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, 548 deletions

diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp
deleted file mode 100644
index 9326b0d098..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp
+++ /dev/null
@@ -1,548 +0,0 @@
-#include "MultiBodyTree.hpp"
-
-#include <cmath>
-#include <limits>
-#include <vector>
-
-#include "IDMath.hpp"
-#include "details/MultiBodyTreeImpl.hpp"
-#include "details/MultiBodyTreeInitCache.hpp"
-
-namespace btInverseDynamics
-{
-MultiBodyTree::MultiBodyTree()
-	: m_is_finalized(false),
-	  m_mass_parameters_are_valid(true),
-	  m_accept_invalid_mass_parameters(false),
-	  m_impl(0x0),
-	  m_init_cache(0x0)
-{
-	m_init_cache = new InitCache();
-}
-
-MultiBodyTree::~MultiBodyTree()
-{
-	delete m_impl;
-	delete m_init_cache;
-}
-
-void MultiBodyTree::setAcceptInvalidMassParameters(bool flag)
-{
-	m_accept_invalid_mass_parameters = flag;
-}
-
-bool MultiBodyTree::getAcceptInvalidMassProperties() const
-{
-	return m_accept_invalid_mass_parameters;
-}
-
-int MultiBodyTree::getBodyOrigin(const int body_index, vec3 *world_origin) const
-{
-	return m_impl->getBodyOrigin(body_index, world_origin);
-}
-
-int MultiBodyTree::getBodyCoM(const int body_index, vec3 *world_com) const
-{
-	return m_impl->getBodyCoM(body_index, world_com);
-}
-
-int MultiBodyTree::getBodyTransform(const int body_index, mat33 *world_T_body) const
-{
-	return m_impl->getBodyTransform(body_index, world_T_body);
-}
-int MultiBodyTree::getBodyAngularVelocity(const int body_index, vec3 *world_omega) const
-{
-	return m_impl->getBodyAngularVelocity(body_index, world_omega);
-}
-int MultiBodyTree::getBodyLinearVelocity(const int body_index, vec3 *world_velocity) const
-{
-	return m_impl->getBodyLinearVelocity(body_index, world_velocity);
-}
-
-int MultiBodyTree::getBodyLinearVelocityCoM(const int body_index, vec3 *world_velocity) const
-{
-	return m_impl->getBodyLinearVelocityCoM(body_index, world_velocity);
-}
-
-int MultiBodyTree::getBodyAngularAcceleration(const int body_index, vec3 *world_dot_omega) const
-{
-	return m_impl->getBodyAngularAcceleration(body_index, world_dot_omega);
-}
-int MultiBodyTree::getBodyLinearAcceleration(const int body_index, vec3 *world_acceleration) const
-{
-	return m_impl->getBodyLinearAcceleration(body_index, world_acceleration);
-}
-
-int MultiBodyTree::getParentRParentBodyRef(const int body_index, vec3 *r) const
-{
-	return m_impl->getParentRParentBodyRef(body_index, r);
-}
-
-int MultiBodyTree::getBodyTParentRef(const int body_index, mat33 *T) const
-{
-	return m_impl->getBodyTParentRef(body_index, T);
-}
-
-int MultiBodyTree::getBodyAxisOfMotion(const int body_index, vec3 *axis) const
-{
-	return m_impl->getBodyAxisOfMotion(body_index, axis);
-}
-
-void MultiBodyTree::printTree() { m_impl->printTree(); }
-void MultiBodyTree::printTreeData() { m_impl->printTreeData(); }
-
-int MultiBodyTree::numBodies() const { return m_impl->m_num_bodies; }
-
-int MultiBodyTree::numDoFs() const { return m_impl->m_num_dofs; }
-
-int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const vecx &dot_u,
-											vecx *joint_forces)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces))
-	{
-		bt_id_error_message("error in inverse dynamics calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-int MultiBodyTree::calculateMassMatrix(const vecx &q, const bool update_kinematics,
-									   const bool initialize_matrix,
-									   const bool set_lower_triangular_matrix, matxx *mass_matrix)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 ==
-		m_impl->calculateMassMatrix(q, update_kinematics, initialize_matrix,
-									set_lower_triangular_matrix, mass_matrix))
-	{
-		bt_id_error_message("error in mass matrix calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-int MultiBodyTree::calculateMassMatrix(const vecx &q, matxx *mass_matrix)
-{
-	return calculateMassMatrix(q, true, true, true, mass_matrix);
-}
-
