1 files changed, 0 insertions, 101 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
deleted file mode 100644
index f584360e2b..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-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_MULTIBODY_CONSTRAINT_SOLVER_H
-#define BT_MULTIBODY_CONSTRAINT_SOLVER_H
-
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "btMultiBodySolverConstraint.h"
-
-#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
-
-class btMultiBody;
-
-#include "btMultiBodyConstraint.h"
-
-ATTRIBUTE_ALIGNED16(class)
-btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
-{
-protected:
-	btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
-
-	btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
-	btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
-	btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints;
-	btMultiBodyConstraintArray m_multiBodySpinningFrictionContactConstraints;
-
-	btMultiBodyJacobianData m_data;
-
-	//temp storage for multi body constraints for a specific island/group called by 'solveGroup'
-	btMultiBodyConstraint** m_tmpMultiBodyConstraints;
-	int m_tmpNumMultiBodyConstraints;
-
-	btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
-
-	//solve 2 friction directions and clamp against the implicit friction cone
-	btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB);
-
-	void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
-
-	btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
-
-	btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
-																		 btScalar combinedTorsionalFriction,
-																		 btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
-
-	btMultiBodySolverConstraint& addMultiBodySpinningFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
-		btScalar combinedTorsionalFriction,
-		btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
-
-	void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint & constraintRow,
-											btScalar * jacA, btScalar * jacB,
-											btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
-											const btContactSolverInfo& infoGlobal);
-
-	void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint,
-										 const btVector3& contactNormal,
-                     const btScalar& appliedImpulse,
-										 btManifoldPoint& cp,
-                     const btContactSolverInfo& infoGlobal,
-										 btScalar& relaxation,
-										 bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
-
-	//either rolling or spinning friction
-	void setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint & solverConstraint,
-												   const btVector3& contactNormal,
-												   btManifoldPoint& cp,
-												   btScalar combinedTorsionalFriction,
-												   const btContactSolverInfo& infoGlobal,
-												   btScalar& relaxation,
-												   bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
-
-	void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-	//	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
-	void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof);
-	void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
-	virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
-	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
-
-	virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
-};
-
-#endif  //BT_MULTIBODY_CONSTRAINT_SOLVER_H