ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux

data/deps/include/bullet/BulletCollision/Gimpact/gim_tri_collision.h

@@ -1,379 +0,0 @@
-#ifndef GIM_TRI_COLLISION_H_INCLUDED
-#define GIM_TRI_COLLISION_H_INCLUDED
-
-/*! \file gim_tri_collision.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_box_collision.h"
-#include "gim_clip_polygon.h"
-
-
-
-
-#define MAX_TRI_CLIPPING 16
-
-//! Structure for collision
-struct GIM_TRIANGLE_CONTACT_DATA
-{
-    GREAL m_penetration_depth;
-    GUINT m_point_count;
-    btVector4 m_separating_normal;
-    btVector3 m_points[MAX_TRI_CLIPPING];
-
-	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA& other)
-	{
-		m_penetration_depth = other.m_penetration_depth;
-		m_separating_normal = other.m_separating_normal;
-		m_point_count = other.m_point_count;
-		GUINT i = m_point_count;
-		while(i--)
-		{
-			m_points[i] = other.m_points[i];
-		}
-	}
-
-	GIM_TRIANGLE_CONTACT_DATA()
-	{
-	}
-
-	GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA& other)
-	{
-		copy_from(other);
-	}
-
-	
-	
-
-    //! classify points that are closer
-    template<typename DISTANCE_FUNC,typename CLASS_PLANE>
-    SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane,
-    				GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func)
-    {	
-    	m_point_count = 0;
-    	m_penetration_depth= -1000.0f;
-
-		GUINT point_indices[MAX_TRI_CLIPPING];
-
-		GUINT _k;
-
-		for(_k=0;_k<point_count;_k++)
-		{
-			GREAL _dist = -distance_func(plane,points[_k]) + margin;
-
-			if(_dist>=0.0f)
-			{
-				if(_dist>m_penetration_depth)
-				{
-					m_penetration_depth = _dist;
-					point_indices[0] = _k;
-					m_point_count=1;
-				}
-				else if((_dist+G_EPSILON)>=m_penetration_depth)
-				{
-					point_indices[m_point_count] = _k;
-					m_point_count++;
-				}
-			}
-		}
-
-		for( _k=0;_k<m_point_count;_k++)
-		{
-			m_points[_k] = points[point_indices[_k]];
-		}
-	}
-
-	//! classify points that are closer
-	SIMD_FORCE_INLINE void merge_points(const btVector4 & plane, GREAL margin,
-										 const btVector3 * points, GUINT point_count)
-	{
-		m_separating_normal = plane;
-		mergepoints_generic(plane, margin, points, point_count, DISTANCE_PLANE_3D_FUNC());
-	}
-};
-
-
-//! Class for colliding triangles
-class GIM_TRIANGLE
-{
-public:
-	btScalar m_margin;
-    btVector3 m_vertices[3];
-
-    GIM_TRIANGLE():m_margin(0.1f)
-    {
-    }
-
-    SIMD_FORCE_INLINE GIM_AABB get_box()  const
-    {
-    	return GIM_AABB(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
-    }
-
-    SIMD_FORCE_INLINE void get_normal(btVector3 &normal)  const
-    {
-    	TRIANGLE_NORMAL(m_vertices[0],m_vertices[1],m_vertices[2],normal);
-    }
-
-    SIMD_FORCE_INLINE void get_plane(btVector4 &plane)  const
-    {
-    	TRIANGLE_PLANE(m_vertices[0],m_vertices[1],m_vertices[2],plane);;
-    }
-
-    SIMD_FORCE_INLINE void apply_transform(const btTransform & trans)
-    {
-    	m_vertices[0] = trans(m_vertices[0]);
-    	m_vertices[1] = trans(m_vertices[1]);
-    	m_vertices[2] = trans(m_vertices[2]);
-    }
-
-    SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index,const btVector3 &triangle_normal,btVector4 &plane)  const
-    {
-		const btVector3 & e0 = m_vertices[edge_index];
-		const btVector3 & e1 = m_vertices[(edge_index+1)%3];
-		EDGE_PLANE(e0,e1,triangle_normal,plane);
-    }
-
-    //! Gets the relative transformation of this triangle
-    /*!
-    The transformation is oriented to the triangle normal , and aligned to the 1st edge of this triangle. The position corresponds to vertice 0:
-    - triangle normal corresponds to Z axis.
-    - 1st normalized edge corresponds to X axis,
-
-    */
-    SIMD_FORCE_INLINE void get_triangle_transform(btTransform & triangle_transform)  const
-    {
-    	btMatrix3x3 & matrix = triangle_transform.getBasis();
-
-    	btVector3 zaxis;
-    	get_normal(zaxis);
-    	MAT_SET_Z(matrix,zaxis);
-
-    	btVector3 xaxis = m_vertices[1] - m_vertices[0];
-    	VEC_NORMALIZE(xaxis);
-    	MAT_SET_X(matrix,xaxis);
-
-    	//y axis
-    	xaxis = zaxis.cross(xaxis);
-    	MAT_SET_Y(matrix,xaxis);
-
-    	triangle_transform.setOrigin(m_vertices[0]);
-    }
-
-
-	//! Test triangles by finding separating axis
-	/*!
-	\param other Triangle for collide
-	\param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle
-	*/
-	bool collide_triangle_hard_test(
-		const GIM_TRIANGLE & other,
-		GIM_TRIANGLE_CONTACT_DATA & contact_data) const;
-
-	//! Test boxes before doing hard test
-	/*!
-	\param other Triangle for collide
-	\param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle
-	\
-	*/
