1 files changed, 0 insertions, 160 deletions
diff --git a/extern/bullet2/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/extern/bullet2/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
deleted file mode 100644
index 18eb662de2f..00000000000
--- a/extern/bullet2/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+++ /dev/null
@@ -1,160 +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 "btSubSimplexConvexCast.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-
-#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
-#include "btPointCollector.h"
-#include "LinearMath/btTransformUtil.h"
-
-btSubsimplexConvexCast::btSubsimplexConvexCast (const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
-:m_simplexSolver(simplexSolver),
-m_convexA(convexA),m_convexB(convexB)
-{
-}
-
-///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
-///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
-#ifdef BT_USE_DOUBLE_PRECISION
-#define MAX_ITERATIONS 64
-#else
-#define MAX_ITERATIONS 32
-#endif
-bool	btSubsimplexConvexCast::calcTimeOfImpact(
-		const btTransform& fromA,
-		const btTransform& toA,
-		const btTransform& fromB,
-		const btTransform& toB,
-		CastResult& result)
-{
-
-	m_simplexSolver->reset();
-
-	btVector3 linVelA,linVelB;
-	linVelA = toA.getOrigin()-fromA.getOrigin();
-	linVelB = toB.getOrigin()-fromB.getOrigin();
-
-	btScalar lambda = btScalar(0.);
-
-	btTransform interpolatedTransA = fromA;
-	btTransform interpolatedTransB = fromB;
-
-	///take relative motion
-	btVector3 r = (linVelA-linVelB);
-	btVector3 v;
-	
-	btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r*fromA.getBasis()));
-	btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r*fromB.getBasis()));
-	v = supVertexA-supVertexB;
-	int maxIter = MAX_ITERATIONS;
-
-	btVector3 n;
-	n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-	bool hasResult = false;
-	btVector3 c;
-
-	btScalar lastLambda = lambda;
-
-
-	btScalar dist2 = v.length2();
-#ifdef BT_USE_DOUBLE_PRECISION
-	btScalar epsilon = btScalar(0.0001);
-#else
-	btScalar epsilon = btScalar(0.0001);
-#endif //BT_USE_DOUBLE_PRECISION
-	btVector3	w,p;
-	btScalar VdotR;
-	
-	while ( (dist2 > epsilon) && maxIter--)
-	{
-		supVertexA = interpolatedTransA(m_convexA->localGetSupportingVertex(-v*interpolatedTransA.getBasis()));
-		supVertexB = interpolatedTransB(m_convexB->localGetSupportingVertex(v*interpolatedTransB.getBasis()));
-		w = supVertexA-supVertexB;
-
-		btScalar VdotW = v.dot(w);
-
-		if (lambda > btScalar(1.0))
-		{
-			return false;
-		}
-
-		if ( VdotW > btScalar(0.))
-		{
-			VdotR = v.dot(r);
-
-			if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
-				return false;
-			else
-			{
-				lambda = lambda - VdotW / VdotR;
-				//interpolate to next lambda
-				//	x = s + lambda * r;
-				interpolatedTransA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda);
-				interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda);
-				//m_simplexSolver->reset();
-				//check next line
-				 w = supVertexA-supVertexB;
-				lastLambda = lambda;
-				n = v;
-				hasResult = true;
-			}
-		} 
-		///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.
-		if (!m_simplexSolver->inSimplex(w))
-			m_simplexSolver->addVertex( w, supVertexA , supVertexB);
-
-		if (m_simplexSolver->closest(v))
-		{
-			dist2 = v.length2();
-			hasResult = true;
-			//todo: check this normal for validity
-			//n=v;
-			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
-			//printf("DIST2=%f\n",dist2);
-			//printf("numverts = %i\n",m_simplexSolver->numVertices());
-		} else
-		{
-			dist2 = btScalar(0.);
-		} 
-	}
-
-	//int numiter = MAX_ITERATIONS - maxIter;
-//	printf("number of iterations: %d", numiter);
-	
-	//don't report a time of impact when moving 'away' from the hitnormal
-	
-
-	result.m_fraction = lambda;
-	if (n.length2() >= (SIMD_EPSILON*SIMD_EPSILON))
-		result.m_normal = n.normalized();
-	else
-		result.m_normal = btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-
-	//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-	if (result.m_normal.dot(r)>=-result.m_allowedPenetration)
-		return false;
-
-	btVector3 hitA,hitB;
-	m_simplexSolver->compute_points(hitA,hitB);
-	result.m_hitPoint=hitB;
-	return true;
-}
-
-
-
-