9 files changed, 0 insertions, 988 deletions

diff --git a/Client/Source/Phy2D/Dynamic/Arbiter.cpp b/Client/Source/Phy2D/Dynamic/Arbiter.cpp
deleted file mode 100644
index 4163154..0000000
--- a/Client/Source/Phy2D/Dynamic/Arbiter.cpp
+++ /dev/null
@@ -1,189 +0,0 @@
-#include "Arbiter.h"

-#include "World.h"

-#include "Body.h"

-#include "Joint.h"

-

-using namespace Phy2D;

-

-Arbiter::Arbiter(Body* b1, Body* b2)
-{
-    if (b1 < b2)
-    {
-        body1 = b1;
-        body2 = b2;
-    }
-    else
-    {
-        body1 = b2;
-        body2 = b1;
-    }
-
-    numContacts = Collide(contacts, body1, body2);
-
-    friction = SQRT(body1->friction * body2->friction);
-}
-
-void Arbiter::Update(Contact* newContacts, int numNewContacts)
-{
-    Contact mergedContacts[2];
-
-    for (int i = 0; i < numNewContacts; ++i)
-    {
-        Contact* cNew = newContacts + i;
-        int k = -1;
-        for (int j = 0; j < numContacts; ++j)
-        {
-            Contact* cOld = contacts + j;
-            if (cNew->feature.value == cOld->feature.value)
-            {
-                k = j;
-                break;
-            }
-        }
-
-        if (k > -1)
-        {
-            Contact* c = mergedContacts + i;
-            Contact* cOld = contacts + k;
-            *c = *cNew;
-            if (World::warmStarting)
-            {
-                c->Pn = cOld->Pn;
-                c->Pt = cOld->Pt;
-                c->Pnb = cOld->Pnb;
-            }
-            else
-            {
-                c->Pn = 0.0f;
-                c->Pt = 0.0f;
-                c->Pnb = 0.0f;
-            }
-        }
-        else
-        {
-            mergedContacts[i] = newContacts[i];
-        }
-    }
-
-    for (int i = 0; i < numNewContacts; ++i)
-        contacts[i] = mergedContacts[i];
-
-    numContacts = numNewContacts;
-}
-
-
-void Arbiter::PreStep(number inv_dt)
-{
-    const number k_allowedPenetration = 0.01f;
-    number k_biasFactor = World::positionCorrection ? 0.2f : 0.0f;
-
-    for (int i = 0; i < numContacts; ++i)
-    {
-        Contact* c = contacts + i;
-
-        Vec2 r1 = c->position - body1->position;
-        Vec2 r2 = c->position - body2->position;
-
-        // Precompute normal mass, tangent mass, and bias.
-        number rn1 = Dot(r1, c->normal);
-        number rn2 = Dot(r2, c->normal);
-        number kNormal = body1->invMass + body2->invMass;
-        kNormal += body1->invI * (Dot(r1, r1) - rn1 * rn1) + body2->invI * (Dot(r2, r2) - rn2 * rn2);
-        c->massNormal = (number) 1.0f / kNormal;
-
-        Vec2 tangent = Cross(c->normal, 1.0f);
-        number rt1 = Dot(r1, tangent);
-        number rt2 = Dot(r2, tangent);
-        number kTangent = body1->invMass + body2->invMass;
-        kTangent += body1->invI * (Dot(r1, r1) - rt1 * rt1) + body2->invI * (Dot(r2, r2) - rt2 * rt2);
-        c->massTangent = (number) 1.0f / kTangent;
-
