Merge pull request #15664 from akien-mga/thirdparty

Bugfix updates to various thirdparty libraries

1 files changed, 0 insertions, 177 deletions

diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
deleted file mode 100644
index 1098d0c96b..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ /dev/null
@@ -1,177 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 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.
-*/
-
-
-#include "btContactConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btContactSolverInfo.h"
-#include "LinearMath/btMinMax.h"
-#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-
-
-
-btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
-:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),
-	m_contactManifold(*contactManifold)
-{
-
-}
-
-btContactConstraint::~btContactConstraint()
-{
-
-}
-
-void	btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
-{
-	m_contactManifold = *contactManifold;
-}
-
-void btContactConstraint::getInfo1 (btConstraintInfo1* info)
-{
-
-}
-
-void btContactConstraint::getInfo2 (btConstraintInfo2* info)
-{
-
-}
-
-void	btContactConstraint::buildJacobian()
-{
-
-}
-
-
-
-
-
-#include "btContactConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btContactSolverInfo.h"
-#include "LinearMath/btMinMax.h"
-#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-
-
-
-//response  between two dynamic objects without friction and no restitution, assuming 0 penetration depth
-btScalar resolveSingleCollision(
-        btRigidBody* body1,
-        btCollisionObject* colObj2,
-		const btVector3& contactPositionWorld,
-		const btVector3& contactNormalOnB,
-        const btContactSolverInfo& solverInfo,
-		btScalar distance)
-{
-	btRigidBody* body2 = btRigidBody::upcast(colObj2);
-    
-	
-    const btVector3& normal = contactNormalOnB;
-
-    btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin(); 
-    btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
-    
-    btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = body2? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
-    btVector3 vel = vel1 - vel2;
-    btScalar rel_vel;
-    rel_vel = normal.dot(vel);
-    
-    btScalar combinedRestitution = 0.f;
-    btScalar restitution = combinedRestitution* -rel_vel;
-
-    btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;
-    btScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
-	btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld,normal);
-	btScalar denom1 = body2? body2->computeImpulseDenominator(contactPositionWorld,normal) : 0.f;
-	btScalar relaxation = 1.f;
-	btScalar jacDiagABInv = relaxation/(denom0+denom1);
-
-    btScalar penetrationImpulse = positionalError * jacDiagABInv;
-    btScalar velocityImpulse = velocityError * jacDiagABInv;
-
-    btScalar normalImpulse = penetrationImpulse+velocityImpulse;
-    normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse;
-
-	body1->applyImpulse(normal*(normalImpulse), rel_pos1);
-    if (body2)
-		body2->applyImpulse(-normal*(normalImpulse), rel_pos2);
-    
-    return normalImpulse;
-}
-
-
-//bilateral constraint between two dynamic objects
-void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
-                      btRigidBody& body2, const btVector3& pos2,
-                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
-{
-	(void)timeStep;
-	(void)distance;
-
-
-	btScalar normalLenSqr = normal.length2();
-	btAssert(btFabs(normalLenSqr) < btScalar(1.1));
-	if (normalLenSqr > btScalar(1.1))
-	{
-		impulse = btScalar(0.);
-		return;
-	}
-	btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
-	btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-	//this jacobian entry could be re-used for all iterations
-	
-	btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-	btVector3 vel = vel1 - vel2;
-	
-
-	   btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
-		body2.getCenterOfMassTransform().getBasis().transpose(),
-		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
-		body2.getInvInertiaDiagLocal(),body2.getInvMass());
-
-	btScalar jacDiagAB = jac.getDiagonal();
-	btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
-	
-	  btScalar rel_vel = jac.getRelativeVelocity(
-		body1.getLinearVelocity(),
-		body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
-		body2.getLinearVelocity(),
-		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); 
-
-
-
-	rel_vel = normal.dot(vel);
-	
-	//todo: move this into proper structure
-	btScalar contactDamping = btScalar(0.2);
-
-#ifdef ONLY_USE_LINEAR_MASS
-	btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
-	impulse = - contactDamping * rel_vel * massTerm;
-#else	
-	btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
-	impulse = velocityImpulse;
-#endif
-}
-
-
-
-