Revert changes back to original state, before 29506.

1 files changed, 0 insertions, 209 deletions

diff --git a/extern/bullet2/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/extern/bullet2/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
deleted file mode 100644
index f76755fbb6a..00000000000
--- a/extern/bullet2/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
+++ /dev/null
@@ -1,209 +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 "LinearMath/btScalar.h"
-#include "SphereTriangleDetector.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-
-SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold)
-:m_sphere(sphere),
-m_triangle(triangle),
-m_contactBreakingThreshold(contactBreakingThreshold)
-{
-
-}
-
-void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
-{
-
-	(void)debugDraw;
-	const btTransform& transformA = input.m_transformA;
-	const btTransform& transformB = input.m_transformB;
-
-	btVector3 point,normal;
-	btScalar timeOfImpact = btScalar(1.);
-	btScalar depth = btScalar(0.);
-//	output.m_distance = btScalar(BT_LARGE_FLOAT);
-	//move sphere into triangle space
-	btTransform	sphereInTr = transformB.inverseTimes(transformA);
-
-	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold))
-	{
-		if (swapResults)
-		{
-			btVector3 normalOnB = transformB.getBasis()*normal;
-			btVector3 normalOnA = -normalOnB;
-			btVector3 pointOnA = transformB*point+normalOnB*depth;
-			output.addContactPoint(normalOnA,pointOnA,depth);
-		} else
-		{
-			output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth);
-		}
-	}
-
-}
-
-#define MAX_OVERLAP btScalar(0.)
-
-
-
-// See also geometrictools.com
-// Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv
-btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest);
-
-btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) {
-	btVector3 diff = p - from;
-	btVector3 v = to - from;
-	btScalar t = v.dot(diff);
-	
-	if (t > 0) {
-		btScalar dotVV = v.dot(v);
-		if (t < dotVV) {
-			t /= dotVV;
-			diff -= t*v;
-		} else {
-			t = 1;
-			diff -= v;
-		}
-	} else
-		t = 0;
-
-	nearest = from + t*v;
-	return diff.dot(diff);	
-}
-
-bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal)  {
-	btVector3 lp(p);
-	btVector3 lnormal(normal);
-	
-	return pointInTriangle(vertices, lnormal, &lp);
-}
-
-///combined discrete/continuous sphere-triangle
-bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
-{
-
-	const btVector3* vertices = &m_triangle->getVertexPtr(0);
-	const btVector3& c = sphereCenter;
-	btScalar r = m_sphere->getRadius();
-
-	btVector3 delta (0,0,0);
-
-	btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
-	normal.normalize();
-	btVector3 p1ToCentre = c - vertices[0];
-	btScalar distanceFromPlane = p1ToCentre.dot(normal);
-
-	if (distanceFromPlane < btScalar(0.))
-	{
-		//triangle facing the other way
-	
-		distanceFromPlane *= btScalar(-1.);
-		normal *= btScalar(-1.);
-	}
-
-	btScalar contactMargin = contactBreakingThreshold;
-	bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
-	bool isInsideShellPlane = distanceFromPlane < r;
-	
-	btScalar deltaDotNormal = delta.dot(normal);
-	if (!isInsideShellPlane && deltaDotNormal >= btScalar(0.0))
-		return false;
-
-	// Check for contact / intersection
-	bool hasContact = false;
-	btVector3 contactPoint;
-	if (isInsideContactPlane) {
-		if (facecontains(c,vertices,normal)) {
-			// Inside the contact wedge - touches a point on the shell plane
-			hasContact = true;
-			contactPoint = c - normal*distanceFromPlane;
-		} else {
-			// Could be inside one of the contact capsules
-			btScalar contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
-			btVector3 nearestOnEdge;
-			for (int i = 0; i < m_triangle->getNumEdges(); i++) {
-				
-				btVector3 pa;
-				btVector3 pb;
-				
-				m_triangle->getEdge(i,pa,pb);
-
-				btScalar distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
-				if (distanceSqr < contactCapsuleRadiusSqr) {
-					// Yep, we're inside a capsule
-					hasContact = true;
-					contactPoint = nearestOnEdge;
-				}
-				
-			}
-		}
-	}
-
-	if (hasContact) {
-		btVector3 contactToCentre = c - contactPoint;
-		btScalar distanceSqr = contactToCentre.length2();
-		if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
-			btScalar distance = btSqrt(distanceSqr);
-			resultNormal = contactToCentre;
-			resultNormal.normalize();
-			point = contactPoint;
-			depth = -(r-distance);
-			return true;
-		}
-
-		if (delta.dot(contactToCentre) >= btScalar(0.0)) 
-			return false;
-		
-		// Moving towards the contact point -> collision
-		point = contactPoint;
-		timeOfImpact = btScalar(0.0);
-		return true;
-	}
-	
-	return false;
-}
-
-
-bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p )
-{
-	const btVector3* p1 = &vertices[0];
-	const btVector3* p2 = &vertices[1];
-	const btVector3* p3 = &vertices[2];
-
-	btVector3 edge1( *p2 - *p1 );
-	btVector3 edge2( *p3 - *p2 );
-	btVector3 edge3( *p1 - *p3 );
-
-	btVector3 p1_to_p( *p - *p1 );
-	btVector3 p2_to_p( *p - *p2 );
-	btVector3 p3_to_p( *p - *p3 );
-
-	btVector3 edge1_normal( edge1.cross(normal));
-	btVector3 edge2_normal( edge2.cross(normal));
-	btVector3 edge3_normal( edge3.cross(normal));
-	
-	btScalar r1, r2, r3;
-	r1 = edge1_normal.dot( p1_to_p );
-	r2 = edge2_normal.dot( p2_to_p );
-	r3 = edge3_normal.dot( p3_to_p );
-	if ( ( r1 > 0 && r2 > 0 && r3 > 0 ) ||
-	     ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) )
-		return true;
-	return false;
-
-}