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, 367 deletions

diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp
deleted file mode 100644
index 7b852f976c..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp
+++ /dev/null
@@ -1,367 +0,0 @@
-#ifndef MULTIBODYTREE_HPP_
-#define MULTIBODYTREE_HPP_
-
-#include "IDConfig.hpp"
-#include "IDMath.hpp"
-
-namespace btInverseDynamics
-{
-/// Enumeration of supported joint types
-enum JointType
-{
-	/// no degree of freedom, moves with parent
-	FIXED = 0,
-	/// one rotational degree of freedom relative to parent
-	REVOLUTE,
-	/// one translational degree of freedom relative to parent
-	PRISMATIC,
-	/// six degrees of freedom relative to parent
-	FLOATING,
-	/// three degrees of freedom, relative to parent
-	SPHERICAL
-};
-
-/// Interface class for calculating inverse dynamics for tree structured
-/// multibody systems
-///
-/// Note on degrees of freedom
-/// The q vector contains the generalized coordinate set defining the tree's configuration.
-/// Every joint adds elements that define the corresponding link's frame pose relative to
-/// its parent. For the joint types that is:
-///	- FIXED:	 none
-///	- REVOLUTE:  angle of rotation [rad]
-///	- PRISMATIC: displacement [m]
-///	- FLOATING:  Euler x-y-z angles [rad] and displacement in body-fixed frame of parent [m]
-///				 (in that order)
-/// - SPHERICAL: Euler x-y-z angles [rad]
-/// The u vector contains the generalized speeds, which are
-///	- FIXED:	 none
-///	- REVOLUTE:  time derivative of angle of rotation [rad/s]
-///	- PRISMATIC: time derivative of displacement [m/s]
-///	- FLOATING:  angular velocity [rad/s] (*not* time derivative of rpy angles)
-///				 and time derivative of displacement in parent frame [m/s]
-//	- SPHERICAL:  angular velocity [rad/s]
-///
-/// The q and u vectors are obtained by stacking contributions of all bodies in one
-/// vector in the order of body indices.
-///
-/// Note on generalized forces: analogous to u, i.e.,
-///	 - FIXED:	 none
-///	 - REVOLUTE:  moment [Nm], about joint axis
-///	 - PRISMATIC: force  [N], along joint axis
-///	 - FLOATING:  moment vector [Nm] and force vector [N], both in body-fixed frame
-///				  (in that order)
-///  - SPHERICAL: moment vector [Nm] 
-/// TODO - force element interface (friction, springs, dampers, etc)
-///	  - gears and motor inertia
-class MultiBodyTree
-{
-public:
-	ID_DECLARE_ALIGNED_ALLOCATOR();
-	/// The contructor.
-	/// Initialization & allocation is via addBody and buildSystem calls.
-	MultiBodyTree();
-	/// the destructor. This also deallocates all memory
-	~MultiBodyTree();
-
-	/// Add body to the system. this allocates memory and not real-time safe.
-	/// This only adds the data to an initial cache. After all bodies have been
-	/// added,
-	/// the system is setup using the buildSystem call
-	/// @param body_index index of the body to be added. Must >=0, <number of bodies,
-	///		and index of parent must be < index of body
-	/// @param parent_index index of the parent body
-	///		The root of the tree has index 0 and its parent (the world frame)
-	///		is assigned index -1
-	///		the rotation and translation relative to the parent are taken as
-	///		pose of the root body relative to the world frame. Other parameters
-	///		are ignored
-	/// @param JointType type of joint connecting the body to the parent
-	/// @param mass the mass of the body
-	/// @param body_r_body_com the center of mass of the body relative to and
-	/// described in
-	///		the body fixed frame, which is located in the joint axis connecting
-	/// the body to its parent
-	/// @param body_I_body the moment of inertia of the body w.r.t the body-fixed
-	/// frame
-	///		(ie, the reference point is the origin of the body-fixed frame and
-	/// the matrix is written
-	///		 w.r.t. those unit vectors)
-	/// @param parent_r_parent_body_ref position of joint relative to the parent
-	/// body's reference frame
-	///		for q=0, written in the parent bodies reference frame
-	/// @param body_axis_of_motion translation/rotation axis in body-fixed frame.
