1 files changed, 0 insertions, 34 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
index e17ab94d98..d7ed05ce57 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
@@ -342,40 +342,6 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra
 		solverConstraint.m_friction = 0.f;  //cp.m_combinedFriction;
 	}
 
-	///warm starting (or zero if disabled)
-	/*
-     if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-     {
-     solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-     
-     if (solverConstraint.m_appliedImpulse)
-     {
-     if (multiBodyA)
-     {
-     btScalar impulse = solverConstraint.m_appliedImpulse;
-     btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-     multiBodyA->applyDeltaVee(deltaV,impulse);
-     applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
-     } else
-     {
-     if (rb0)
-					bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
-     }
-     if (multiBodyB)
-     {
-     btScalar impulse = solverConstraint.m_appliedImpulse;
-     btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-     multiBodyB->applyDeltaVee(deltaV,impulse);
-     applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
-     } else
-     {
-     if (rb1)
-					bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
-     }
-     }
-     } else
-     */
-
 	solverConstraint.m_appliedImpulse = 0.f;
 	solverConstraint.m_appliedPushImpulse = 0.f;