1 files changed, 0 insertions, 128 deletions
diff --git a/src/geometry/cuboid_feature2d.rs b/src/geometry/cuboid_feature2d.rs
deleted file mode 100644
index 7e8001f..0000000
--- a/src/geometry/cuboid_feature2d.rs
+++ /dev/null
@@ -1,128 +0,0 @@
-use crate::geometry::{self, Contact, ContactManifold};
-use crate::math::{Isometry, Point, Vector};
-use ncollide::shape::Segment;
-
-#[derive(Debug)]
-#[allow(dead_code)]
-pub enum CuboidFeature {
-    Face(CuboidFeatureFace),
-    Vertex(CuboidFeatureVertex),
-}
-
-#[derive(Debug)]
-pub struct CuboidFeatureVertex {
-    pub vertex: Point<f32>,
-    pub vid: u8,
-}
-
-impl CuboidFeatureVertex {
-    pub fn transform_by(&mut self, iso: &Isometry<f32>) {
-        self.vertex = iso * self.vertex;
-    }
-}
-
-#[derive(Debug)]
-pub struct CuboidFeatureFace {
-    pub vertices: [Point<f32>; 2],
-    pub vids: [u8; 2],
-    pub fid: u8,
-}
-
-impl From<Segment<f32>> for CuboidFeatureFace {
-    fn from(seg: Segment<f32>) -> Self {
-        CuboidFeatureFace {
-            vertices: [seg.a, seg.b],
-            vids: [0, 2],
-            fid: 1,
-        }
-    }
-}
-
-impl CuboidFeatureFace {
-    pub fn transform_by(&mut self, iso: &Isometry<f32>) {
-        self.vertices[0] = iso * self.vertices[0];
-        self.vertices[1] = iso * self.vertices[1];
-    }
-}
-
-impl CuboidFeature {
-    pub fn transform_by(&mut self, iso: &Isometry<f32>) {
-        match self {
-            CuboidFeature::Face(face) => face.transform_by(iso),
-            CuboidFeature::Vertex(vertex) => vertex.transform_by(iso),
-        }
-    }
-
-    /// Compute contacts points between a face and a vertex.
-    ///
-    /// This method assume we already know that at least one contact exists.
-    pub fn face_vertex_contacts(
-        face1: &CuboidFeatureFace,
-        sep_axis1: &Vector<f32>,
-        vertex2: &CuboidFeatureVertex,
-        pos21: &Isometry<f32>,
-        manifold: &mut ContactManifold,
-    ) {
-        let tangent1 = face1.vertices[1] - face1.vertices[0];
-        let normal1 = Vector::new(-tangent1.y, tangent1.x);
-        let denom = -normal1.dot(&sep_axis1);
-        let dist = (face1.vertices[0] - vertex2.vertex).dot(&normal1) / denom;
-        let local_p2 = vertex2.vertex;
-        let local_p1 = vertex2.vertex - dist * sep_axis1;
-
-        manifold.points.push(Contact {
-            local_p1,
-            local_p2: pos21 * local_p2,
-            impulse: 0.0,
-            tangent_impulse: Contact::zero_tangent_impulse(),
-            fid1: face1.fid,
-            fid2: vertex2.vid,
-            dist,
-        });
-    }
-
-    pub fn face_face_contacts(
-        _prediction_distance: f32,
-        face1: &CuboidFeatureFace,
-        normal1: &Vector<f32>,
-        face2: &CuboidFeatureFace,
-        pos21: &Isometry<f32>,
-        manifold: &mut ContactManifold,
-    ) {
-        if let Some((clip_a, clip_b)) = geometry::clip_segments(
-            (face1.vertices[0], face1.vertices[1]),
-            (face2.vertices[0], face2.vertices[1]),
-        ) {
-            let fids1 = [face1.vids[0], face1.fid, face1.vids[1]];
-            let fids2 = [face2.vids[0], face2.fid, face2.vids[1]];
-
-            let dist = (clip_a.1 - clip_a.0).dot(normal1);
-            if true {
-                // dist < prediction_distance {
-                manifold.points.push(Contact {
-                    local_p1: clip_a.0,
-                    local_p2: pos21 * clip_a.1,
-                    impulse: 0.0,
-                    tangent_impulse: Contact::zero_tangent_impulse(),
-                    fid1: fids1[clip_a.2],
-                    fid2: fids2[clip_a.3],
-                    dist,
-                });
-            }
-
-            let dist = (clip_b.1 - clip_b.0).dot(normal1);
-            if true {
-                // dist < prediction_distance {
-                manifold.points.push(Contact {
-                    local_p1: clip_b.0,
-                    local_p2: pos21 * clip_b.1,
-                    impulse: 0.0,
-                    tangent_impulse: Contact::zero_tangent_impulse(),
-                    fid1: fids1[clip_b.2],
-                    fid2: fids2[clip_b.3],
-                    dist,
-                });
-            }
-        }
-    }
-}