-        c->bias = -k_biasFactor * inv_dt * Min(0.0f, c->separation + k_allowedPenetration);
-
-        if (World::accumulateImpulses)
-        {
-            // Apply normal + friction impulse
-            Vec2 P = c->Pn * c->normal + c->Pt * tangent;
-
-            body1->velocity -= body1->invMass * P;
-            body1->angularVelocity -= body1->invI * Cross(r1, P);
-
-            body2->velocity += body2->invMass * P;
-            body2->angularVelocity += body2->invI * Cross(r2, P);
-        }
-    }
-}
-
-void Arbiter::ApplyImpulse()
-{
-    Body* b1 = body1;
-    Body* b2 = body2;
-
-    for (int i = 0; i < numContacts; ++i)
-    {
-        Contact* c = contacts + i;
-        c->r1 = c->position - b1->position;
-        c->r2 = c->position - b2->position;
-
-        // Relative velocity at contact
-        Vec2 dv = b2->velocity + Cross(b2->angularVelocity, c->r2) - b1->velocity - Cross(b1->angularVelocity, c->r1);
-
-        // Compute normal impulse
-        number vn = Dot(dv, c->normal);
-
-        number dPn = c->massNormal * (-vn + c->bias);
-
-        if (World::accumulateImpulses)
-        {
-            // Clamp the accumulated impulse
-            number Pn0 = c->Pn;
-            c->Pn = Max(Pn0 + dPn, 0.0f);
-            dPn = c->Pn - Pn0;
-        }
-        else
-        {
-            dPn = Max(dPn, 0.0f);
-        }
-
-        // Apply contact impulse
-        Vec2 Pn = dPn * c->normal;
-
-        b1->velocity -= b1->invMass * Pn;
-        b1->angularVelocity -= b1->invI * Cross(c->r1, Pn);
-
-        b2->velocity += b2->invMass * Pn;
-        b2->angularVelocity += b2->invI * Cross(c->r2, Pn);
-
-        // Relative velocity at contact
-        dv = b2->velocity + Cross(b2->angularVelocity, c->r2) - b1->velocity - Cross(b1->angularVelocity, c->r1);
-
-        Vec2 tangent = Cross(c->normal, 1.0f);
-        number vt = Dot(dv, tangent);
-        number dPt = c->massTangent * (-vt);
-
-        if (World::accumulateImpulses)
-        {
-            // Compute friction impulse
-            number maxPt = friction * c->Pn;
-
-            // Clamp friction
-            number oldTangentImpulse = c->Pt;
-            c->Pt = Clamp(oldTangentImpulse + dPt, -maxPt, maxPt);
-            dPt = c->Pt - oldTangentImpulse;
-        }
-        else
-        {
-            number maxPt = friction * dPn;
-            dPt = Clamp(dPt, -maxPt, maxPt);
-        }
-
-        // Apply contact impulse
-        Vec2 Pt = dPt * tangent;
-
-        b1->velocity -= b1->invMass * Pt;
-        b1->angularVelocity -= b1->invI * Cross(c->r1, Pt);
-
-        b2->velocity += b2->invMass * Pt;
-        b2->angularVelocity += b2->invI * Cross(c->r2, Pt);
-    }
-}
diff --git a/Client/Source/Phy2D/Dynamic/Arbiter.h b/Client/Source/Phy2D/Dynamic/Arbiter.h
deleted file mode 100644
index 64bed72..0000000
--- a/Client/Source/Phy2D/Dynamic/Arbiter.h
+++ /dev/null
@@ -1,91 +0,0 @@
-#pragma once

