1 files changed, 0 insertions, 205 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
deleted file mode 100644
index ad399dc57f..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
+++ /dev/null
@@ -1,205 +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 "btPoint2PointConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include <new>
-
-btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB)
-	: btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE, rbA, rbB), m_pivotInA(pivotInA), m_pivotInB(pivotInB), m_flags(0), m_useSolveConstraintObsolete(false)
-{
-}
-
-btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA, const btVector3& pivotInA)
-	: btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE, rbA), m_pivotInA(pivotInA), m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)), m_flags(0), m_useSolveConstraintObsolete(false)
-{
-}
-
-void btPoint2PointConstraint::buildJacobian()
-{
-	///we need it for both methods
-	{
-		m_appliedImpulse = btScalar(0.);
-
-		btVector3 normal(0, 0, 0);
-
-		for (int i = 0; i < 3; i++)
-		{
-			normal[i] = 1;
-			new (&m_jac[i]) btJacobianEntry(
-				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbA.getCenterOfMassTransform() * m_pivotInA - m_rbA.getCenterOfMassPosition(),
-				m_rbB.getCenterOfMassTransform() * m_pivotInB - m_rbB.getCenterOfMassPosition(),
-				normal,
-				m_rbA.getInvInertiaDiagLocal(),
-				m_rbA.getInvMass(),
-				m_rbB.getInvInertiaDiagLocal(),
-				m_rbB.getInvMass());
-			normal[i] = 0;
-		}
-	}
-}
-
-void btPoint2PointConstraint::getInfo1(btConstraintInfo1* info)
-{
-	getInfo1NonVirtual(info);
-}
-
-void btPoint2PointConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		info->m_numConstraintRows = 3;
-		info->nub = 3;
-	}
-}
-
-void btPoint2PointConstraint::getInfo2(btConstraintInfo2* info)
-{
-	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
-}
-
-void btPoint2PointConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
-{
-	btAssert(!m_useSolveConstraintObsolete);
-
-	//retrieve matrices
-
-	// anchor points in global coordinates with respect to body PORs.
-
-	// set jacobian
-	info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip + 1] = 1;
-	info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
-
-	btVector3 a1 = body0_trans.getBasis() * getPivotInA();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * info->rowskip);
-		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-
-	info->m_J2linearAxis[0] = -1;
-	info->m_J2linearAxis[info->rowskip + 1] = -1;
-	info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
-
-	btVector3 a2 = body1_trans.getBasis() * getPivotInB();
-
-	{
-		//	btVector3 a2n = -a2;
-		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
-	}
-
-	// set right hand side
-	btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
-	btScalar k = info->fps * currERP;
-	int j;
-	for (j = 0; j < 3; j++)
-	{
-		info->m_constraintError[j * info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
-		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-	}
-	if (m_flags & BT_P2P_FLAGS_CFM)
-	{
-		for (j = 0; j < 3; j++)
-		{
-			info->cfm[j * info->rowskip] = m_cfm;
-		}
-	}
-
-	btScalar impulseClamp = m_setting.m_impulseClamp;  //
-	for (j = 0; j < 3; j++)
-	{
-		if (m_setting.m_impulseClamp > 0)
-		{
-			info->m_lowerLimit[j * info->rowskip] = -impulseClamp;
-			info->m_upperLimit[j * info->rowskip] = impulseClamp;
-		}
-	}
-	info->m_damping = m_setting.m_damping;
-}
-
-void btPoint2PointConstraint::updateRHS(btScalar timeStep)
-{
-	(void)timeStep;
-}
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
-///If no axis is provided, it uses the default axis for this constraint.
-void btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
-{
-	if (axis != -1)
-	{
-		btAssertConstrParams(0);
-	}
-	else
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_ERP:
-			case BT_CONSTRAINT_STOP_ERP:
-				m_erp = value;
-				m_flags |= BT_P2P_FLAGS_ERP;
-				break;
-			case BT_CONSTRAINT_CFM:
-			case BT_CONSTRAINT_STOP_CFM:
-				m_cfm = value;
-				m_flags |= BT_P2P_FLAGS_CFM;
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-}
-
-///return the local value of parameter
-btScalar btPoint2PointConstraint::getParam(int num, int axis) const
-{
-	btScalar retVal(SIMD_INFINITY);
-	if (axis != -1)
-	{
-		btAssertConstrParams(0);
-	}
-	else
-	{
-		switch (num)
-		{
-			case BT_CONSTRAINT_ERP:
-			case BT_CONSTRAINT_STOP_ERP:
-				btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
-				retVal = m_erp;
-				break;
-			case BT_CONSTRAINT_CFM:
-			case BT_CONSTRAINT_STOP_CFM:
-				btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
-				retVal = m_cfm;
-				break;
-			default:
-				btAssertConstrParams(0);
-		}
-	}
-	return retVal;
-}