
- int targ = edge->getTargetVertex();
- btVector3 wa = convexUtil->vertices[src];
-
- btVector3 wb = convexUtil->vertices[targ];
- btVector3 newEdge = wb-wa;
- newEdge.normalize();
- if (numEdges<2)
- edges[numEdges++] = newEdge;
-
- edge = edge->getNextEdgeOfFace();
- } while (edge!=firstEdge);
-
- btScalar planeEq = 1e30f;
-
-
- if (numEdges==2)
- {
- faceNormals[i] = edges[0].cross(edges[1]);
- faceNormals[i].normalize();
- tmpFaces[i].m_plane[0] = faceNormals[i].getX();
- tmpFaces[i].m_plane[1] = faceNormals[i].getY();
- tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
- tmpFaces[i].m_plane[3] = planeEq;
-
- }
- else
- {
- btAssert(0);//degenerate?
- faceNormals[i].setZero();
- }
-
- for (int v=0;v<tmpFaces[i].m_indices.size();v++)
- {
- btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
- if (planeEq>eq)
- {
- planeEq=eq;
- }
- }
- tmpFaces[i].m_plane[3] = -planeEq;
- }
-
- //merge coplanar faces and copy them to m_polyhedron
-
- btScalar faceWeldThreshold= 0.999f;
- btAlignedObjectArray<int> todoFaces;
- for (int i=0;i<tmpFaces.size();i++)
- todoFaces.push_back(i);
-
- while (todoFaces.size())
- {
- btAlignedObjectArray<int> coplanarFaceGroup;
- int refFace = todoFaces[todoFaces.size()-1];
-
- coplanarFaceGroup.push_back(refFace);
- btFace& faceA = tmpFaces[refFace];
- todoFaces.pop_back();
-
- btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
- for (int j=todoFaces.size()-1;j>=0;j--)
- {
- int i = todoFaces[j];
- btFace& faceB = tmpFaces[i];
- btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
- if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
- {
- coplanarFaceGroup.push_back(i);
- todoFaces.remove(i);
- }
- }
-
-
- bool did_merge = false;
- if (coplanarFaceGroup.size()>1)
- {
- //do the merge: use Graham Scan 2d convex hull
-
- btAlignedObjectArray<GrahamVector3> orgpoints;
- btVector3 averageFaceNormal(0,0,0);
-
- for (int i=0;i<coplanarFaceGroup.size();i++)
- {
-// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
-
- btFace& face = tmpFaces[coplanarFaceGroup[i]];
- btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
- averageFaceNormal+=faceNormal;
- for (int f=0;f<face.m_indices.size();f++)
- {
- int orgIndex = face.m_indices[f];
- btVector3 pt = m_polyhedron->m_vertices[orgIndex];
-
- bool found = false;
-
- for (int i=0;i<orgpoints.size();i++)
- {
- //if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
- if (orgpoints[i].m_orgIndex == orgIndex)
- {
- found=true;
- break;
- }
- }
- if (!found)
- orgpoints.push_back(GrahamVector3(pt,orgIndex));
- }
- }
-
-
-
- btFace combinedFace;
- for (int i=0;i<4;i++)
- combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
-
- btAlignedObjectArray<GrahamVector3> hull;
-
- averageFaceNormal.normalize();
- GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);
-
- for (int i=0;i<hull.size();i++)
- {
- combinedFace.m_indices.push_back(hull[i].m_orgIndex);
- for(int k = 0; k < orgpoints.size(); k++)
- {
- if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex)
- {
- orgpoints[k].m_orgIndex = -1; // invalidate...
- break;
- }
- }
- }
-
- // are there rejected vertices?
- bool reject_merge = false;
-
-
-
- for(int i = 0; i < orgpoints.size(); i++) {
- if(orgpoints[i].m_orgIndex == -1)
- continue; // this is in the hull...
- // this vertex is rejected -- is anybody else using this vertex?
- for(int j = 0; j < tmpFaces.size(); j++) {
-
- btFace& face = tmpFaces[j];
- // is this a face of the current coplanar group?
- bool is_in_current_group = false;
- for(int k = 0; k < coplanarFaceGroup.size(); k++) {
- if(coplanarFaceGroup[k] == j) {
- is_in_current_group = true;
- break;
- }
- }
- if(is_in_current_group) // ignore this face...
- continue;
- // does this face use this rejected vertex?
- for(int v = 0; v < face.m_indices.size(); v++) {
- if(face.m_indices[v] == orgpoints[i].m_orgIndex) {
- // this rejected vertex is used in another face -- reject merge
- reject_merge = true;
- break;
- }
- }
- if(reject_merge)
- break;
- }
- if(reject_merge)
- break;
- }
-
- if (!reject_merge)
- {
- // do this merge!