-
-#include "../Common/Math.h"
-
-namespace Phy2D
-{
-
-    struct Body;
-
-    union FeaturePair
-    {
-        struct Edges
-        {
-            char inEdge1;
-            char outEdge1;
-            char inEdge2;
-            char outEdge2;
-        } e;
-        int value;
-    };
-
-    struct Contact
-    {
-        Contact() : Pn(0.0f), Pt(0.0f), Pnb(0.0f) {}
-
-        Vec2 position;
-        Vec2 normal;
-        Vec2 r1, r2;
-        number separation;
-        number Pn;	// accumulated normal impulse
-        number Pt;	// accumulated tangent impulse
-        number Pnb;	// accumulated normal impulse for position bias
-        number massNormal, massTangent;
-        number bias;
-        FeaturePair feature;
-    };
-
-    struct ArbiterKey
-    {
-        ArbiterKey(Body* b1, Body* b2)
-        {
-            if (b1 < b2)
-            {
-                body1 = b1; body2 = b2;
-            }
-            else
-            {
-                body1 = b2; body2 = b1;
-            }
-        }
-
-        Body* body1;
-        Body* body2;
-    };
-
-    struct Arbiter
-    {
-        enum { MAX_POINTS = 2 };
-
-        Arbiter(Body* b1, Body* b2);
-
-        void Update(Contact* contacts, int numContacts);
-
-        void PreStep(number inv_dt);
-        void ApplyImpulse();
-
-        Contact contacts[MAX_POINTS];
-        int numContacts;
-
-        Body* body1;
-        Body* body2;
-
-        // Combined friction
-        number friction;
-    };
-
-    // This is used by std::set
-    inline bool operator < (const ArbiterKey& a1, const ArbiterKey& a2)
-    {
-        if (a1.body1 < a2.body1)
-            return true;
-
-        if (a1.body1 == a2.body1 && a1.body2 < a2.body2)
-            return true;
-
-        return false;
-    }
-
-    int Collide(Contact* contacts, Body* body1, Body* body2);
-
-}
\ No newline at end of file
diff --git a/Client/Source/Phy2D/Dynamic/Body.cpp b/Client/Source/Phy2D/Dynamic/Body.cpp
deleted file mode 100644
index 1d896fd..0000000
--- a/Client/Source/Phy2D/Dynamic/Body.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-#include "Body.h"

