1 files changed, 0 insertions, 329 deletions
diff --git a/deps/recastnavigation/Detour/DetourCommon.cpp b/deps/recastnavigation/Detour/DetourCommon.cpp
deleted file mode 100644
index c0b973e4a7..0000000000
--- a/deps/recastnavigation/Detour/DetourCommon.cpp
+++ /dev/null
@@ -1,329 +0,0 @@
-//
-// Copyright (c) 2009-2010 Mikko Mononen memon@inside.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 <math.h>
-#include "DetourCommon.h"
-
-//////////////////////////////////////////////////////////////////////////////////////////
-
-float dtSqrt(float x)
-{
-	return sqrtf(x);
-}
-
-void dtClosestPtPointTriangle(float* closest, const float* p,
-							  const float* a, const float* b, const float* c)
-{
-	// Check if P in vertex region outside A
-	float ab[3], ac[3], ap[3];
-	dtVsub(ab, b, a);
-	dtVsub(ac, c, a);
-	dtVsub(ap, p, a);
-	float d1 = dtVdot(ab, ap);
-	float d2 = dtVdot(ac, ap);
-	if (d1 <= 0.0f && d2 <= 0.0f)
-	{
-		// barycentric coordinates (1,0,0)
-		dtVcopy(closest, a);
-		return;
-	}
-	
-	// Check if P in vertex region outside B
-	float bp[3];
-	dtVsub(bp, p, b);
-	float d3 = dtVdot(ab, bp);
-	float d4 = dtVdot(ac, bp);
-	if (d3 >= 0.0f && d4 <= d3)
-	{
-		// barycentric coordinates (0,1,0)
-		dtVcopy(closest, b);
-		return;
-	}
-	
-	// Check if P in edge region of AB, if so return projection of P onto AB
-	float vc = d1*d4 - d3*d2;
-	if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f)
-	{
-		// barycentric coordinates (1-v,v,0)
-		float v = d1 / (d1 - d3);
-		closest[0] = a[0] + v * ab[0];
-		closest[1] = a[1] + v * ab[1];
-		closest[2] = a[2] + v * ab[2];
-		return;
-	}
-	
-	// Check if P in vertex region outside C
-	float cp[3];
-	dtVsub(cp, p, c);
-	float d5 = dtVdot(ab, cp);
-	float d6 = dtVdot(ac, cp);
-	if (d6 >= 0.0f && d5 <= d6)
-	{
-		// barycentric coordinates (0,0,1)
-		dtVcopy(closest, c);
-		return;
-	}
-	
-	// Check if P in edge region of AC, if so return projection of P onto AC
-	float vb = d5*d2 - d1*d6;
-	if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f)
-	{
-		// barycentric coordinates (1-w,0,w)
-		float w = d2 / (d2 - d6);
-		closest[0] = a[0] + w * ac[0];
-		closest[1] = a[1] + w * ac[1];
-		closest[2] = a[2] + w * ac[2];
-		return;
-	}
-	
-	// Check if P in edge region of BC, if so return projection of P onto BC
-	float va = d3*d6 - d5*d4;
-	if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f)
-	{
-		// barycentric coordinates (0,1-w,w)
-		float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-		closest[0] = b[0] + w * (c[0] - b[0]);
-		closest[1] = b[1] + w * (c[1] - b[1]);
-		closest[2] = b[2] + w * (c[2] - b[2]);
-		return;
-	}
-	
-	// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
-	float denom = 1.0f / (va + vb + vc);
-	float v = vb * denom;
-	float w = vc * denom;
-	closest[0] = a[0] + ab[0] * v + ac[0] * w;
-	closest[1] = a[1] + ab[1] * v + ac[1] * w;
-	closest[2] = a[2] + ab[2] * v + ac[2] * w;
-}
-
-bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
-							  const float* verts, int nverts,
-							  float& tmin, float& tmax,
-							  int& segMin, int& segMax)
-{
-	static const float EPS = 0.00000001f;
-	
-	tmin = 0;
-	tmax = 1;
-	segMin = -1;
-	segMax = -1;
-	
-	float dir[3];
-	dtVsub(dir, p1, p0);
-	
-	for (int i = 0, j = nverts-1; i < nverts; j=i++)
-	{
-		float edge[3], diff[3];
-		dtVsub(edge, &verts[i*3], &verts[j*3]);
-		dtVsub(diff, p0, &verts[j*3]);
-		const float n = dtVperp2D(edge, diff);
-		const float d = dtVperp2D(dir, edge);
-		if (fabsf(d) < EPS)
-		{
-			// S is nearly parallel to this edge
-			if (n < 0)
-				return false;
-			else
-				continue;
-		}
-		const float t = n / d;
-		if (d < 0)
-		{
-			// segment S is entering across this edge
-			if (t > tmin)
-			{
-				tmin = t;
-				segMin = j;
-				// S enters after leaving polygon
-				if (tmin > tmax)
-					return false;
-			}
-		}
-		else
-		{
-			// segment S is leaving across this edge
-			if (t < tmax)
-			{
-				tmax = t;
-				segMax = j;
-				// S leaves before entering polygon
-				if (tmax < tmin)
-					return false;
-			}
-		}
-	}
-	
-	return true;