-	SIMD_FORCE_INLINE bool collide_triangle(
-		const GIM_TRIANGLE & other,
-		GIM_TRIANGLE_CONTACT_DATA & contact_data) const
-	{
-		//test box collisioin
-		GIM_AABB boxu(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
-		GIM_AABB boxv(other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin);
-		if(!boxu.has_collision(boxv)) return false;
-
-		//do hard test
-		return collide_triangle_hard_test(other,contact_data);
-	}
-
-	/*!
-
-	Solve the System for u,v parameters:
-
-	u*axe1[i1] + v*axe2[i1] = vecproj[i1]
-	u*axe1[i2] + v*axe2[i2] = vecproj[i2]
-
-	sustitute:
-	v = (vecproj[i2] - u*axe1[i2])/axe2[i2]
-
-	then the first equation in terms of 'u':
-
-	--> u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1]
-
-	--> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1]
-
-	--> u*(axe1[i1]  - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2]
-
-	--> u*((axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2]
-
-	--> u*(axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]
-
-	--> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1])
-
-if 0.0<= u+v <=1.0 then they are inside of triangle
-
-	\return false if the point is outside of triangle.This function  doesn't take the margin
-	*/
-	SIMD_FORCE_INLINE bool get_uv_parameters(
-			const btVector3 & point,
-			const btVector3 & tri_plane,
-			GREAL & u, GREAL & v) const
-	{
-		btVector3 _axe1 = m_vertices[1]-m_vertices[0];
-		btVector3 _axe2 = m_vertices[2]-m_vertices[0];
-		btVector3 _vecproj = point - m_vertices[0];
-		GUINT _i1 = (tri_plane.closestAxis()+1)%3;
-		GUINT _i2 = (_i1+1)%3;
-		if(btFabs(_axe2[_i2])<G_EPSILON)
-		{
-			u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1]  - _axe1[_i1]*_axe2[_i2]);
-			v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1];
-		}
-		else
-		{
-			u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2]  - _axe1[_i2]*_axe2[_i1]);
-			v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2];
-		}
-
-		if(u<-G_EPSILON)
-		{
-			return false;
-		}
-		else if(v<-G_EPSILON)
-		{
-			return false;
-		}
-		else
-		{
-			btScalar sumuv;
-			sumuv = u+v;
-			if(sumuv<-G_EPSILON)
-			{
-				return false;
-			}
-			else if(sumuv-1.0f>G_EPSILON)
-			{
-				return false;
-			}
-		}
-		return true;
-	}
-
-	//! is point in triangle beam?
-	/*!
-	Test if point is in triangle, with m_margin tolerance
-	*/
-	SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const
-	{
-		//Test with edge 0
-		btVector4 edge_plane;
-		this->get_edge_plane(0,tri_normal,edge_plane);
-		GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point);
-		if(dist-m_margin>0.0f) return false; // outside plane
-
-		this->get_edge_plane(1,tri_normal,edge_plane);
-		dist = DISTANCE_PLANE_POINT(edge_plane,point);
-		if(dist-m_margin>0.0f) return false; // outside plane
-
-		this->get_edge_plane(2,tri_normal,edge_plane);
-		dist = DISTANCE_PLANE_POINT(edge_plane,point);
-		if(dist-m_margin>0.0f) return false; // outside plane
-		return true;
-	}
-
-
-	//! Bidireccional ray collision
-	SIMD_FORCE_INLINE bool ray_collision(
-		const btVector3 & vPoint,
-		const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal,
-		GREAL & tparam, GREAL tmax = G_REAL_INFINITY)
-	{
-		btVector4 faceplane;
-		{
-			btVector3 dif1 = m_vertices[1] - m_vertices[0];
-			btVector3 dif2 = m_vertices[2] - m_vertices[0];
-    		VEC_CROSS(faceplane,dif1,dif2);
-    		faceplane[3] = m_vertices[0].dot(faceplane);
-		}
-
-		GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax);
-		if(res == 0) return false;
-		if(! is_point_inside(pout,faceplane)) return false;
-
-		if(res==2) //invert normal
-		{
-			triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]);
-		}
-		else
-		{
-			triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]);
-		}
-
-		VEC_NORMALIZE(triangle_normal);
-
-		return true;
-	}
-
-
-	//! one direccion ray collision
-	SIMD_FORCE_INLINE bool ray_collision_front_side(
-		const btVector3 & vPoint,
-		const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal,
-		GREAL & tparam, GREAL tmax = G_REAL_INFINITY)
-	{
-		btVector4 faceplane;
-		{
-			btVector3 dif1 = m_vertices[1] - m_vertices[0];
-			btVector3 dif2 = m_vertices[2] - m_vertices[0];
-    		VEC_CROSS(faceplane,dif1,dif2);
-    		faceplane[3] = m_vertices[0].dot(faceplane);
-		}
-
-		GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax);
-		if(res != 1) return false;
-
-		if(!is_point_inside(pout,faceplane)) return false;
-
-		triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]);
-
-		VEC_NORMALIZE(triangle_normal);
-
-		return true;
-	}
-
-};
-
-
-
-
-#endif // GIM_TRI_COLLISION_H_INCLUDED