-
-using namespace Phy2D;
-
-Body::Body()
-{
-    position.Set(0.0f, 0.0f);
-    rotation = 0.0f;
-    velocity.Set(0.0f, 0.0f);
-    angularVelocity = 0.0f;
-    force.Set(0.0f, 0.0f);
-    torque = 0.0f;
-    friction = 0.2f;
-
-    width.Set(1.0f, 1.0f);
-    mass = NUMBER_MAX;
-    invMass = 0.0f;
-    I = NUMBER_MAX;
-    invI = 0.0f;
-}
-
-void Body::Set(const Vec2& w, number m)
-{
-    position.Set(0.0f, 0.0f);
-    rotation = 0.0f;
-    velocity.Set(0.0f, 0.0f);
-    angularVelocity = 0.0f;
-    force.Set(0.0f, 0.0f);
-    torque = 0.0f;
-    friction = 0.2f;
-
-    width = w;
-    mass = m;
-
-    if (mass < NUMBER_MAX)
-    {
-        invMass = (number)1.0f / mass;
-        I = mass * (width.x * width.x + width.y * width.y) / 12.0f;
-        invI = (number)1.0f / I;
-    }
-    else
-    {
-        invMass = 0.0f;
-        I = NUMBER_MAX;
-        invI = 0.0f;
-    }
-}
diff --git a/Client/Source/Phy2D/Dynamic/Body.h b/Client/Source/Phy2D/Dynamic/Body.h
deleted file mode 100644
index 8c2ac72..0000000
--- a/Client/Source/Phy2D/Dynamic/Body.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#pragma once

-

-#include "../Common/Math.h"

-
-namespace Phy2D
-{
-
-    struct Body
-    {
-        Body();
-        void Set(const Vec2& w, number m);
-
-        void AddForce(const Vec2& f)
-        {
-            force += f;
-        }
-
-        Vec2 position;
-        number rotation;
-
-        Vec2 velocity;
-        number angularVelocity;
-
-        Vec2 force;
-        number torque;
-
-        Vec2 width;
-
-        number friction;
-        number mass, invMass;
-        number I, invI;
-    };
-
-}
\ No newline at end of file
diff --git a/Client/Source/Phy2D/Dynamic/Collide.cpp b/Client/Source/Phy2D/Dynamic/Collide.cpp
deleted file mode 100644
index 6849c0e..0000000
--- a/Client/Source/Phy2D/Dynamic/Collide.cpp
+++ /dev/null
@@ -1,326 +0,0 @@
-#include "Arbiter.h"

-#include "Body.h"

-#include "World.h"

-#include "Joint.h"

-

-using namespace Phy2D;

