1 files changed, 0 insertions, 216 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
deleted file mode 100644
index f51e69deb1..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
+++ /dev/null
@@ -1,216 +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.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodyPoint2Point.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btIDebugDraw.h"
-
-#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
-#define BTMBP2PCONSTRAINT_DIM 3
-#else
-#define BTMBP2PCONSTRAINT_DIM 6
-#endif
-
-btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
-	: btMultiBodyConstraint(body, 0, link, -1, BTMBP2PCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_POINT_TO_POINT),
-	  m_rigidBodyA(0),
-	  m_rigidBodyB(bodyB),
-	  m_pivotInA(pivotInA),
-	  m_pivotInB(pivotInB)
-{
-	m_data.resize(BTMBP2PCONSTRAINT_DIM);  //at least store the applied impulses
-}
-
-btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB)
-	: btMultiBodyConstraint(bodyA, bodyB, linkA, linkB, BTMBP2PCONSTRAINT_DIM, false, MULTIBODY_CONSTRAINT_POINT_TO_POINT),
-	  m_rigidBodyA(0),
-	  m_rigidBodyB(0),
-	  m_pivotInA(pivotInA),
-	  m_pivotInB(pivotInB)
-{
-	m_data.resize(BTMBP2PCONSTRAINT_DIM);  //at least store the applied impulses
-}
-
-void btMultiBodyPoint2Point::finalizeMultiDof()
-{
-	//not implemented yet
-	btAssert(0);
-}
-
-btMultiBodyPoint2Point::~btMultiBodyPoint2Point()
-{
-}
-
-int btMultiBodyPoint2Point::getIslandIdA() const
-{
-	if (m_rigidBodyA)
-		return m_rigidBodyA->getIslandTag();
-
-	if (m_bodyA)
-	{
-		if (m_linkA < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyA->getLink(m_linkA).m_collider)
-				return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-int btMultiBodyPoint2Point::getIslandIdB() const
-{
-	if (m_rigidBodyB)
-		return m_rigidBodyB->getIslandTag();
-	if (m_bodyB)
-	{
-		if (m_linkB < 0)
-		{
-			btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-			if (col)
-				return col->getIslandTag();
-		}
-		else
-		{
-			if (m_bodyB->getLink(m_linkB).m_collider)
-				return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-												  btMultiBodyJacobianData& data,
-												  const btContactSolverInfo& infoGlobal)
-{
-	//	int i=1;
-	int numDim = BTMBP2PCONSTRAINT_DIM;
-	for (int i = 0; i < numDim; i++)
-	{
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-		//memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
-		constraintRow.m_orgConstraint = this;
-		constraintRow.m_orgDofIndex = i;
-		constraintRow.m_relpos1CrossNormal.setValue(0, 0, 0);
-		constraintRow.m_contactNormal1.setValue(0, 0, 0);
-		constraintRow.m_relpos2CrossNormal.setValue(0, 0, 0);
-		constraintRow.m_contactNormal2.setValue(0, 0, 0);
-		constraintRow.m_angularComponentA.setValue(0, 0, 0);
-		constraintRow.m_angularComponentB.setValue(0, 0, 0);
-
-		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
-		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
-
-		btVector3 contactNormalOnB(0, 0, 0);
-#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
-		contactNormalOnB[i] = -1;
-#else
-		contactNormalOnB[i % 3] = -1;
-#endif
-
-		// Convert local points back to world
-		btVector3 pivotAworld = m_pivotInA;
-		if (m_rigidBodyA)
-		{
-			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
-			pivotAworld = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
-		}
-		else
-		{
-			if (m_bodyA)
-				pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-		}
-		btVector3 pivotBworld = m_pivotInB;
-		if (m_rigidBodyB)
-		{
-			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
-			pivotBworld = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
-		}
-		else
-		{
-			if (m_bodyB)
-				pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-		}
-
-		btScalar posError = i < 3 ? (pivotAworld - pivotBworld).dot(contactNormalOnB) : 0;
-
-#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
-
-		fillMultiBodyConstraint(constraintRow, data, 0, 0, btVector3(0, 0, 0),
-								contactNormalOnB, pivotAworld, pivotBworld,  //sucks but let it be this way "for the time being"
-								posError,
-								infoGlobal,
-								-m_maxAppliedImpulse, m_maxAppliedImpulse);
-		//@todo: support the case of btMultiBody versus btRigidBody,
-		//see btPoint2PointConstraint::getInfo2NonVirtual
-#else
-		const btVector3 dummy(0, 0, 0);
-
-		btAssert(m_bodyA->isMultiDof());
-
-		btScalar* jac1 = jacobianA(i);
-		const btVector3& normalAng = i >= 3 ? contactNormalOnB : dummy;
-		const btVector3& normalLin = i < 3 ? contactNormalOnB : dummy;
-
-		m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, normalLin, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
-
-		fillMultiBodyConstraint(constraintRow, data, jac1, 0,
-								dummy, dummy, dummy,  //sucks but let it be this way "for the time being"
-								posError,
-								infoGlobal,
-								-m_maxAppliedImpulse, m_maxAppliedImpulse);
-#endif
-	}
-}
-
-void btMultiBodyPoint2Point::debugDraw(class btIDebugDraw* drawer)
-{
-	btTransform tr;
-	tr.setIdentity();
-
-	if (m_rigidBodyA)
-	{
-		btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
-		tr.setOrigin(pivot);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_bodyA)
-	{
-		btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-		tr.setOrigin(pivotAworld);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_rigidBodyB)
-	{
-		// that ideally should draw the same frame
-		btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
-		tr.setOrigin(pivot);
-		drawer->drawTransform(tr, 0.1);
-	}
-	if (m_bodyB)
-	{
-		btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-		tr.setOrigin(pivotBworld);
-		drawer->drawTransform(tr, 0.1);
-	}
-}