- did_merge = true;
- m_polyhedron->m_faces.push_back(combinedFace);
- }
- }
- if(!did_merge)
- {
- for (int i=0;i<coplanarFaceGroup.size();i++)
- {
- btFace face = tmpFaces[coplanarFaceGroup[i]];
- m_polyhedron->m_faces.push_back(face);
- }
-
- }
-
-
-
- }
-
- m_polyhedron->initialize();
-
- return true;
-}
-
-#ifndef MIN
- #define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
-#endif
-
-btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
-{
-
-
- btVector3 supVec(0,0,0);
-#ifndef __SPU__
- int i;
- btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
-
- btVector3 vec = vec0;
- btScalar lenSqr = vec.length2();
- if (lenSqr < btScalar(0.0001))
- {
- vec.setValue(1,0,0);
- } else
- {
- btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
- vec *= rlen;
- }
-
- btVector3 vtx;
- btScalar newDot;
-
- for( int k = 0; k < getNumVertices(); k += 128 )
- {
- btVector3 temp[128];
- int inner_count = MIN(getNumVertices() - k, 128);
- for( i = 0; i < inner_count; i++ )
- getVertex(i,temp[i]);
- i = (int) vec.maxDot( temp, inner_count, newDot);
- if (newDot > maxDot)
- {
- maxDot = newDot;
- supVec = temp[i];
- }
- }
-
-#endif //__SPU__
- return supVec;
-}
-
-
-
-void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
-{
-#ifndef __SPU__
- int i;
-
- btVector3 vtx;
- btScalar newDot;
-
- for (i=0;i<numVectors;i++)
- {
- supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
- }
-
- for (int j=0;j<numVectors;j++)
- {
- const btVector3& vec = vectors[j];
-
- for( int k = 0; k < getNumVertices(); k += 128 )
- {
- btVector3 temp[128];
- int inner_count = MIN(getNumVertices() - k, 128);
- for( i = 0; i < inner_count; i++ )
- getVertex(i,temp[i]);
- i = (int) vec.maxDot( temp, inner_count, newDot);
- if (newDot > supportVerticesOut[j][3])
- {
- supportVerticesOut[j] = temp[i];
- supportVerticesOut[j][3] = newDot;
- }
- }
- }
-
-#endif //__SPU__
-}
-
-
-
-void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
-{
-#ifndef __SPU__
- //not yet, return box inertia
-
- btScalar margin = getMargin();
-
- btTransform ident;
- ident.setIdentity();
- btVector3 aabbMin,aabbMax;
- getAabb(ident,aabbMin,aabbMax);
- btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
-
- btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
- btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
- btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
- const btScalar x2 = lx*lx;
- const btScalar y2 = ly*ly;
- const btScalar z2 = lz*lz;
- const btScalar scaledmass = mass * btScalar(0.08333333);
-
- inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
-#endif //__SPU__
-}
-
-
-
-void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
-{
- btConvexInternalShape::setLocalScaling(scaling);
- recalcLocalAabb();
-}
-
-btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape()
-:btPolyhedralConvexShape(),
-m_localAabbMin(1,1,1),
-m_localAabbMax(-1,-1,-1),
-m_isLocalAabbValid(false)
-{
-}
-
-void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
-{
- getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
-}
-
-void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
-{
- m_isLocalAabbValid = true;
-
- #if 1
- static const btVector3 _directions[] =
- {
- btVector3( 1., 0., 0.),
- btVector3( 0., 1., 0.),
- btVector3( 0., 0., 1.),
- btVector3( -1., 0., 0.),
- btVector3( 0., -1., 0.),
- btVector3( 0., 0., -1.)
- };
-
- btVector3 _supporting[] =
- {
- btVector3( 0., 0., 0.),
- btVector3( 0., 0., 0.),
- btVector3( 0., 0., 0.),
- btVector3( 0., 0., 0.),
- btVector3( 0., 0., 0.),
- btVector3( 0., 0., 0.)
- };
-
- batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
-
- for ( int i = 0; i < 3; ++i )
- {
- m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
- m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
- }
-
- #else
-
- for (int i=0;i<3;i++)
- {
- btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
- vec[i] = btScalar(1.);
- btVector3 tmp = localGetSupportingVertex(vec);
- m_localAabbMax[i] = tmp[i];
- vec[i] = btScalar(-1.);
- tmp = localGetSupportingVertex(vec);
- m_localAabbMin[i] = tmp[i];
- }
- #endif
-}
-
-
-
-
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