-
-// Box vertex and edge numbering:
-//
-//        ^ y
-//        |
-//        e1
-//   v2 ------ v1
-//    |        |
-// e2 |        | e4  --> x
-//    |        |
-//   v3 ------ v4
-//        e3
-
-enum Axis
-{
-    FACE_A_X,
-    FACE_A_Y,
-    FACE_B_X,
-    FACE_B_Y
-};
-
-enum EdgeNumbers
-{
-    NO_EDGE = 0,
-    EDGE1,
-    EDGE2,
-    EDGE3,
-    EDGE4
-};
-
-struct ClipVertex
-{
-    ClipVertex() { fp.value = 0; }
-    Vec2 v;
-    FeaturePair fp;
-};
-
-void Flip(FeaturePair& fp)
-{
-    Swap(fp.e.inEdge1, fp.e.inEdge2);
-    Swap(fp.e.outEdge1, fp.e.outEdge2);
-}
-
-int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
-    const Vec2& normal, number offset, char clipEdge)
-{
-    // Start with no output points
-    int numOut = 0;
-
-    // Calculate the distance of end points to the line
-    number distance0 = Dot(normal, vIn[0].v) - offset;
-    number distance1 = Dot(normal, vIn[1].v) - offset;
-
-    // If the points are behind the plane
-    if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
-    if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
-
-    // If the points are on different sides of the plane
-    if (distance0 * distance1 < 0.0f)
-    {
-        // Find intersection point of edge and plane
-        number interp = distance0 / (distance0 - distance1);
-        vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
-        if (distance0 > 0.0f)
-        {
-            vOut[numOut].fp = vIn[0].fp;
-            vOut[numOut].fp.e.inEdge1 = clipEdge;
-            vOut[numOut].fp.e.inEdge2 = NO_EDGE;
-        }
-        else
-        {
-            vOut[numOut].fp = vIn[1].fp;
-            vOut[numOut].fp.e.outEdge1 = clipEdge;
-            vOut[numOut].fp.e.outEdge2 = NO_EDGE;
-        }
-        ++numOut;
-    }
-
-    return numOut;
-}
-
-static void ComputeIncidentEdge(ClipVertex c[2], const Vec2& h, const Vec2& pos,
-    const Mat22& Rot, const Vec2& normal)
-{
-    // The normal is from the reference box. Convert it
-    // to the incident boxe's frame and flip sign.
-    Mat22 RotT = Rot.Transpose();
-    Vec2 n = -(RotT * normal);
-    Vec2 nAbs = Abs(n);
-
-    if (nAbs.x > nAbs.y)
-    {
-        if (Sign(n.x) > 0.0f)
-        {
-            c[0].v.Set(h.x, -h.y);
-            c[0].fp.e.inEdge2 = EDGE3;
-            c[0].fp.e.outEdge2 = EDGE4;
-
-            c[1].v.Set(h.x, h.y);
-            c[1].fp.e.inEdge2 = EDGE4;
-            c[1].fp.e.outEdge2 = EDGE1;
-        }
-        else
-        {
-            c[0].v.Set(-h.x, h.y);
-            c[0].fp.e.inEdge2 = EDGE1;
-            c[0].fp.e.outEdge2 = EDGE2;
-
-            c[1].v.Set(-h.x, -h.y);
-            c[1].fp.e.inEdge2 = EDGE2;
-            c[1].fp.e.outEdge2 = EDGE3;
-        }
-    }
-    else
-    {
-        if (Sign(n.y) > 0.0f)
-        {
-            c[0].v.Set(h.x, h.y);
-            c[0].fp.e.inEdge2 = EDGE4;
-            c[0].fp.e.outEdge2 = EDGE1;
-
-            c[1].v.Set(-h.x, h.y);
-            c[1].fp.e.inEdge2 = EDGE1;
-            c[1].fp.e.outEdge2 = EDGE2;
-        }
-        else
-        {
-            c[0].v.Set(-h.x, -h.y);
-            c[0].fp.e.inEdge2 = EDGE2;
-            c[0].fp.e.outEdge2 = EDGE3;
-
-            c[1].v.Set(h.x, -h.y);
-            c[1].fp.e.inEdge2 = EDGE3;
-            c[1].fp.e.outEdge2 = EDGE4;
-        }
-    }
-
-    c[0].v = pos + Rot * c[0].v;
-    c[1].v = pos + Rot * c[1].v;
-}
-
-namespace Phy2D
-{
-
-    // The normal points from A to B
-    int Collide(Contact* contacts, Body* bodyA, Body* bodyB)
-    {
-        // Setup
-        Vec2 hA = 0.5f * bodyA->width;
-        Vec2 hB = 0.5f * bodyB->width;
-
-        Vec2 posA = bodyA->position;
-        Vec2 posB = bodyB->position;
-
-        Mat22 RotA(bodyA->rotation), RotB(bodyB->rotation);
-
-        Mat22 RotAT = RotA.Transpose();
-        Mat22 RotBT = RotB.Transpose();
-
-        Vec2 dp = posB - posA;
-        Vec2 dA = RotAT * dp;
-        Vec2 dB = RotBT * dp;
-
-        Mat22 C = RotAT * RotB;
-        Mat22 absC = Abs(C);
-        Mat22 absCT = absC.Transpose();
-
-        // Box A faces
-        Vec2 faceA = Abs(dA) - hA - absC * hB;
-        if (faceA.x > 0.0f || faceA.y > 0.0f)
-            return 0;
-
-        // Box B faces
-        Vec2 faceB = Abs(dB) - absCT * hA - hB;
-        if (faceB.x > 0.0f || faceB.y > 0.0f)
-            return 0;
-
-        // Find best axis
-        Axis axis;
-        number separation;
-        Vec2 normal;
-
-        // Box A faces
-        axis = FACE_A_X;
-        separation = faceA.x;
-        normal = dA.x > 0.0f ? RotA.col1 : -RotA.col1;
-
