1 files changed, 0 insertions, 178 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
deleted file mode 100644
index 786efd1820..0000000000
--- a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
+++ /dev/null
@@ -1,178 +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 <stdio.h>
-
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "btRaycastCallback.h"
-
-btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags)
-	:
-	m_from(from),
-	m_to(to),
-   //@BP Mod
-   m_flags(flags),
-	m_hitFraction(btScalar(1.))
-{
-
-}
-
-
-
-void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
-{
-	const btVector3 &vert0=triangle[0];
-	const btVector3 &vert1=triangle[1];
-	const btVector3 &vert2=triangle[2];
-
-	btVector3 v10; v10 = vert1 - vert0 ;
-	btVector3 v20; v20 = vert2 - vert0 ;
-
-	btVector3 triangleNormal; triangleNormal = v10.cross( v20 );
-	
-	const btScalar dist = vert0.dot(triangleNormal);
-	btScalar dist_a = triangleNormal.dot(m_from) ;
-	dist_a-= dist;
-	btScalar dist_b = triangleNormal.dot(m_to);
-	dist_b -= dist;
-
-	if ( dist_a * dist_b >= btScalar(0.0) )
-	{
-		return ; // same sign
-	}
-
-	if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a <= btScalar(0.0)))
-	{
-		// Backface, skip check
-		return;
-	}
-
-	
-	const btScalar proj_length=dist_a-dist_b;
-	const btScalar distance = (dist_a)/(proj_length);
-	// Now we have the intersection point on the plane, we'll see if it's inside the triangle
-	// Add an epsilon as a tolerance for the raycast,
-	// in case the ray hits exacly on the edge of the triangle.
-	// It must be scaled for the triangle size.
-	
-	if(distance < m_hitFraction)
-	{
-		
-
-		btScalar edge_tolerance =triangleNormal.length2();		
-		edge_tolerance *= btScalar(-0.0001);
-		btVector3 point; point.setInterpolate3( m_from, m_to, distance);
-		{
-			btVector3 v0p; v0p = vert0 - point;
-			btVector3 v1p; v1p = vert1 - point;
-			btVector3 cp0; cp0 = v0p.cross( v1p );
-
-			if ( (btScalar)(cp0.dot(triangleNormal)) >=edge_tolerance) 
-			{
-						
-
-				btVector3 v2p; v2p = vert2 -  point;
-				btVector3 cp1;
-				cp1 = v1p.cross( v2p);
-				if ( (btScalar)(cp1.dot(triangleNormal)) >=edge_tolerance) 
-				{
-					btVector3 cp2;
-					cp2 = v2p.cross(v0p);
-					
-					if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
-					{
-					  //@BP Mod
-					  // Triangle normal isn't normalized
-				      triangleNormal.normalize();
-
-					 //@BP Mod - Allow for unflipped normal when raycasting against backfaces
-						if (((m_flags & kF_KeepUnflippedNormal) == 0) && (dist_a <= btScalar(0.0)))
-						{
-							m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
-						}
-						else
-						{
-							m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
-						}
-					}
-				}
-			}
-		}
-	}
-}
-
-
-btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
-{
-	m_convexShape = convexShape;
-	m_convexShapeFrom = convexShapeFrom;
-	m_convexShapeTo = convexShapeTo;
-	m_triangleToWorld = triangleToWorld;
-	m_hitFraction = 1.0f;
-	m_triangleCollisionMargin = triangleCollisionMargin;
-	m_allowedPenetration = 0.f;
-}
-
-void
-btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
-{
-	btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
-    triangleShape.setMargin(m_triangleCollisionMargin);
-
-	btVoronoiSimplexSolver	simplexSolver;
-	btGjkEpaPenetrationDepthSolver	gjkEpaPenetrationSolver;
-
-//#define  USE_SUBSIMPLEX_CONVEX_CAST 1
-//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
-#ifdef USE_SUBSIMPLEX_CONVEX_CAST
-	btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
-#else
-	//btGjkConvexCast	convexCaster(m_convexShape,&triangleShape,&simplexSolver);
-	btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
-#endif //#USE_SUBSIMPLEX_CONVEX_CAST
-	
-	btConvexCast::CastResult castResult;
-	castResult.m_fraction = btScalar(1.);
-	castResult.m_allowedPenetration = m_allowedPenetration;
-	if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
-	{
-		//add hit
-		if (castResult.m_normal.length2() > btScalar(0.0001))
-		{					
-			if (castResult.m_fraction < m_hitFraction)
-			{
-/* btContinuousConvexCast's normal is already in world space */
-/*
-#ifdef USE_SUBSIMPLEX_CONVEX_CAST
-				//rotate normal into worldspace
-				castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
-#endif //USE_SUBSIMPLEX_CONVEX_CAST
-*/
-				castResult.m_normal.normalize();
-
-				reportHit (castResult.m_normal,
-							castResult.m_hitPoint,
-							castResult.m_fraction,
-							partId,
-							triangleIndex);
-			}
-		}
-	}
-}