bullet: Streamline bundling, remove extraneous src/ folder

Document version and how to extract sources in thirdparty/README.md.
Drop unnecessary CMake and Premake files.
Simplify SCsub, drop unused one.

1 files changed, 363 insertions, 0 deletions

diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp
new file mode 100644
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+++ b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.hpp
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+#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
+};
+
+/// 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)
+/// 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]
+///
+/// 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)
+///
+/// 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_