-        const number relativeTol = 0.95f;
-        const number absoluteTol = 0.01f;
-
-        if (faceA.y > relativeTol * separation + absoluteTol * hA.y)
-        {
-            axis = FACE_A_Y;
-            separation = faceA.y;
-            normal = dA.y > 0.0f ? RotA.col2 : -RotA.col2;
-        }
-
-        // Box B faces
-        if (faceB.x > relativeTol * separation + absoluteTol * hB.x)
-        {
-            axis = FACE_B_X;
-            separation = faceB.x;
-            normal = dB.x > 0.0f ? RotB.col1 : -RotB.col1;
-        }
-
-        if (faceB.y > relativeTol * separation + absoluteTol * hB.y)
-        {
-            axis = FACE_B_Y;
-            separation = faceB.y;
-            normal = dB.y > 0.0f ? RotB.col2 : -RotB.col2;
-        }
-
-        // Setup clipping plane data based on the separating axis
-        Vec2 frontNormal, sideNormal;
-        ClipVertex incidentEdge[2];
-        number front, negSide, posSide;
-        char negEdge, posEdge;
-
-        // Compute the clipping lines and the line segment to be clipped.
-        switch (axis)
-        {
-        case FACE_A_X:
-        {
-            frontNormal = normal;
-            front = Dot(posA, frontNormal) + hA.x;
-            sideNormal = RotA.col2;
-            number side = Dot(posA, sideNormal);
-            negSide = -side + hA.y;
-            posSide = side + hA.y;
-            negEdge = EDGE3;
-            posEdge = EDGE1;
-            ComputeIncidentEdge(incidentEdge, hB, posB, RotB, frontNormal);
-        }
-        break;
-
-        case FACE_A_Y:
-        {
-            frontNormal = normal;
-            front = Dot(posA, frontNormal) + hA.y;
-            sideNormal = RotA.col1;
-            number side = Dot(posA, sideNormal);
-            negSide = -side + hA.x;
-            posSide = side + hA.x;
-            negEdge = EDGE2;
-            posEdge = EDGE4;
-            ComputeIncidentEdge(incidentEdge, hB, posB, RotB, frontNormal);
-        }
-        break;
-
-        case FACE_B_X:
-        {
-            frontNormal = -normal;
-            front = Dot(posB, frontNormal) + hB.x;
-            sideNormal = RotB.col2;
-            number side = Dot(posB, sideNormal);
-            negSide = -side + hB.y;
-            posSide = side + hB.y;
-            negEdge = EDGE3;
-            posEdge = EDGE1;
-            ComputeIncidentEdge(incidentEdge, hA, posA, RotA, frontNormal);
-        }
-        break;
-
-        case FACE_B_Y:
-        {
-            frontNormal = -normal;
-            front = Dot(posB, frontNormal) + hB.y;
-            sideNormal = RotB.col1;
-            number side = Dot(posB, sideNormal);
-            negSide = -side + hB.x;
-            posSide = side + hB.x;
-            negEdge = EDGE2;
-            posEdge = EDGE4;
-            ComputeIncidentEdge(incidentEdge, hA, posA, RotA, frontNormal);
-        }
-        break;
-        }
-
-        // clip other face with 5 box planes (1 face plane, 4 edge planes)
-
-        ClipVertex clipPoints1[2];
-        ClipVertex clipPoints2[2];
-        int np;
-
-        // Clip to box side 1
-        np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, negSide, negEdge);
-
-        if (np < 2)
-            return 0;
-
-        // Clip to negative box side 1
-        np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, posSide, posEdge);
-
-        if (np < 2)
-            return 0;
-
-        // Now clipPoints2 contains the clipping points.
-        // Due to roundoff, it is possible that clipping removes all points.
-
-        int numContacts = 0;
-        for (int i = 0; i < 2; ++i)
-        {
-            number separation = Dot(frontNormal, clipPoints2[i].v) - front;
-
-            if (separation <= 0)
-            {
-                contacts[numContacts].separation = separation;
-                contacts[numContacts].normal = normal;
-                // slide contact point onto reference face (easy to cull)
-                contacts[numContacts].position = clipPoints2[i].v - separation * frontNormal;
-                contacts[numContacts].feature = clipPoints2[i].fp;
-                if (axis == FACE_B_X || axis == FACE_B_Y)
-                    Flip(contacts[numContacts].feature);
-                ++numContacts;
-            }
-        }
-
-        return numContacts;
-    }
-}
\ No newline at end of file
diff --git a/Client/Source/Phy2D/Dynamic/Joint.cpp b/Client/Source/Phy2D/Dynamic/Joint.cpp
deleted file mode 100644
index 95f7c64..0000000
--- a/Client/Source/Phy2D/Dynamic/Joint.cpp
+++ /dev/null
@@ -1,102 +0,0 @@
-#include "Joint.h"

