Merge pull request #58946 from akien-mga/remove-unused-bullet-code

Remove unused Bullet module and thirdparty code

1 files changed, 0 insertions, 162 deletions

diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMousePickingForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableMousePickingForce.h
deleted file mode 100644
index 697408355c..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableMousePickingForce.h
+++ /dev/null
@@ -1,162 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. 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.
- */
-
-#ifndef BT_MOUSE_PICKING_FORCE_H
-#define BT_MOUSE_PICKING_FORCE_H
-
-#include "btDeformableLagrangianForce.h"
-
-class btDeformableMousePickingForce : public btDeformableLagrangianForce
-{
-	// If true, the damping force will be in the direction of the spring
-	// If false, the damping force will be in the direction of the velocity
-	btScalar m_elasticStiffness, m_dampingStiffness;
-	const btSoftBody::Face& m_face;
-	btVector3 m_mouse_pos;
-	btScalar m_maxForce;
-
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btDeformableMousePickingForce(btScalar k, btScalar d, const btSoftBody::Face& face, const btVector3& mouse_pos, btScalar maxForce = 0.3) : m_elasticStiffness(k), m_dampingStiffness(d), m_face(face), m_mouse_pos(mouse_pos), m_maxForce(maxForce)
-	{
-	}
-
-	virtual void addScaledForces(btScalar scale, TVStack& force)
-	{
-		addScaledDampingForce(scale, force);
-		addScaledElasticForce(scale, force);
-	}
-
-	virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
-	{
-		addScaledElasticForce(scale, force);
-	}
-
-	virtual void addScaledDampingForce(btScalar scale, TVStack& force)
-	{
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 v_diff = m_face.m_n[i]->m_v;
-			btVector3 scaled_force = scale * m_dampingStiffness * v_diff;
-			if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
-			{
-				btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
-				scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir;
-			}
-			force[m_face.m_n[i]->index] -= scaled_force;
-		}
-	}
-
-	virtual void addScaledElasticForce(btScalar scale, TVStack& force)
-	{
-		btScalar scaled_stiffness = scale * m_elasticStiffness;
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
-			btVector3 scaled_force = scaled_stiffness * dir;
-			if (scaled_force.safeNorm() > m_maxForce)
-			{
-				scaled_force.safeNormalize();
-				scaled_force *= m_maxForce;
-			}
-			force[m_face.m_n[i]->index] -= scaled_force;
-		}
-	}
-
-	virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
-	{
-		btScalar scaled_k_damp = m_dampingStiffness * scale;
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 local_scaled_df = scaled_k_damp * dv[m_face.m_n[i]->index];
-			if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
-			{
-				btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
-				local_scaled_df = scaled_k_damp * dv[m_face.m_n[i]->index].dot(dir) * dir;
-			}
-			df[m_face.m_n[i]->index] -= local_scaled_df;
-		}
-	}
-
-	virtual void buildDampingForceDifferentialDiagonal(btScalar scale, TVStack& diagA) {}
-
-	virtual double totalElasticEnergy(btScalar dt)
-	{
-		double energy = 0;
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
-			btVector3 scaled_force = m_elasticStiffness * dir;
-			if (scaled_force.safeNorm() > m_maxForce)
-			{
-				scaled_force.safeNormalize();
-				scaled_force *= m_maxForce;
-			}
-			energy += 0.5 * scaled_force.dot(dir);
-		}
-		return energy;
-	}
-
-	virtual double totalDampingEnergy(btScalar dt)
-	{
-		double energy = 0;
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 v_diff = m_face.m_n[i]->m_v;
-			btVector3 scaled_force = m_dampingStiffness * v_diff;
-			if ((m_face.m_n[i]->m_x - m_mouse_pos).norm() > SIMD_EPSILON)
-			{
-				btVector3 dir = (m_face.m_n[i]->m_x - m_mouse_pos).normalized();
-				scaled_force = m_dampingStiffness * v_diff.dot(dir) * dir;
-			}
-			energy -= scaled_force.dot(m_face.m_n[i]->m_v) / dt;
-		}
-		return energy;
-	}
-
-	virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
-	{
-		btScalar scaled_stiffness = scale * m_elasticStiffness;
-		for (int i = 0; i < 3; ++i)
-		{
-			btVector3 dir = (m_face.m_n[i]->m_q - m_mouse_pos);
-			btScalar dir_norm = dir.norm();
-			btVector3 dir_normalized = (dir_norm > SIMD_EPSILON) ? dir.normalized() : btVector3(0, 0, 0);
-			int id = m_face.m_n[i]->index;
-			btVector3 dx_diff = dx[id];
-			btScalar r = 0;  // rest length is 0 for picking spring
-			btVector3 scaled_df = btVector3(0, 0, 0);
-			if (dir_norm > SIMD_EPSILON)
-			{
-				scaled_df -= scaled_stiffness * dir_normalized.dot(dx_diff) * dir_normalized;
-				scaled_df += scaled_stiffness * dir_normalized.dot(dx_diff) * ((dir_norm - r) / dir_norm) * dir_normalized;
-				scaled_df -= scaled_stiffness * ((dir_norm - r) / dir_norm) * dx_diff;
-			}
-			df[id] += scaled_df;
-		}
-	}
-
-	void setMousePos(const btVector3& p)
-	{
-		m_mouse_pos = p;
-	}
-
-	virtual btDeformableLagrangianForceType getForceType()
-	{
-		return BT_MOUSE_PICKING_FORCE;
-	}
-};
-
-#endif /* btMassSpring_h */