1 files changed, 3 insertions, 10 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
index c4f84ed4d75..05573c7cfce 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
@@ -17,13 +17,14 @@ subject to the following restrictions:
 
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+
+
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 
 bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
 											  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
 											  const btTransform& transformA, const btTransform& transformB,
-											  btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
+											  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
 											  class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
 {
 
@@ -33,20 +34,12 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
 
 	const btScalar				radialmargin(btScalar(0.));
 	
-//#define USE_ORIGINAL_GJK 1
-#ifdef USE_ORIGINAL_GJK
-	btGjkEpaSolver::sResults	results;
-	if(btGjkEpaSolver::Collide(	pConvexA,transformA,
-								pConvexB,transformB,
-								radialmargin,stackAlloc,results))
-#else
 	btVector3	guessVector(transformA.getOrigin()-transformB.getOrigin());
 	btGjkEpaSolver2::sResults	results;
 	if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
 								pConvexB,transformB,
 								guessVector,results))
 	
-#endif
 		{
 	//	debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
 		//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);