-	///		Ignored for joints that are not revolute or prismatic.
-	///		must be a unit vector.
-	/// @param body_T_parent_ref transform matrix from parent to body reference
-	/// frame for q=0.
-	///		This is the matrix transforming a vector represented in the
-	/// parent's reference frame into one represented
-	///		in this body's reference frame.
-	///		ie, if parent_vec is a vector in R^3 whose components are w.r.t to
-	/// the parent's reference frame,
-	///		then the same vector written w.r.t. this body's frame (for q=0) is
-	/// given by
-	///		body_vec = parent_R_body_ref * parent_vec
-	/// @param user_ptr pointer to user data
-	/// @param user_int pointer to user integer
-	/// @return 0 on success, -1 on error
-	int 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);
-	/// set policy for invalid mass properties
-	/// @param flag if true, invalid mass properties are accepted,
-	///		the default is false
-	void setAcceptInvalidMassParameters(bool flag);
-	/// @return the mass properties policy flag
-	bool getAcceptInvalidMassProperties() const;
-	/// build internal data structures
-	/// call this after all bodies have been added via addBody
-	/// @return 0 on success, -1 on error
-	int finalize();
-	/// pretty print ascii description of tree to stdout
-	void printTree();
-	/// print tree data to stdout
-	void printTreeData();
-	/// Calculate joint forces for given generalized state & derivatives.
-	/// This also updates kinematic terms computed in calculateKinematics.
-	/// If gravity is not set to zero, acceleration terms will contain
-	/// gravitational acceleration.
-	/// @param q generalized coordinates
-	/// @param u generalized velocities. In the general case, u=T(q)*dot(q) and dim(q)>=dim(u)
-	/// @param dot_u time derivative of u
-	/// @param joint_forces this is where the resulting joint forces will be
-	///		stored. dim(joint_forces) = dim(u)
-	/// @return 0 on success, -1 on error
-	int calculateInverseDynamics(const vecx& q, const vecx& u, const vecx& dot_u,
-								 vecx* joint_forces);
-	/// Calculate joint space mass matrix
-	/// @param q generalized coordinates
-	/// @param initialize_matrix if true, initialize mass matrix with zero.
-	///		If mass_matrix is initialized to zero externally and only used
-	///		for mass matrix computations for the same system, it is safe to
-	///		set this to false.
-	/// @param set_lower_triangular_matrix if true, the lower triangular section of mass_matrix
-	///		is also populated, otherwise not.
-	/// @param mass_matrix matrix for storing the output (should be dim(q)xdim(q))
-	/// @return -1 on error, 0 on success
-	int calculateMassMatrix(const vecx& q, const bool update_kinematics,
-							const bool initialize_matrix, const bool set_lower_triangular_matrix,
-							matxx* mass_matrix);
-
-	/// Calculate joint space mass matrix.
-	/// This version will update kinematics, initialize all mass_matrix elements to zero and
-	/// populate all mass matrix entries.
-	/// @param q generalized coordinates
-	/// @param mass_matrix matrix for storing the output (should be dim(q)xdim(q))
-	/// @return -1 on error, 0 on success
-	int calculateMassMatrix(const vecx& q, matxx* mass_matrix);
-
-	/// Calculates kinematics also calculated in calculateInverseDynamics,
-	/// but not dynamics.
-	/// This function ensures that correct accelerations are computed that do not
-	/// contain gravitational acceleration terms.
