Remove unused Bullet module and thirdparty code

It has been disabled in `master` since one year (#45852) and our plan
is for Bullet, and possibly other thirdparty physics engines, to be
implemented via GDExtension so that they can be selected by the users
who need them.

1 files changed, 0 insertions, 215 deletions

diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
deleted file mode 100644
index df2abbe97a..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
+++ /dev/null
@@ -1,215 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.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.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodyFixedConstraint.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
-#include "LinearMath/btIDebugDraw.h"
-
-#define BTMBFIXEDCONSTRAINT_DIM 6
-
-btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
-	: btMultiBodyConstraint(body, 0, link, -1, BTMBFIXEDCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_FIXED),
-	  m_rigidBodyA(0),
-	  m_rigidBodyB(bodyB),
-	  m_pivotInA(pivotInA),
-	  m_pivotInB(pivotInB),
-	  m_frameInA(frameInA),
-	  m_frameInB(frameInB)
-{
-	m_data.resize(BTMBFIXEDCONSTRAINT_DIM);  //at least store the applied impulses
-}
-
-btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
-	: btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBFIXEDCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_FIXED),
-	  m_rigidBodyA(0),
-	  m_rigidBodyB(0),
-	  m_pivotInA(pivotInA),
-	  m_pivotInB(pivotInB),
-	  m_frameInA(frameInA),
-	  m_frameInB(frameInB)
-{
-	m_data.resize(BTMBFIXEDCONSTRAINT_DIM);  //at least store the applied impulses
-}
-
-void btMultiBodyFixedConstraint::finalizeMultiDof()
-{
-	//not implemented yet
-	btAssert(0);
-}
-
-btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint()
-{
-}
-
-int btMultiBodyFixedConstraint::getIslandIdA() const
-{
-	if (m_rigidBodyA)
-		return m_rigidBodyA->getIslandTag();
-
-	if (m_bodyA)
-	{
-		if (m_linkA < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyA->getLink(m_linkA).m_collider)
-				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-int btMultiBodyFixedConstraint::getIslandIdB() const
-{
-	if (m_rigidBodyB)
-		return m_rigidBodyB->getIslandTag();
-	if (m_bodyB)
-	{
-		if (m_linkB < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyB->getLink(m_linkB).m_collider)
-				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-void btMultiBodyFixedConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
-{
-	int numDim = BTMBFIXEDCONSTRAINT_DIM;
-	for (int i = 0; i < numDim; i++)
-	{
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-		constraintRow.m_orgConstraint = this;
-		constraintRow.m_orgDofIndex = i;
-		constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
-		constraintRow.m_contactNormal1.setValue(0, 0, 0);
-		constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
-		constraintRow.m_contactNormal2.setValue(0, 0, 0);
-		constraintRow.m_angularComponentA.setValue(0, 0, 0);
-		constraintRow.m_angularComponentB.setValue(0, 0, 0);
-
-		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
-		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
-
-		// Convert local points back to world
-		btVector3 pivotAworld = m_pivotInA;
-		btMatrix3x3 frameAworld = m_frameInA;
-		if (m_rigidBodyA)
-		{
-			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
-			pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
-			frameAworld = frameAworld.transpose() * btMatrix3x3(m_rigidBodyA->getOrientation());
-		}
-		else
-		{
-			if (m_bodyA)
-			{
-				pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-				frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
-			}
-		}
-		btVector3 pivotBworld = m_pivotInB;
-		btMatrix3x3 frameBworld = m_frameInB;
-		if (m_rigidBodyB)
-		{
-			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
-			pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
-			frameBworld = frameBworld.transpose() * btMatrix3x3(m_rigidBodyB->getOrientation());
-		}
-		else
-		{
-			if (m_bodyB)
-			{
-				pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-				frameBworld = m_bodyB->localFrameToWorld(m_linkB, frameBworld);
-			}
-		}
-
-		btMatrix3x3 relRot = frameAworld.inverse() * frameBworld;
-		btVector3 angleDiff;
-		btGeneric6DofSpring2Constraint::matrixToEulerXYZ(relRot, angleDiff);
-
-		btVector3 constraintNormalLin(0, 0, 0);
-		btVector3 constraintNormalAng(0, 0, 0);
-		btScalar posError = 0.0;
-		if (i < 3)
-		{
-			constraintNormalLin[i] = 1;
-			posError = (pivotAworld - pivotBworld).dot(constraintNormalLin);
-			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-									constraintNormalLin, pivotAworld, pivotBworld,
-									posError,
-									infoGlobal,
-									-m_maxAppliedImpulse, m_maxAppliedImpulse);
-		}
-		else
-		{  //i>=3
-			constraintNormalAng = frameAworld.getColumn(i % 3);
-			posError = angleDiff[i % 3];
-			fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-									constraintNormalLin, pivotAworld, pivotBworld,
-									posError,
-									infoGlobal,
-									-m_maxAppliedImpulse, m_maxAppliedImpulse, true);
-		}
-	}
-}
-
-void btMultiBodyFixedConstraint::debugDraw(class btIDebugDraw* drawer)
-{
-	btTransform tr;
-	tr.setIdentity();
-
-	if (m_rigidBodyA)
-	{
-		btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
-		tr.setOrigin(pivot);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_bodyA)
-	{
-		btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-		tr.setOrigin(pivotAworld);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_rigidBodyB)
-	{
-		// that ideally should draw the same frame
-		btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
-		tr.setOrigin(pivot);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_bodyB)
-	{
-		btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-		tr.setOrigin(pivotBworld);
-		drawer->drawTransform(tr, 0.1);
-	}
-}