data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h

@@ -1,59 +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.
-*/
-
-
-#ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
-#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
-
-#include "btConvexCast.h"
-#include "btSimplexSolverInterface.h"
-class btConvexPenetrationDepthSolver;
-class btConvexShape;
-class btStaticPlaneShape;
-
-/// btContinuousConvexCollision implements angular and linear time of impact for convex objects.
-/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
-/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent.
-/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
-class btContinuousConvexCollision : public btConvexCast
-{
-	btSimplexSolverInterface* m_simplexSolver;
-	btConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
-	const btConvexShape*	m_convexA;
-	//second object is either a convex or a plane (code sharing)
-	const btConvexShape*	m_convexB1;
-	const btStaticPlaneShape*	m_planeShape;
-
-	void computeClosestPoints( const btTransform& transA, const btTransform& transB,struct btPointCollector& pointCollector);
-
-public:
-
-	btContinuousConvexCollision (const btConvexShape*	shapeA,const btConvexShape*	shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
-
-	btContinuousConvexCollision(const btConvexShape*	shapeA,const btStaticPlaneShape*	plane );
-
-	virtual bool	calcTimeOfImpact(
-				const btTransform& fromA,
-				const btTransform& toA,
-				const btTransform& fromB,
-				const btTransform& toB,
-				CastResult& result);
-
-
-};
-
-
-#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
-

data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h

@@ -1,73 +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.
-*/
-
-
-#ifndef BT_CONVEX_CAST_H
-#define BT_CONVEX_CAST_H
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btScalar.h"
-class btMinkowskiSumShape;
-#include "LinearMath/btIDebugDraw.h"
-
-/// btConvexCast is an interface for Casting
-class btConvexCast
-{
-public:
-
-
-	virtual ~btConvexCast();
-
-	///RayResult stores the closest result
-	/// alternatively, add a callback method to decide about closest/all results
-	struct	CastResult
-	{
-		//virtual bool	addRayResult(const btVector3& normal,btScalar	fraction) = 0;
-				
-		virtual void	DebugDraw(btScalar	fraction) {(void)fraction;}
-		virtual void	drawCoordSystem(const btTransform& trans) {(void)trans;}
-		virtual void	reportFailure(int errNo, int numIterations) {(void)errNo;(void)numIterations;}
-		CastResult()
-			:m_fraction(btScalar(BT_LARGE_FLOAT)),
-			m_debugDrawer(0),
-			m_allowedPenetration(btScalar(0))
-		{
-		}
-
-
-		virtual ~CastResult() {};
-
-		btTransform	m_hitTransformA;
-		btTransform	m_hitTransformB;
-		btVector3	m_normal;
-		btVector3   m_hitPoint;
-		btScalar	m_fraction; //input and output
-		btIDebugDraw* m_debugDrawer;
-		btScalar	m_allowedPenetration;
-
-	};
-
-
-	/// cast a convex against another convex object
-	virtual bool	calcTimeOfImpact(
-					const btTransform& fromA,
-					const btTransform& toA,
-					const btTransform& fromB,
-					const btTransform& toB,
-					CastResult& result) = 0;
-};
-
-#endif //BT_CONVEX_CAST_H

