1 files changed, 0 insertions, 308 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
deleted file mode 100644
index 23aaece22b..0000000000
--- a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ /dev/null
@@ -1,308 +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 "btPersistentManifold.h"
-#include "LinearMath/btTransform.h"
-
-
-btScalar					gContactBreakingThreshold = btScalar(0.02);
-ContactDestroyedCallback	gContactDestroyedCallback = 0;
-ContactProcessedCallback	gContactProcessedCallback = 0;
-ContactStartedCallback		gContactStartedCallback = 0;
-ContactEndedCallback		gContactEndedCallback = 0;
-///gContactCalcArea3Points will approximate the convex hull area using 3 points
-///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
-bool						gContactCalcArea3Points = true;
-
-
-btPersistentManifold::btPersistentManifold()
-:btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
-m_body0(0),
-m_body1(0),
-m_cachedPoints (0),
-m_index1a(0)
-{
-}
-
-
-
-
-#ifdef DEBUG_PERSISTENCY
-#include <stdio.h>
-void	btPersistentManifold::DebugPersistency()
-{
-	int i;
-	printf("DebugPersistency : numPoints %d\n",m_cachedPoints);
-	for (i=0;i<m_cachedPoints;i++)
-	{
-		printf("m_pointCache[%d].m_userPersistentData = %x\n",i,m_pointCache[i].m_userPersistentData);
-	}
-}
-#endif //DEBUG_PERSISTENCY
-
-void btPersistentManifold::clearUserCache(btManifoldPoint& pt)
-{
-
-	void* oldPtr = pt.m_userPersistentData;
-	if (oldPtr)
-	{
-#ifdef DEBUG_PERSISTENCY
-		int i;
-		int occurance = 0;
-		for (i=0;i<m_cachedPoints;i++)
-		{
-			if (m_pointCache[i].m_userPersistentData == oldPtr)
-			{
-				occurance++;
-				if (occurance>1)
-					printf("error in clearUserCache\n");
-			}
-		}
-		btAssert(occurance<=0);
-#endif //DEBUG_PERSISTENCY
-
-		if (pt.m_userPersistentData && gContactDestroyedCallback)
-		{
-			(*gContactDestroyedCallback)(pt.m_userPersistentData);
-			pt.m_userPersistentData = 0;
-		}
-		
-#ifdef DEBUG_PERSISTENCY
-		DebugPersistency();
-#endif
-	}
-
-	
-}
-
-static inline btScalar calcArea4Points(const btVector3 &p0,const btVector3 &p1,const btVector3 &p2,const btVector3 &p3)
-{
-	// It calculates possible 3 area constructed from random 4 points and returns the biggest one.
-
-	btVector3 a[3],b[3];
-	a[0] = p0 - p1;
-	a[1] = p0 - p2;
-	a[2] = p0 - p3;
-	b[0] = p2 - p3;
-	b[1] = p1 - p3;
-	b[2] = p1 - p2;
-
-	//todo: Following 3 cross production can be easily optimized by SIMD.
-	btVector3 tmp0 = a[0].cross(b[0]);
-	btVector3 tmp1 = a[1].cross(b[1]);
-	btVector3 tmp2 = a[2].cross(b[2]);
-
-	return btMax(btMax(tmp0.length2(),tmp1.length2()),tmp2.length2());
-}
-
-int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt) 
-{
-		//calculate 4 possible cases areas, and take biggest area
-		//also need to keep 'deepest'
-		
-		int maxPenetrationIndex = -1;
-#define KEEP_DEEPEST_POINT 1
-#ifdef KEEP_DEEPEST_POINT
-		btScalar maxPenetration = pt.getDistance();
-		for (int i=0;i<4;i++)
-		{
-			if (m_pointCache[i].getDistance() < maxPenetration)
-			{
-				maxPenetrationIndex = i;
-				maxPenetration = m_pointCache[i].getDistance();
-			}
-		}
-#endif //KEEP_DEEPEST_POINT
-		
-		btScalar res0(btScalar(0.)),res1(btScalar(0.)),res2(btScalar(0.)),res3(btScalar(0.));
-
-	if (gContactCalcArea3Points)
-	{
-		if (maxPenetrationIndex != 0)
-		{
-			btVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
-			btVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
-			btVector3 cross = a0.cross(b0);
-			res0 = cross.length2();
-		}
-		if (maxPenetrationIndex != 1)
-		{
-			btVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			btVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
-			btVector3 cross = a1.cross(b1);
-			res1 = cross.length2();
-		}
-
-		if (maxPenetrationIndex != 2)
-		{
-			btVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			btVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
-			btVector3 cross = a2.cross(b2);
-			res2 = cross.length2();
-		}
-
-		if (maxPenetrationIndex != 3)
