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diff --git a/extern/bullet2/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/extern/bullet2/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
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--- a/extern/bullet2/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
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@@ -1,315 +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 "btConvexTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btQuaternion.h"
-#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
-
-
-btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
-: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
-{
- m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
- if ( calcAabb )
- recalcLocalAabb();
-}
-
-
-
-
-///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
-///but then we are duplicating
-class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
-{
-
- btVector3 m_supportVertexLocal;
-public:
-
- btScalar m_maxDot;
- btVector3 m_supportVecLocal;
-
- LocalSupportVertexCallback(const btVector3& supportVecLocal)
- : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
- m_maxDot(btScalar(-BT_LARGE_FLOAT)),
- m_supportVecLocal(supportVecLocal)
- {
- }
-
- virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
- {
- (void)triangleIndex;
- (void)partId;
-
- for (int i=0;i<3;i++)
- {
- btScalar dot = m_supportVecLocal.dot(triangle[i]);
- if (dot > m_maxDot)
- {
- m_maxDot = dot;
- m_supportVertexLocal = triangle[i];
- }
- }
- }
-
- btVector3 GetSupportVertexLocal()
- {
- return m_supportVertexLocal;
- }
-
-};
-
-
-
-
-
-btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
-{
- btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
-
- 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;
- }
-
- LocalSupportVertexCallback supportCallback(vec);
- btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
- m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
- supVec = supportCallback.GetSupportVertexLocal();
-
- return supVec;
-}
-
-void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
-{
- //use 'w' component of supportVerticesOut?
- {
- for (int i=0;i<numVectors;i++)
- {
- supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
- }
- }
-
- ///@todo: could do the batch inside the callback!
-
-
- for (int j=0;j<numVectors;j++)
- {
- const btVector3& vec = vectors[j];
- LocalSupportVertexCallback supportCallback(vec);
- btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
- m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
- supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
- }
-
-}
-
-
-
-btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const
-{
- btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
-
- if ( getMargin()!=btScalar(0.) )
- {
- btVector3 vecnorm = vec;
- if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
- {
- vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
- }
- vecnorm.normalize();
- supVertex+= getMargin() * vecnorm;
- }
- return supVertex;
-}
-
-
-
-
-
-
-
-
-
-//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
-//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
-int btConvexTriangleMeshShape::getNumVertices() const
-{
- //cache this?
- return 0;
-
-}
-
-int btConvexTriangleMeshShape::getNumEdges() const
-{
- return 0;
-}
-
-void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
-{
- btAssert(0);
-}
-
-void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
-{
- btAssert(0);
-}
-
-int btConvexTriangleMeshShape::getNumPlanes() const
-{
- return 0;
-}
-
-void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const
-{
- btAssert(0);
-}
-
-//not yet
-bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
-{
- btAssert(0);
- return false;
-}
-
-
-
-void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
-{
- m_stridingMesh->setScaling(scaling);
-
- recalcLocalAabb();
-
-}
-
-
-const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
-{
- return m_stridingMesh->getScaling();
-}
-
-void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const
-{
- class CenterCallback: public btInternalTriangleIndexCallback
- {
- bool first;
- btVector3 ref;
- btVector3 sum;
- btScalar volume;
-
- public:
-
- CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
- {
- }
-
- virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
- {
- (void) triangleIndex;
- (void) partId;
- if (first)
- {
- ref = triangle[0];
- first = false;
- }
- else
- {
- btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
- sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
- volume += vol;
- }
- }
-
- btVector3 getCenter()
- {
- return (volume > 0) ? sum / volume : ref;
- }
-
- btScalar getVolume()
- {
- return volume * btScalar(1. / 6);
- }
-
- };
-
- class InertiaCallback: public btInternalTriangleIndexCallback
- {
- btMatrix3x3 sum;
- btVector3 center;
-
- public:
-
- InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
- {
- }
-
- virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
- {
- (void) triangleIndex;
- (void) partId;
- btMatrix3x3 i;
- btVector3 a = triangle[0] - center;
- btVector3 b = triangle[1] - center;
- btVector3 c = triangle[2] - center;
- btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
- for (int j = 0; j < 3; j++)
- {
- for (int k = 0; k <= j; k++)
- {
- i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
- + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
- }
- }
- btScalar i00 = -i[0][0];
- btScalar i11 = -i[1][1];
- btScalar i22 = -i[2][2];
- i[0][0] = i11 + i22;
- i[1][1] = i22 + i00;
- i[2][2] = i00 + i11;
- sum[0] += i[0];
- sum[1] += i[1];
- sum[2] += i[2];
- }
-
- btMatrix3x3& getInertia()
- {
- return sum;
- }
-
- };
-
- CenterCallback centerCallback;
- btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
- m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
- btVector3 center = centerCallback.getCenter();
- principal.setOrigin(center);
- volume = centerCallback.getVolume();
-
- InertiaCallback inertiaCallback(center);
- m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
-
- btMatrix3x3& i = inertiaCallback.getInertia();
- i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
- inertia.setValue(i[0][0], i[1][1], i[2][2]);
- inertia /= volume;
-}
-
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