data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h

@@ -1,42 +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.
-*/
-
-
-#ifndef BT_CONVEX_PENETRATION_DEPTH_H
-#define BT_CONVEX_PENETRATION_DEPTH_H
-
-class btStackAlloc;
-class btVector3;
-#include "btSimplexSolverInterface.h"
-class btConvexShape;
-class btTransform;
-
-///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
-class btConvexPenetrationDepthSolver
-{
-public:	
-	
-	virtual ~btConvexPenetrationDepthSolver() {};
-	virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
-		const btConvexShape* convexA,const btConvexShape* convexB,
-					const btTransform& transA,const btTransform& transB,
-				btVector3& v, btVector3& pa, btVector3& pb,
-				class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
-				) = 0;
-
-
-};
-#endif //BT_CONVEX_PENETRATION_DEPTH_H
-

data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h

@@ -1,91 +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.
-*/
-
-
-#ifndef BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
-#define BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
-
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btVector3.h"
-class btStackAlloc;
-
-/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
-/// This interface allows to query for closest points and penetration depth between two (convex) objects
-/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
-/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
-/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
-struct btDiscreteCollisionDetectorInterface
-{
-	
-	struct Result
-	{
-	
-		virtual ~Result(){}	
-
-		///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
-		virtual void setShapeIdentifiersA(int partId0,int index0)=0;
-		virtual void setShapeIdentifiersB(int partId1,int index1)=0;
-		virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0;
-	};
-
-	struct ClosestPointInput
-	{
-		ClosestPointInput()
-			:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT)),
-			m_stackAlloc(0)
-		{
-		}
-
-		btTransform m_transformA;
-		btTransform m_transformB;
-		btScalar	m_maximumDistanceSquared;
-		btStackAlloc* m_stackAlloc;
-	};
-
-	virtual ~btDiscreteCollisionDetectorInterface() {};
-
-	//
-	// give either closest points (distance > 0) or penetration (distance)
-	// the normal always points from B towards A
-	//
-	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false) = 0;
-
-};
-
-struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
-{
-		btVector3	m_normalOnSurfaceB;
-		btVector3	m_closestPointInB;
-		btScalar	m_distance; //negative means penetration !
-
-		btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
-		{
-
-		}
-		virtual ~btStorageResult() {};
-
-		virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
-		{
-			if (depth < m_distance)
-			{
-				m_normalOnSurfaceB = normalOnBInWorld;
-				m_closestPointInB = pointInWorld;
-				m_distance = depth;
-			}
-		}
-};
-
-#endif //BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
-

data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h

@@ -1,50 +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.
-*/
-
-
-
-#ifndef BT_GJK_CONVEX_CAST_H
-#define BT_GJK_CONVEX_CAST_H
-
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btVector3.h"
-#include "btConvexCast.h"
-class btConvexShape;
-class btMinkowskiSumShape;
-#include "btSimplexSolverInterface.h"
-
-///GjkConvexCast performs a raycast on a convex object using support mapping.
-class btGjkConvexCast : public btConvexCast
-{
-	btSimplexSolverInterface*	m_simplexSolver;
-	const btConvexShape*	m_convexA;
-	const btConvexShape*	m_convexB;
-
-public:
-
-	btGjkConvexCast(const btConvexShape*	convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver);
-
-	/// cast a convex against another convex object
-	virtual bool	calcTimeOfImpact(
-					const btTransform& fromA,
-					const btTransform& toA,
-					const btTransform& fromB,
-					const btTransform& toB,
-					CastResult& result);
-
-};
-
-#endif //BT_GJK_CONVEX_CAST_H