-int MultiBodyTree::calculateKinematics(const vecx &q, const vecx &u, const vecx &dot_u)
-{
-	vec3 world_gravity(m_impl->m_world_gravity);
-	// temporarily set gravity to zero, to ensure we get the actual accelerations
-	setZero(m_impl->m_world_gravity);
-
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateKinematics(q, u, dot_u,
-										  MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY_ACCELERATION))
-	{
-		bt_id_error_message("error in kinematics calculation\n");
-		return -1;
-	}
-
-	m_impl->m_world_gravity = world_gravity;
-	return 0;
-}
-
-int MultiBodyTree::calculatePositionKinematics(const vecx &q)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateKinematics(q, q, q,
-										  MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
-	{
-		bt_id_error_message("error in kinematics calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx &q, const vecx &u)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateKinematics(q, u, u,
-										  MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
-	{
-		bt_id_error_message("error in kinematics calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-int MultiBodyTree::calculateJacobians(const vecx &q, const vecx &u)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateJacobians(q, u,
-										 MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY))
-	{
-		bt_id_error_message("error in jacobian calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-int MultiBodyTree::calculateJacobians(const vecx &q)
-{
-	if (false == m_is_finalized)
-	{
-		bt_id_error_message("system has not been initialized\n");
-		return -1;
-	}
-	if (-1 == m_impl->calculateJacobians(q, q,
-										 MultiBodyTree::MultiBodyImpl::POSITION_ONLY))
-	{
-		bt_id_error_message("error in jacobian calculation\n");
-		return -1;
-	}
-	return 0;
-}
-
-int MultiBodyTree::getBodyDotJacobianTransU(const int body_index, vec3 *world_dot_jac_trans_u) const
-{
-	return m_impl->getBodyDotJacobianTransU(body_index, world_dot_jac_trans_u);
-}
-
-int MultiBodyTree::getBodyDotJacobianRotU(const int body_index, vec3 *world_dot_jac_rot_u) const
-{
-	return m_impl->getBodyDotJacobianRotU(body_index, world_dot_jac_rot_u);
-}
-
-int MultiBodyTree::getBodyJacobianTrans(const int body_index, mat3x *world_jac_trans) const
-{
-	return m_impl->getBodyJacobianTrans(body_index, world_jac_trans);
-}
-
-int MultiBodyTree::getBodyJacobianRot(const int body_index, mat3x *world_jac_rot) const
-{
-	return m_impl->getBodyJacobianRot(body_index, world_jac_rot);
-}
-
-#endif
-
-int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_type,
-						   const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref,
-						   const vec3 &body_axis_of_motion_, idScalar mass,
-						   const vec3 &body_r_body_com, const mat33 &body_I_body,
-						   const int user_int, void *user_ptr)
-{
-	if (body_index < 0)
-	{
-		bt_id_error_message("body index must be positive (got %d)\n", body_index);
-		return -1;
-	}
-	vec3 body_axis_of_motion(body_axis_of_motion_);
-	switch (joint_type)
-	{
-		case REVOLUTE:
-		case PRISMATIC:
-			// check if axis is unit vector
-			if (!isUnitVector(body_axis_of_motion))
-			{
-				bt_id_warning_message(
-					"axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n",
-					body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2));
-				idScalar length = BT_ID_SQRT(BT_ID_POW(body_axis_of_motion(0), 2) +
-											 BT_ID_POW(body_axis_of_motion(1), 2) +
-											 BT_ID_POW(body_axis_of_motion(2), 2));
-				if (length < BT_ID_SQRT(std::numeric_limits<idScalar>::min()))
-				{
-					bt_id_error_message("axis of motion vector too short (%e)\n", length);
-					return -1;
-				}
-				body_axis_of_motion = (1.0 / length) * body_axis_of_motion;
-			}
-			break;
-		case FIXED:
-			break;
-		case FLOATING:
-			break;
-		case SPHERICAL:
-			break;
-		default:
-			bt_id_error_message("unknown joint type %d\n", joint_type);
-			return -1;
-	}
-
-	// sanity check for mass properties. Zero mass is OK.