-}
-
-float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t)
-{
-	float pqx = q[0] - p[0];
-	float pqz = q[2] - p[2];
-	float dx = pt[0] - p[0];
-	float dz = pt[2] - p[2];
-	float d = pqx*pqx + pqz*pqz;
-	t = pqx*dx + pqz*dz;
-	if (d > 0) t /= d;
-	if (t < 0) t = 0;
-	else if (t > 1) t = 1;
-	dx = p[0] + t*pqx - pt[0];
-	dz = p[2] + t*pqz - pt[2];
-	return dx*dx + dz*dz;
-}
-
-void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts)
-{
-	tc[0] = 0.0f;
-	tc[1] = 0.0f;
-	tc[2] = 0.0f;
-	for (int j = 0; j < nidx; ++j)
-	{
-		const float* v = &verts[idx[j]*3];
-		tc[0] += v[0];
-		tc[1] += v[1];
-		tc[2] += v[2];
-	}
-	const float s = 1.0f / nidx;
-	tc[0] *= s;
-	tc[1] *= s;
-	tc[2] *= s;
-}
-
-bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h)
-{
-	float v0[3], v1[3], v2[3];
-	dtVsub(v0, c,a);
-	dtVsub(v1, b,a);
-	dtVsub(v2, p,a);
-	
-	const float dot00 = dtVdot2D(v0, v0);
-	const float dot01 = dtVdot2D(v0, v1);
-	const float dot02 = dtVdot2D(v0, v2);
-	const float dot11 = dtVdot2D(v1, v1);
-	const float dot12 = dtVdot2D(v1, v2);
-	
-	// Compute barycentric coordinates
-	const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
-	const float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
-	const float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
-
-	// The (sloppy) epsilon is needed to allow to get height of points which
-	// are interpolated along the edges of the triangles.
-	static const float EPS = 1e-4f;
-	
-	// If point lies inside the triangle, return interpolated ycoord.
-	if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS)
-	{
-		h = a[1] + v0[1]*u + v1[1]*v;
-		return true;
-	}
-	
-	return false;
-}
-
-bool dtPointInPolygon(const float* pt, const float* verts, const int nverts)
-{
-	// TODO: Replace pnpoly with triArea2D tests?
-	int i, j;
-	bool c = false;
-	for (i = 0, j = nverts-1; i < nverts; j = i++)
-	{
-		const float* vi = &verts[i*3];
-		const float* vj = &verts[j*3];
-		if (((vi[2] > pt[2]) != (vj[2] > pt[2])) &&
-			(pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
-			c = !c;
-	}
-	return c;
-}
-
-bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts,
-							  float* ed, float* et)
-{
-	// TODO: Replace pnpoly with triArea2D tests?
-	int i, j;
-	bool c = false;
-	for (i = 0, j = nverts-1; i < nverts; j = i++)
-	{
-		const float* vi = &verts[i*3];
-		const float* vj = &verts[j*3];
-		if (((vi[2] > pt[2]) != (vj[2] > pt[2])) &&
-			(pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
-			c = !c;
-		ed[j] = dtDistancePtSegSqr2D(pt, vj, vi, et[j]);
-	}
-	return c;
-}
-
-static void projectPoly(const float* axis, const float* poly, const int npoly,
-						float& rmin, float& rmax)
-{
-	rmin = rmax = dtVdot2D(axis, &poly[0]);
-	for (int i = 1; i < npoly; ++i)
-	{
-		const float d = dtVdot2D(axis, &poly[i*3]);
-		rmin = dtMin(rmin, d);
-		rmax = dtMax(rmax, d);
-	}
-}
-
-inline bool overlapRange(const float amin, const float amax,
-						 const float bmin, const float bmax,
-						 const float eps)
-{
-	return ((amin+eps) > bmax || (amax-eps) < bmin) ? false : true;
-}
-
-bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
-						 const float* polyb, const int npolyb)
-{
-	const float eps = 1e-4f;
-	
-	for (int i = 0, j = npolya-1; i < npolya; j=i++)
-	{
-		const float* va = &polya[j*3];
-		const float* vb = &polya[i*3];
-		const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) };
-		float amin,amax,bmin,bmax;
-		projectPoly(n, polya, npolya, amin,amax);
-		projectPoly(n, polyb, npolyb, bmin,bmax);
-		if (!overlapRange(amin,amax, bmin,bmax, eps))
-		{
-			// Found separating axis
-			return false;
-		}
-	}
-	for (int i = 0, j = npolyb-1; i < npolyb; j=i++)
-	{
-		const float* va = &polyb[j*3];
-		const float* vb = &polyb[i*3];
-		const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) };
-		float amin,amax,bmin,bmax;
-		projectPoly(n, polya, npolya, amin,amax);
-		projectPoly(n, polyb, npolyb, bmin,bmax);
-		if (!overlapRange(amin,amax, bmin,bmax, eps))
-		{
-			// Found separating axis
-			return false;
-		}
-	}
-	return true;
-}
-