1 files changed, 0 insertions, 177 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
deleted file mode 100644
index 3316403a87..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ /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.
-*/
-
-#ifndef BT_CONTACT_SOLVER_INFO
-#define BT_CONTACT_SOLVER_INFO
-
-#include "LinearMath/btScalar.h"
-
-enum btSolverMode
-{
-	SOLVER_RANDMIZE_ORDER = 1,
-	SOLVER_FRICTION_SEPARATE = 2,
-	SOLVER_USE_WARMSTARTING = 4,
-	SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
-	SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
-	SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
-	SOLVER_CACHE_FRIENDLY = 128,
-	SOLVER_SIMD = 256,
-	SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
-	SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
-	SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048,
-	SOLVER_USE_ARTICULATED_WARMSTARTING = 4096,
-};
-
-struct btContactSolverInfoData
-{
-	btScalar m_tau;
-	btScalar m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	btScalar m_friction;
-	btScalar m_timeStep;
-	btScalar m_restitution;
-	int m_numIterations;
-	btScalar m_maxErrorReduction;
-	btScalar m_sor;          //successive over-relaxation term
-	btScalar m_erp;          //error reduction for non-contact constraints
-	btScalar m_erp2;         //error reduction for contact constraints
-	btScalar m_deformable_erp;          //error reduction for deformable constraints
-	btScalar m_deformable_cfm;          //constraint force mixing for deformable constraints
-	btScalar m_deformable_maxErrorReduction; // maxErrorReduction for deformable contact
-	btScalar m_globalCfm;    //constraint force mixing for contacts and non-contacts
-	btScalar m_frictionERP;  //error reduction for friction constraints
-	btScalar m_frictionCFM;  //constraint force mixing for friction constraints
-
-	int m_splitImpulse;
-	btScalar m_splitImpulsePenetrationThreshold;
-	btScalar m_splitImpulseTurnErp;
-	btScalar m_linearSlop;
-	btScalar m_warmstartingFactor;
-	btScalar m_articulatedWarmstartingFactor;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-	btScalar m_maxGyroscopicForce;
-	btScalar m_singleAxisRollingFrictionThreshold;
-	btScalar m_leastSquaresResidualThreshold;
-	btScalar m_restitutionVelocityThreshold;
-	bool m_jointFeedbackInWorldSpace;
-	bool m_jointFeedbackInJointFrame;
-	int m_reportSolverAnalytics;
-	int m_numNonContactInnerIterations;
-};
-
-struct btContactSolverInfo : public btContactSolverInfoData
-{
-	inline btContactSolverInfo()
-	{
-		m_tau = btScalar(0.6);
-		m_damping = btScalar(1.0);
-		m_friction = btScalar(0.3);
-		m_timeStep = btScalar(1.f / 60.f);
-		m_restitution = btScalar(0.);
-		m_maxErrorReduction = btScalar(20.);
-		m_numIterations = 10;
-		m_erp = btScalar(0.2);
-		m_erp2 = btScalar(0.2);
-		m_deformable_erp = btScalar(0.06);
-		m_deformable_cfm = btScalar(0.01);
-		m_deformable_maxErrorReduction = btScalar(0.1);
-		m_globalCfm = btScalar(0.);
-		m_frictionERP = btScalar(0.2);  //positional friction 'anchors' are disabled by default
-		m_frictionCFM = btScalar(0.);
-		m_sor = btScalar(1.);
-		m_splitImpulse = true;
-		m_splitImpulsePenetrationThreshold = -.04f;
-		m_splitImpulseTurnErp = 0.1f;
-		m_linearSlop = btScalar(0.0);
-		m_warmstartingFactor = btScalar(0.85);
-		m_articulatedWarmstartingFactor = btScalar(0.85);
-		//m_solverMode =  SOLVER_USE_WARMSTARTING |  SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
-		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;  // | SOLVER_RANDMIZE_ORDER;
-		m_restingContactRestitutionThreshold = 2;              //unused as of 2.81
-		m_minimumSolverBatchSize = 128;                        //try to combine islands until the amount of constraints reaches this limit
-		m_maxGyroscopicForce = 100.f;                          ///it is only used for 'explicit' version of gyroscopic force
-		m_singleAxisRollingFrictionThreshold = 1e30f;          ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
-		m_leastSquaresResidualThreshold = 0.f;
-		m_restitutionVelocityThreshold = 0.2f;  //if the relative velocity is below this threshold, there is zero restitution
-		m_jointFeedbackInWorldSpace = false;
-		m_jointFeedbackInJointFrame = false;
-		m_reportSolverAnalytics = 0;
-		m_numNonContactInnerIterations = 1;   // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
-	}
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btContactSolverInfoDoubleData
-{
-	double m_tau;
-	double m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	double m_friction;
-	double m_timeStep;
-	double m_restitution;
-	double m_maxErrorReduction;
-	double m_sor;
-	double m_erp;        //used as Baumgarte factor
-	double m_erp2;       //used in Split Impulse
-	double m_globalCfm;  //constraint force mixing
-	double m_splitImpulsePenetrationThreshold;
-	double m_splitImpulseTurnErp;
-	double m_linearSlop;
-	double m_warmstartingFactor;
-	double m_articulatedWarmstartingFactor;
-	double m_maxGyroscopicForce;  ///it is only used for 'explicit' version of gyroscopic force
-	double m_singleAxisRollingFrictionThreshold;
-
-	int m_numIterations;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-	int m_splitImpulse;
-	char m_padding[4];
-};
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btContactSolverInfoFloatData
-{
-	float m_tau;
-	float m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	float m_friction;
-	float m_timeStep;
-
-	float m_restitution;
-	float m_maxErrorReduction;
-	float m_sor;
-	float m_erp;  //used as Baumgarte factor
-
-	float m_erp2;       //used in Split Impulse
-	float m_globalCfm;  //constraint force mixing
-	float m_splitImpulsePenetrationThreshold;
-	float m_splitImpulseTurnErp;
-
-	float m_linearSlop;
-	float m_warmstartingFactor;
-	float m_articulatedWarmstartingFactor;
-	float m_maxGyroscopicForce;
-
-	float m_singleAxisRollingFrictionThreshold;
-	int m_numIterations;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-
-	int m_minimumSolverBatchSize;
-	int m_splitImpulse;
-	
-};
-
-#endif  //BT_CONTACT_SOLVER_INFO