1 files changed, 0 insertions, 80 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
deleted file mode 100644
index 42ed1fbb87..0000000000
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-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 "btUniversalConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-
-#define UNIV_EPS btScalar(0.01f)
-
-// constructor
-// anchor, axis1 and axis2 are in world coordinate system
-// axis1 must be orthogonal to axis2
-btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2)
-	: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
-	  m_anchor(anchor),
-	  m_axis1(axis1),
-	  m_axis2(axis2)
-{
-	// build frame basis
-	// 6DOF constraint uses Euler angles and to define limits
-	// it is assumed that rotational order is :
-	// Z - first, allowed limits are (-PI,PI);
-	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
-	// used to prevent constraint from instability on poles;
-	// new position of X, allowed limits are (-PI,PI);
-	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
-	// Build the frame in world coordinate system first
-	btVector3 zAxis = m_axis1.normalize();
-	btVector3 yAxis = m_axis2.normalize();
-	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
-								 xAxis[1], yAxis[1], zAxis[1],
-								 xAxis[2], yAxis[2], zAxis[2]);
-	frameInW.setOrigin(anchor);
-	// now get constraint frame in local coordinate systems
-	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
-	// sei limits
-	setLinearLowerLimit(btVector3(0., 0., 0.));
-	setLinearUpperLimit(btVector3(0., 0., 0.));
-	setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
-	setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
-}
-
-void btUniversalConstraint::setAxis(const btVector3& axis1, const btVector3& axis2)
-{
-	m_axis1 = axis1;
-	m_axis2 = axis2;
-
-	btVector3 zAxis = axis1.normalized();
-	btVector3 yAxis = axis2.normalized();
-	btVector3 xAxis = yAxis.cross(zAxis);  // we want right coordinate system
-
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
-								 xAxis[1], yAxis[1], zAxis[1],
-								 xAxis[2], yAxis[2], zAxis[2]);
-	frameInW.setOrigin(m_anchor);
-
-	// now get constraint frame in local coordinate systems
-	m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
-
-	calculateTransforms();
-}