-	/// Does not calculate Jacobians, but only vector quantities (positions, velocities & accelerations)
-	int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u);
-	/// Calculate position kinematics
-	int calculatePositionKinematics(const vecx& q);
-	/// Calculate position and velocity kinematics
-	int calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u);
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-	/// Calculate Jacobians (dvel/du), as well as velocity-dependent accelearation components
-	/// d(Jacobian)/dt*u
-	/// This function assumes that calculateInverseDynamics was called, or calculateKinematics,
-	/// or calculatePositionAndVelocityKinematics
-	int calculateJacobians(const vecx& q, const vecx& u);
-	/// Calculate Jacobians (dvel/du)
-	/// This function assumes that calculateInverseDynamics was called, or
-	/// one of the calculateKineamtics functions
-	int calculateJacobians(const vecx& q);
-#endif  // BT_ID_HAVE_MAT3X
-
-	/// set gravitational acceleration
-	/// the default is [0;0;-9.8] in the world frame
-	/// @param gravity the gravitational acceleration in world frame
-	/// @return 0 on success, -1 on error
-	int setGravityInWorldFrame(const vec3& gravity);
-	/// returns number of bodies in tree
-	int numBodies() const;
-	/// returns number of mechanical degrees of freedom (dimension of q-vector)
-	int numDoFs() const;
-	/// get origin of a body-fixed frame, represented in world frame
-	/// @param body_index index for frame/body
-	/// @param world_origin pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyOrigin(const int body_index, vec3* world_origin) const;
-	/// get center of mass of a body, represented in world frame
-	/// @param body_index index for frame/body
-	/// @param world_com pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyCoM(const int body_index, vec3* world_com) const;
-	/// get transform from of a body-fixed frame to the world frame
-	/// @param body_index index for frame/body
-	/// @param world_T_body pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyTransform(const int body_index, mat33* world_T_body) const;
-	/// get absolute angular velocity for a body, represented in the world frame
-	/// @param body_index index for frame/body
-	/// @param world_omega pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyAngularVelocity(const int body_index, vec3* world_omega) const;
-	/// get linear velocity of a body, represented in world frame
-	/// @param body_index index for frame/body
-	/// @param world_velocity pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const;
-	/// get linear velocity of a body's CoM, represented in world frame
-	/// (not required for inverse dynamics, provided for convenience)
-	/// @param body_index index for frame/body
-	/// @param world_vel_com pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const;
-	/// get origin of a body-fixed frame, represented in world frame
-	/// @param body_index index for frame/body
-	/// @param world_origin pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const;
-	/// get origin of a body-fixed frame, represented in world frame
-	/// NOTE: this will include the gravitational acceleration, so the actual acceleration is
-	/// obtainened by setting gravitational acceleration to zero, or subtracting it.
-	/// @param body_index index for frame/body
-	/// @param world_origin pointer for return data
-	/// @return 0 on success, -1 on error
-	int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const;
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-	// get translational jacobian, in world frame (dworld_velocity/du)
-	int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const;
-	// get rotational jacobian, in world frame (dworld_omega/du)
-	int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
-	// get product of translational jacobian derivative * generatlized velocities
-	int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const;
-	// get product of rotational jacobian derivative * generatlized velocities
-	int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
-#endif  // BT_ID_HAVE_MAT3X
-
-	/// returns the (internal) index of body
-	/// @param body_index is the index of a body
-	/// @param parent_index pointer to where parent index will be stored
-	/// @return 0 on success, -1 on error
-	int getParentIndex(const int body_index, int* parent_index) const;
-	/// get joint type
-	/// @param body_index index of the body
-	/// @param joint_type the corresponding joint type
-	/// @return 0 on success, -1 on failure
-	int getJointType(const int body_index, JointType* joint_type) const;
-	/// get joint type as string
-	/// @param body_index index of the body
-	/// @param joint_type string naming the corresponding joint type
-	/// @return 0 on success, -1 on failure
-	int getJointTypeStr(const int body_index, const char** joint_type) const;
-	/// get offset translation to parent body (see addBody)
-	/// @param body_index index of the body
-	/// @param r the offset translation (see above)
-	/// @return 0 on success, -1 on failure
-	int getParentRParentBodyRef(const int body_index, vec3* r) const;
-	/// get offset rotation to parent body (see addBody)
-	/// @param body_index index of the body
-	/// @param T the transform (see above)
-	/// @return 0 on success, -1 on failure
-	int getBodyTParentRef(const int body_index, mat33* T) const;
-	/// get axis of motion (see addBody)
-	/// @param body_index index of the body
-	/// @param axis the axis (see above)
-	/// @return 0 on success, -1 on failure
-	int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
-	/// get offset for degrees of freedom of this body into the q-vector
-	/// @param body_index index of the body
-	/// @param q_offset offset the q vector
-	/// @return -1 on error, 0 on success
-	int getDoFOffset(const int body_index, int* q_offset) const;
-	/// get user integer. not used by the library.