-#include "Body.h"

-#include "World.h"

-

-using namespace Phy2D;

-
-void Joint::Set(Body* b1, Body* b2, const Vec2& anchor)
-{
-    body1 = b1;
-    body2 = b2;
-
-    Mat22 Rot1(body1->rotation);
-    Mat22 Rot2(body2->rotation);
-    Mat22 Rot1T = Rot1.Transpose();
-    Mat22 Rot2T = Rot2.Transpose();
-
-    localAnchor1 = Rot1T * (anchor - body1->position);
-    localAnchor2 = Rot2T * (anchor - body2->position);
-
-    P.Set(0.0f, 0.0f);
-
-    softness = 0.0f;
-    biasFactor = 0.2f;
-}
-
-void Joint::PreStep(number inv_dt)
-{
-    // Pre-compute anchors, mass matrix, and bias.
-    Mat22 Rot1(body1->rotation);
-    Mat22 Rot2(body2->rotation);
-
-    r1 = Rot1 * localAnchor1;
-    r2 = Rot2 * localAnchor2;
-
-    // deltaV = deltaV0 + K * impulse
-    // invM = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
-    //      = [1/m1+1/m2     0    ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
-    //        [    0     1/m1+1/m2]           [-r1.x*r1.y r1.x*r1.x]           [-r1.x*r1.y r1.x*r1.x]
-    Mat22 K1;
-    K1.col1.x = body1->invMass + body2->invMass;	K1.col2.x = 0.0f;
-    K1.col1.y = 0.0f;								K1.col2.y = body1->invMass + body2->invMass;
-
-    Mat22 K2;
-    K2.col1.x = body1->invI * r1.y * r1.y;		K2.col2.x = -body1->invI * r1.x * r1.y;
-    K2.col1.y = -body1->invI * r1.x * r1.y;		K2.col2.y = body1->invI * r1.x * r1.x;
-
-    Mat22 K3;
-    K3.col1.x = body2->invI * r2.y * r2.y;		K3.col2.x = -body2->invI * r2.x * r2.y;
-    K3.col1.y = -body2->invI * r2.x * r2.y;		K3.col2.y = body2->invI * r2.x * r2.x;
-
-    Mat22 K = K1 + K2 + K3;
-    K.col1.x += softness;
-    K.col2.y += softness;
-
-    M = K.Invert();
-
-    Vec2 p1 = body1->position + r1;
-    Vec2 p2 = body2->position + r2;
-    Vec2 dp = p2 - p1;
-
-    if (World::positionCorrection)
-    {
-        bias = -biasFactor * inv_dt * dp;
-    }
-    else
-    {
-        bias.Set(0.0f, 0.0f);
-    }
-
-    if (World::warmStarting)
-    {
-        // Apply accumulated impulse.
-        body1->velocity -= body1->invMass * P;
-        body1->angularVelocity -= body1->invI * Cross(r1, P);
-
-        body2->velocity += body2->invMass * P;
-        body2->angularVelocity += body2->invI * Cross(r2, P);
-    }
-    else
-    {
-        P.Set(0.0f, 0.0f);
-    }
-}
-
-void Joint::ApplyImpulse()
-{
-    Vec2 dv = body2->velocity + Cross(body2->angularVelocity, r2) - body1->velocity - Cross(body1->angularVelocity, r1);
-
-    Vec2 impulse;
-
-    impulse = M * (bias - dv - softness * P);
-
-    body1->velocity -= body1->invMass * impulse;
-    body1->angularVelocity -= body1->invI * Cross(r1, impulse);
-
-    body2->velocity += body2->invMass * impulse;
-    body2->angularVelocity += body2->invI * Cross(r2, impulse);
-
-    P += impulse;
-}
-

-

diff --git a/Client/Source/Phy2D/Dynamic/Joint.h b/Client/Source/Phy2D/Dynamic/Joint.h
deleted file mode 100644
index ee08b40..0000000
--- a/Client/Source/Phy2D/Dynamic/Joint.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#pragma once

-

-#include "../Common/Math.h"

-
-namespace Phy2D
-{
-
-    struct Body;
-
-    struct Joint
-    {
-        Joint() :
-            body1(0), body2(0),
-            P(0.0f, 0.0f),
-            biasFactor(0.2f), softness(0.0f)
-        {}
-
-        void Set(Body* body1, Body* body2, const Vec2& anchor);
-
-        void PreStep(number inv_dt);
-        void ApplyImpulse();
-
-        Mat22 M;
-        Vec2 localAnchor1, localAnchor2;
-        Vec2 r1, r2;
-        Vec2 bias;
-        Vec2 P;		// accumulated impulse
-        Body* body1;
-        Body* body2;
-        number biasFactor;
-        number softness;
-    };
-
-}

diff --git a/Client/Source/Phy2D/Dynamic/World.cpp b/Client/Source/Phy2D/Dynamic/World.cpp
deleted file mode 100644
index 4f48b69..0000000
--- a/Client/Source/Phy2D/Dynamic/World.cpp
+++ /dev/null
@@ -1,129 +0,0 @@
-#include "World.h"

-#include "Body.h"

-#include "Joint.h"

-#include "Arbiter.h"

-

-using namespace Phy2D;