-	if (mass < 0)
-	{
-		m_mass_parameters_are_valid = false;
-		bt_id_error_message("Body %d has invalid mass %e\n", body_index, mass);
-		if (!m_accept_invalid_mass_parameters)
-		{
-			return -1;
-		}
-	}
-
-	if (!isValidInertiaMatrix(body_I_body, body_index, FIXED == joint_type))
-	{
-		m_mass_parameters_are_valid = false;
-		// error message printed in function call
-		if (!m_accept_invalid_mass_parameters)
-		{
-			return -1;
-		}
-	}
-
-	if (!isValidTransformMatrix(body_T_parent_ref))
-	{
-		return -1;
-	}
-
-	return m_init_cache->addBody(body_index, parent_index, joint_type, parent_r_parent_body_ref,
-								 body_T_parent_ref, body_axis_of_motion, mass, body_r_body_com,
-								 body_I_body, user_int, user_ptr);
-}
-
-int MultiBodyTree::getParentIndex(const int body_index, int *parent_index) const
-{
-	return m_impl->getParentIndex(body_index, parent_index);
-}
-
-int MultiBodyTree::getUserInt(const int body_index, int *user_int) const
-{
-	return m_impl->getUserInt(body_index, user_int);
-}
-
-int MultiBodyTree::getUserPtr(const int body_index, void **user_ptr) const
-{
-	return m_impl->getUserPtr(body_index, user_ptr);
-}
-
-int MultiBodyTree::setUserInt(const int body_index, const int user_int)
-{
-	return m_impl->setUserInt(body_index, user_int);
-}
-
-int MultiBodyTree::setUserPtr(const int body_index, void *const user_ptr)
-{
-	return m_impl->setUserPtr(body_index, user_ptr);
-}
-
-int MultiBodyTree::finalize()
-{
-	const int &num_bodies = m_init_cache->numBodies();
-	const int &num_dofs = m_init_cache->numDoFs();
-
-	if (num_dofs < 0)
-	{
-		bt_id_error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs);
-		//return -1;
-	}
-
-	// 1 allocate internal MultiBody structure
-	m_impl = new MultiBodyImpl(num_bodies, num_dofs);
-
-	// 2 build new index set assuring index(parent) < index(child)
-	if (-1 == m_init_cache->buildIndexSets())
-	{
-		return -1;
-	}
-	m_init_cache->getParentIndexArray(&m_impl->m_parent_index);
-
-	// 3 setup internal kinematic and dynamic data
-	for (int index = 0; index < num_bodies; index++)
-	{
-		InertiaData inertia;
-		JointData joint;
-		if (-1 == m_init_cache->getInertiaData(index, &inertia))
-		{
-			return -1;
-		}
-		if (-1 == m_init_cache->getJointData(index, &joint))
-		{
-			return -1;
-		}
-
-		RigidBody &rigid_body = m_impl->m_body_list[index];
-
-		rigid_body.m_mass = inertia.m_mass;
-		rigid_body.m_body_mass_com = inertia.m_mass * inertia.m_body_pos_body_com;
-		rigid_body.m_body_I_body = inertia.m_body_I_body;
-		rigid_body.m_joint_type = joint.m_type;
-		rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
-		rigid_body.m_body_T_parent_ref = joint.m_child_T_parent_ref;
-		rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
-		rigid_body.m_joint_type = joint.m_type;
-
-		int user_int;
-		if (-1 == m_init_cache->getUserInt(index, &user_int))
-		{
-			return -1;
-		}
-		if (-1 == m_impl->setUserInt(index, user_int))
-		{
-			return -1;
-		}
-
-		void *user_ptr;
-		if (-1 == m_init_cache->getUserPtr(index, &user_ptr))
-		{
-			return -1;
-		}
-		if (-1 == m_impl->setUserPtr(index, user_ptr))
-		{
-			return -1;
-		}
-
-		// Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized
-		// matrices.
-		switch (rigid_body.m_joint_type)
-		{
-			case REVOLUTE:
-				rigid_body.m_Jac_JR(0) = joint.m_child_axis_of_motion(0);
-				rigid_body.m_Jac_JR(1) = joint.m_child_axis_of_motion(1);
-				rigid_body.m_Jac_JR(2) = joint.m_child_axis_of_motion(2);
-				rigid_body.m_Jac_JT(0) = 0.0;
-				rigid_body.m_Jac_JT(1) = 0.0;
-				rigid_body.m_Jac_JT(2) = 0.0;
-				break;
-			case PRISMATIC:
-				rigid_body.m_Jac_JR(0) = 0.0;
-				rigid_body.m_Jac_JR(1) = 0.0;
-				rigid_body.m_Jac_JR(2) = 0.0;
-				rigid_body.m_Jac_JT(0) = joint.m_child_axis_of_motion(0);
-				rigid_body.m_Jac_JT(1) = joint.m_child_axis_of_motion(1);
-				rigid_body.m_Jac_JT(2) = joint.m_child_axis_of_motion(2);
-				break;
-			case FIXED:
-				// NOTE/TODO: dimension really should be zero ..
