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, 223 deletions

diff --git a/thirdparty/bullet/LinearMath/btTransformUtil.h b/thirdparty/bullet/LinearMath/btTransformUtil.h
deleted file mode 100644
index b874dd6807..0000000000
--- a/thirdparty/bullet/LinearMath/btTransformUtil.h
+++ /dev/null
@@ -1,223 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
-
-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_TRANSFORM_UTIL_H
-#define BT_TRANSFORM_UTIL_H
-
-#include "btTransform.h"
-#define ANGULAR_MOTION_THRESHOLD btScalar(0.5) * SIMD_HALF_PI
-
-SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents, const btVector3& supportDir)
-{
-	return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
-					 supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
-					 supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
-}
-
-/// Utils related to temporal transforms
-class btTransformUtil
-{
-public:
-	static void integrateTransform(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btTransform& predictedTransform)
-	{
-		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
-		//	#define QUATERNION_DERIVATIVE
-#ifdef QUATERNION_DERIVATIVE
-		btQuaternion predictedOrn = curTrans.getRotation();
-		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
-		predictedOrn.safeNormalize();
-#else
-		//Exponential map
-		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
-
-		btVector3 axis;
-		btScalar fAngle2 = angvel.length2();
-		btScalar fAngle = 0;
-		if (fAngle2 > SIMD_EPSILON)
-		{
-			fAngle = btSqrt(fAngle2);
-		}
-
-		//limit the angular motion
-		if (fAngle * timeStep > ANGULAR_MOTION_THRESHOLD)
-		{
-			fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
-		}
-
-		if (fAngle < btScalar(0.001))
-		{
-			// use Taylor's expansions of sync function
-			axis = angvel * (btScalar(0.5) * timeStep - (timeStep * timeStep * timeStep) * (btScalar(0.020833333333)) * fAngle * fAngle);
-		}
-		else
-		{
-			// sync(fAngle) = sin(c*fAngle)/t
-			axis = angvel * (btSin(btScalar(0.5) * fAngle * timeStep) / fAngle);
-		}
-		btQuaternion dorn(axis.x(), axis.y(), axis.z(), btCos(fAngle * timeStep * btScalar(0.5)));
-		btQuaternion orn0 = curTrans.getRotation();
-
-		btQuaternion predictedOrn = dorn * orn0;
-		predictedOrn.safeNormalize();
-#endif
-		if (predictedOrn.length2() > SIMD_EPSILON)
-		{
-			predictedTransform.setRotation(predictedOrn);
-		}
-		else
-		{
-			predictedTransform.setBasis(curTrans.getBasis());
-		}
-	}
-
-	static void calculateVelocityQuaternion(const btVector3& pos0, const btVector3& pos1, const btQuaternion& orn0, const btQuaternion& orn1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
-	{
-		linVel = (pos1 - pos0) / timeStep;
-		btVector3 axis;
-		btScalar angle;
-		if (orn0 != orn1)
-		{
-			calculateDiffAxisAngleQuaternion(orn0, orn1, axis, angle);
-			angVel = axis * angle / timeStep;
-		}
-		else
-		{
-			angVel.setValue(0, 0, 0);
-		}
-	}
-
-	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0, const btQuaternion& orn1a, btVector3& axis, btScalar& angle)
-	{
-		btQuaternion orn1 = orn0.nearest(orn1a);
-		btQuaternion dorn = orn1 * orn0.inverse();
-		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(), dorn.y(), dorn.z());
-		axis[3] = btScalar(0.);
-		//check for axis length
-		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON * SIMD_EPSILON)
-			axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
-		else
-			axis /= btSqrt(len);
-	}
-
-	static void calculateVelocity(const btTransform& transform0, const btTransform& transform1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
-	{
-		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
-		btVector3 axis;
-		btScalar angle;
-		calculateDiffAxisAngle(transform0, transform1, axis, angle);
-		angVel = axis * angle / timeStep;
-	}
-
-	static void calculateDiffAxisAngle(const btTransform& transform0, const btTransform& transform1, btVector3& axis, btScalar& angle)
-	{
-		btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
-		btQuaternion dorn;
-		dmat.getRotation(dorn);
-
-		///floating point inaccuracy can lead to w component > 1..., which breaks
-		dorn.normalize();
-
-		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(), dorn.y(), dorn.z());
-		axis[3] = btScalar(0.);
-		//check for axis length
-		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON * SIMD_EPSILON)
-			axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
-		else
-			axis /= btSqrt(len);
-	}
-};
-
-///The btConvexSeparatingDistanceUtil can help speed up convex collision detection
-///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
-class btConvexSeparatingDistanceUtil
-{
-	btQuaternion m_ornA;
-	btQuaternion m_ornB;
-	btVector3 m_posA;
-	btVector3 m_posB;
-
-	btVector3 m_separatingNormal;
-
-	btScalar m_boundingRadiusA;
-	btScalar m_boundingRadiusB;
-	btScalar m_separatingDistance;
-
-public:
-	btConvexSeparatingDistanceUtil(btScalar boundingRadiusA, btScalar boundingRadiusB)
-		: m_boundingRadiusA(boundingRadiusA),
-		  m_boundingRadiusB(boundingRadiusB),
-		  m_separatingDistance(0.f)
-	{
-	}
-
-	btScalar getConservativeSeparatingDistance()
-	{
-		return m_separatingDistance;
-	}
-
-	void updateSeparatingDistance(const btTransform& transA, const btTransform& transB)
-	{
-		const btVector3& toPosA = transA.getOrigin();
-		const btVector3& toPosB = transB.getOrigin();
-		btQuaternion toOrnA = transA.getRotation();
-		btQuaternion toOrnB = transB.getRotation();
-
-		if (m_separatingDistance > 0.f)
-		{
-			btVector3 linVelA, angVelA, linVelB, angVelB;
-			btTransformUtil::calculateVelocityQuaternion(m_posA, toPosA, m_ornA, toOrnA, btScalar(1.), linVelA, angVelA);
-			btTransformUtil::calculateVelocityQuaternion(m_posB, toPosB, m_ornB, toOrnB, btScalar(1.), linVelB, angVelB);
-			btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
-			btVector3 relLinVel = (linVelB - linVelA);
-			btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
-			if (relLinVelocLength < 0.f)
-			{
-				relLinVelocLength = 0.f;
-			}
-
-			btScalar projectedMotion = maxAngularProjectedVelocity + relLinVelocLength;
-			m_separatingDistance -= projectedMotion;
-		}
-
-		m_posA = toPosA;
-		m_posB = toPosB;
-		m_ornA = toOrnA;
-		m_ornB = toOrnB;
-	}
-
-	void initSeparatingDistance(const btVector3& separatingVector, btScalar separatingDistance, const btTransform& transA, const btTransform& transB)
-	{
-		m_separatingDistance = separatingDistance;
-
-		if (m_separatingDistance > 0.f)
-		{
-			m_separatingNormal = separatingVector;
-
-			const btVector3& toPosA = transA.getOrigin();
-			const btVector3& toPosB = transB.getOrigin();
-			btQuaternion toOrnA = transA.getRotation();
-			btQuaternion toOrnB = transB.getRotation();
-			m_posA = toPosA;
-			m_posB = toPosB;
-			m_ornA = toOrnA;
-			m_ornB = toOrnB;
-		}
-	}
-};
-
-#endif  //BT_TRANSFORM_UTIL_H