-	/// @param body_index index of the body
-	/// @param user_int   the user integer
-	/// @return 0 on success, -1 on error
-	int getUserInt(const int body_index, int* user_int) const;
-	/// get user pointer. not used by the library.
-	/// @param body_index index of the body
-	/// @param user_ptr   the user pointer
-	/// @return 0 on success, -1 on error
-	int getUserPtr(const int body_index, void** user_ptr) const;
-	/// set user integer. not used by the library.
-	/// @param body_index index of the body
-	/// @param user_int   the user integer
-	/// @return 0 on success, -1 on error
-	int setUserInt(const int body_index, const int user_int);
-	/// set user pointer. not used by the library.
-	/// @param body_index index of the body
-	/// @param user_ptr   the user pointer
-	/// @return 0 on success, -1 on error
-	int setUserPtr(const int body_index, void* const user_ptr);
-	/// set mass for a body
-	/// @param body_index index of the body
-	/// @param mass the mass to set
-	/// @return 0 on success, -1 on failure
-	int setBodyMass(const int body_index, const idScalar mass);
-	/// set first moment of mass for a body
-	/// (mass * center of mass, in body fixed frame, relative to joint)
-	/// @param body_index index of the body
-	/// @param first_mass_moment the vector to set
-	/// @return 0 on success, -1 on failure
-	int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment);
-	/// set second moment of mass for a body
-	/// (moment of inertia, in body fixed frame, relative to joint)
-	/// @param body_index index of the body
-	/// @param second_mass_moment the inertia matrix
-	/// @return 0 on success, -1 on failure
-	int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment);
-	/// get mass for a body
-	/// @param body_index index of the body
-	/// @param mass the mass
-	/// @return 0 on success, -1 on failure
-	int getBodyMass(const int body_index, idScalar* mass) const;
-	/// get first moment of mass for a body
-	/// (mass * center of mass, in body fixed frame, relative to joint)
-	/// @param body_index index of the body
-	/// @param first_moment the vector
-	/// @return 0 on success, -1 on failure
-	int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const;
-	/// get second moment of mass for a body
-	/// (moment of inertia, in body fixed frame, relative to joint)
-	/// @param body_index index of the body
-	/// @param second_mass_moment the inertia matrix
-	/// @return 0 on success, -1 on failure
-	int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const;
-	/// set all user forces and moments to zero
-	void clearAllUserForcesAndMoments();
-	/// Add an external force to a body, acting at the origin of the body-fixed frame.
-	/// Calls to addUserForce are cumulative. Set the user force and moment to zero
-	/// via clearAllUserForcesAndMoments()
-	/// @param body_force the force represented in the body-fixed frame of reference
-	/// @return 0 on success, -1 on error
-	int addUserForce(const int body_index, const vec3& body_force);
-	/// Add an external moment to a body.
-	/// Calls to addUserMoment are cumulative. Set the user force and moment to zero
-	/// via clearAllUserForcesAndMoments()
-	/// @param body_moment the moment represented in the body-fixed frame of reference
-	/// @return 0 on success, -1 on error
-	int addUserMoment(const int body_index, const vec3& body_moment);
-
-private:
-	// flag indicating if system has been initialized
-	bool m_is_finalized;
-	// flag indicating if mass properties are physically valid
-	bool m_mass_parameters_are_valid;
-	// flag defining if unphysical mass parameters are accepted
-	bool m_accept_invalid_mass_parameters;
-	// This struct implements the inverse dynamics calculations
-	class MultiBodyImpl;
-	MultiBodyImpl* m_impl;
-	// cache data structure for initialization
-	class InitCache;
-	InitCache* m_init_cache;
-};
-}  // namespace btInverseDynamics
-#endif  // MULTIBODYTREE_HPP_