-		{
-			btVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			btVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
-			btVector3 cross = a3.cross(b3);
-			res3 = cross.length2();
-		}
-	} 
-	else
-	{
-		if(maxPenetrationIndex != 0) {
-			res0 = calcArea4Points(pt.m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
-		}
-
-		if(maxPenetrationIndex != 1) {
-			res1 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
-		}
-
-		if(maxPenetrationIndex != 2) {
-			res2 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[3].m_localPointA);
-		}
-
-		if(maxPenetrationIndex != 3) {
-			res3 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA);
-		}
-	}
-	btVector4 maxvec(res0,res1,res2,res3);
-	int biggestarea = maxvec.closestAxis4();
-	return biggestarea;
-	
-}
-
-
-int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
-{
-	btScalar shortestDist =  getContactBreakingThreshold() * getContactBreakingThreshold();
-	int size = getNumContacts();
-	int nearestPoint = -1;
-	for( int i = 0; i < size; i++ )
-	{
-		const btManifoldPoint &mp = m_pointCache[i];
-
-		btVector3 diffA =  mp.m_localPointA- newPoint.m_localPointA;
-		const btScalar distToManiPoint = diffA.dot(diffA);
-		if( distToManiPoint < shortestDist )
-		{
-			shortestDist = distToManiPoint;
-			nearestPoint = i;
-		}
-	}
-	return nearestPoint;
-}
-
-int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive)
-{
-	if (!isPredictive)
-	{
-		btAssert(validContactDistance(newPoint));
-	}
-	
-	int insertIndex = getNumContacts();
-	if (insertIndex == MANIFOLD_CACHE_SIZE)
-	{
-#if MANIFOLD_CACHE_SIZE >= 4
-		//sort cache so best points come first, based on area
-		insertIndex = sortCachedPoints(newPoint);
-#else
-		insertIndex = 0;
-#endif
-		clearUserCache(m_pointCache[insertIndex]);
-		
-	} else
-	{
-		m_cachedPoints++;
-
-		
-	}
-	if (insertIndex<0)
-		insertIndex=0;
-
-	btAssert(m_pointCache[insertIndex].m_userPersistentData==0);
-	m_pointCache[insertIndex] = newPoint;
-	return insertIndex;
-}
-
-btScalar	btPersistentManifold::getContactBreakingThreshold() const
-{
-	return m_contactBreakingThreshold;
-}
-
-
-
-void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btTransform& trB)
-{
-	int i;
-#ifdef DEBUG_PERSISTENCY
-	printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
-		trA.getOrigin().getX(),
-		trA.getOrigin().getY(),
-		trA.getOrigin().getZ(),
-		trB.getOrigin().getX(),
-		trB.getOrigin().getY(),
-		trB.getOrigin().getZ());
-#endif //DEBUG_PERSISTENCY
-	/// first refresh worldspace positions and distance
-	for (i=getNumContacts()-1;i>=0;i--)
-	{
-		btManifoldPoint &manifoldPoint = m_pointCache[i];
-		manifoldPoint.m_positionWorldOnA = trA( manifoldPoint.m_localPointA );
-		manifoldPoint.m_positionWorldOnB = trB( manifoldPoint.m_localPointB );
-		manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA -  manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
-		manifoldPoint.m_lifeTime++;
-	}
-
-	/// then 
-	btScalar distance2d;
-	btVector3 projectedDifference,projectedPoint;
-	for (i=getNumContacts()-1;i>=0;i--)
-	{
-		
-		btManifoldPoint &manifoldPoint = m_pointCache[i];
-		//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
-		if (!validContactDistance(manifoldPoint))
-		{
-			removeContactPoint(i);
-		} else
-		{
-            //todo: friction anchor may require the contact to be around a bit longer
-			//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
-			projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
-			projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
-			distance2d = projectedDifference.dot(projectedDifference);
-			if (distance2d  > getContactBreakingThreshold()*getContactBreakingThreshold() )
-			{
-				removeContactPoint(i);
-			} else
-			{
-				//contact point processed callback
-				if (gContactProcessedCallback)
-					(*gContactProcessedCallback)(manifoldPoint,(void*)m_body0,(void*)m_body1);
-			}
-		}
-	}
-#ifdef DEBUG_PERSISTENCY
-	DebugPersistency();
-#endif //
-}
-
-
-
-
-