-

-
-using std::vector;
-using std::map;
-using std::pair;
-
-typedef map<ArbiterKey, Arbiter>::iterator ArbIter;
-typedef pair<ArbiterKey, Arbiter> ArbPair;
-
-bool World::accumulateImpulses = true;
-bool World::warmStarting = true;
-bool World::positionCorrection = true;
-
-void World::Add(Body* body)
-{
-    bodies.push_back(body);
-}
-
-void World::Add(Joint* joint)
-{
-    joints.push_back(joint);
-}
-
-void World::Clear()
-{
-    bodies.clear();
-    joints.clear();
-    arbiters.clear();
-}
-
-void World::BroadPhase()
-{
-    // O(n^2) broad-phase
-    for (int i = 0; i < (int)bodies.size(); ++i)
-    {
-        Body* bi = bodies[i];
-
-        for (int j = i + 1; j < (int)bodies.size(); ++j)
-        {
-            Body* bj = bodies[j];
-
-            if (bi->invMass == 0.0f && bj->invMass == 0.0f)
-                continue;
-
-            Arbiter newArb(bi, bj);
-            ArbiterKey key(bi, bj);
-
-            if (newArb.numContacts > 0)
-            {
-                ArbIter iter = arbiters.find(key);
-                if (iter == arbiters.end())
-                {
-                    arbiters.insert(ArbPair(key, newArb));
-                }
-                else
-                {
-                    iter->second.Update(newArb.contacts, newArb.numContacts);
-                }
-            }
-            else
-            {
-                arbiters.erase(key);
-            }
-        }
-    }
-}
-
-void World::Step(number dt)
-{
-    number inv_dt = dt > 0.0f ? (number)1.0f / dt : (number)0.0f;
-
-    // Determine overlapping bodies and update contact points.
-    BroadPhase();
-
-    // Integrate forces.
-    for (int i = 0; i < (int)bodies.size(); ++i)
-    {
-        Body* b = bodies[i];
-
-        if (b->invMass == 0.0f)
-            continue;
-
-        b->velocity += dt * (gravity + b->invMass * b->force);
-        b->angularVelocity += dt * b->invI * b->torque;
-    }
-
-    // Perform pre-steps.
-    for (ArbIter arb = arbiters.begin(); arb != arbiters.end(); ++arb)
-    {
-        arb->second.PreStep(inv_dt);
-    }
-
-    for (int i = 0; i < (int)joints.size(); ++i)
-    {
-        joints[i]->PreStep(inv_dt);
-    }
-
-    // Perform iterations
-    for (int i = 0; i < iterations; ++i)
-    {
-        for (ArbIter arb = arbiters.begin(); arb != arbiters.end(); ++arb)
-        {
-            arb->second.ApplyImpulse();
-        }
-
-        for (int j = 0; j < (int)joints.size(); ++j)
-        {
-            joints[j]->ApplyImpulse();
-        }
-    }
-
-    // Integrate Velocities
-    for (int i = 0; i < (int)bodies.size(); ++i)
-    {
-        Body* b = bodies[i];
-
-        b->position += dt * b->velocity;
-        b->rotation += dt * b->angularVelocity;
-
-        b->force.Set(0.0f, 0.0f);
-        b->torque = 0.0f;
-    }
-}

diff --git a/Client/Source/Phy2D/Dynamic/World.h b/Client/Source/Phy2D/Dynamic/World.h
deleted file mode 100644
index 93c883d..0000000
--- a/Client/Source/Phy2D/Dynamic/World.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once

-

-#include <vector>

-#include <map>

-#include "../Common/Math.h"

-#include "Arbiter.h"

-

-namespace Phy2D

-{

-
-    struct Body;
-    struct Joint;
-
-    struct World
-    {
-        World(Vec2 gravity, int iterations) : gravity(gravity), iterations(iterations) {}
-
-        void Add(Body* body);
-        void Add(Joint* joint);
-        void Clear();
-
-        void Step(number dt);
-
-        void BroadPhase();
-
-        std::vector<Body*> bodies;
-        std::vector<Joint*> joints;
-        std::map<ArbiterKey, Arbiter> arbiters;
-        Vec2 gravity;
-        int iterations;
-        static bool accumulateImpulses;
-        static bool warmStarting;
-        static bool positionCorrection;
-    };

-

-}