-				rigid_body.m_Jac_JR(0) = 0.0;
-				rigid_body.m_Jac_JR(1) = 0.0;
-				rigid_body.m_Jac_JR(2) = 0.0;
-				rigid_body.m_Jac_JT(0) = 0.0;
-				rigid_body.m_Jac_JT(1) = 0.0;
-				rigid_body.m_Jac_JT(2) = 0.0;
-				break;
-			case SPHERICAL:
-				// NOTE/TODO: this is not really correct.
-				// the Jacobians should be 3x3 matrices here !
-				rigid_body.m_Jac_JR(0) = 0.0;
-				rigid_body.m_Jac_JR(1) = 0.0;
-				rigid_body.m_Jac_JR(2) = 0.0;
-				rigid_body.m_Jac_JT(0) = 0.0;
-				rigid_body.m_Jac_JT(1) = 0.0;
-				rigid_body.m_Jac_JT(2) = 0.0;
-				break;
-			case FLOATING:
-				// NOTE/TODO: this is not really correct.
-				// the Jacobians should be 3x3 matrices here !
-				rigid_body.m_Jac_JR(0) = 0.0;
-				rigid_body.m_Jac_JR(1) = 0.0;
-				rigid_body.m_Jac_JR(2) = 0.0;
-				rigid_body.m_Jac_JT(0) = 0.0;
-				rigid_body.m_Jac_JT(1) = 0.0;
-				rigid_body.m_Jac_JT(2) = 0.0;
-				break;
-			default:
-				bt_id_error_message("unsupported joint type %d\n", rigid_body.m_joint_type);
-				return -1;
-		}
-	}
-
-	// 4 assign degree of freedom indices & build per-joint-type index arrays
-	if (-1 == m_impl->generateIndexSets())
-	{
-		bt_id_error_message("generating index sets\n");
-		return -1;
-	}
-
-	// 5 do some pre-computations ..
-	m_impl->calculateStaticData();
-
-	// 6. make sure all user forces are set to zero, as this might not happen
-	//	in the vector ctors.
-	m_impl->clearAllUserForcesAndMoments();
-
-	m_is_finalized = true;
-	return 0;
-}
-
-int MultiBodyTree::setGravityInWorldFrame(const vec3 &gravity)
-{
-	return m_impl->setGravityInWorldFrame(gravity);
-}
-
-int MultiBodyTree::getJointType(const int body_index, JointType *joint_type) const
-{
-	return m_impl->getJointType(body_index, joint_type);
-}
-
-int MultiBodyTree::getJointTypeStr(const int body_index, const char **joint_type) const
-{
-	return m_impl->getJointTypeStr(body_index, joint_type);
-}
-
-int MultiBodyTree::getDoFOffset(const int body_index, int *q_offset) const
-{
-	return m_impl->getDoFOffset(body_index, q_offset);
-}
-
-int MultiBodyTree::setBodyMass(const int body_index, idScalar mass)
-{
-	return m_impl->setBodyMass(body_index, mass);
-}
-
-int MultiBodyTree::setBodyFirstMassMoment(const int body_index, const vec3 &first_mass_moment)
-{
-	return m_impl->setBodyFirstMassMoment(body_index, first_mass_moment);
-}
-
-int MultiBodyTree::setBodySecondMassMoment(const int body_index, const mat33 &second_mass_moment)
-{
-	return m_impl->setBodySecondMassMoment(body_index, second_mass_moment);
-}
-
-int MultiBodyTree::getBodyMass(const int body_index, idScalar *mass) const
-{
-	return m_impl->getBodyMass(body_index, mass);
-}
-
-int MultiBodyTree::getBodyFirstMassMoment(const int body_index, vec3 *first_mass_moment) const
-{
-	return m_impl->getBodyFirstMassMoment(body_index, first_mass_moment);
-}
-
-int MultiBodyTree::getBodySecondMassMoment(const int body_index, mat33 *second_mass_moment) const
-{
-	return m_impl->getBodySecondMassMoment(body_index, second_mass_moment);
-}
-
-void MultiBodyTree::clearAllUserForcesAndMoments() { m_impl->clearAllUserForcesAndMoments(); }
-
-int MultiBodyTree::addUserForce(const int body_index, const vec3 &body_force)
-{
-	return m_impl->addUserForce(body_index, body_force);
-}
-
-int MultiBodyTree::addUserMoment(const int body_index, const vec3 &body_moment)
-{
-	return m_impl->addUserMoment(body_index, body_moment);
-}
-
-}  // namespace btInverseDynamics