1 files changed, 0 insertions, 180 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp
deleted file mode 100644
index 00a7ef3579..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2018 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 "btMultiBodySphericalJointMotor.h"
-#include "btMultiBody.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "LinearMath/btTransformUtil.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
-
-btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor(btMultiBody* body, int link, btScalar maxMotorImpulse)
-	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 3, true, MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR),
-	m_desiredVelocity(0, 0, 0),
-	m_desiredPosition(0,0,0,1),
-	m_use_multi_dof_params(false),
-	m_kd(1., 1., 1.),
-	m_kp(0.2, 0.2, 0.2),
-	m_erp(1),
-	m_rhsClamp(SIMD_INFINITY),
-	m_maxAppliedImpulseMultiDof(maxMotorImpulse, maxMotorImpulse, maxMotorImpulse),
-	m_damping(1.0, 1.0, 1.0)
-{
-
-	m_maxAppliedImpulse = maxMotorImpulse;
-}
-
-
-void btMultiBodySphericalJointMotor::finalizeMultiDof()
-{
-	allocateJacobiansMultiDof();
-	// note: we rely on the fact that data.m_jacobians are
-	// always initialized to zero by the Constraint ctor
-	int linkDoF = 0;
-	unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
-
-	// row 0: the lower bound
-	// row 0: the lower bound
-	jacobianA(0)[offset] = 1;
-
-	m_numDofsFinalized = m_jacSizeBoth;
-}
-
-
-btMultiBodySphericalJointMotor::~btMultiBodySphericalJointMotor()
-{
-}
-
-int btMultiBodySphericalJointMotor::getIslandIdA() const
-{
-	if (this->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 btMultiBodySphericalJointMotor::getIslandIdB() const
-{
-	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 btMultiBodySphericalJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-												 btMultiBodyJacobianData& data,
-												 const btContactSolverInfo& infoGlobal)
-{
-	// only positions need to be updated -- data.m_jacobians and force
-	// directions were set in the ctor and never change.
-
-	if (m_numDofsFinalized != m_jacSizeBoth)
-	{
-		finalizeMultiDof();
-	}
-
-	//don't crash
-	if (m_numDofsFinalized != m_jacSizeBoth)
-		return;
-	
-
-	if (m_maxAppliedImpulse == 0.f)
-		return;
-
-	const btScalar posError = 0;
-	const btVector3 dummy(0, 0, 0);
-
-	
-	btVector3 axis[3] = { btVector3(1, 0, 0), btVector3(0, 1, 0), btVector3(0, 0, 1) };
-	
-	btQuaternion desiredQuat = m_desiredPosition;
-	btQuaternion currentQuat(m_bodyA->getJointPosMultiDof(m_linkA)[0],
-		m_bodyA->getJointPosMultiDof(m_linkA)[1],
-		m_bodyA->getJointPosMultiDof(m_linkA)[2],
-		m_bodyA->getJointPosMultiDof(m_linkA)[3]);
-
-btQuaternion relRot = currentQuat.inverse() * desiredQuat;
-	btVector3 angleDiff;
-	btGeneric6DofSpring2Constraint::matrixToEulerXYZ(btMatrix3x3(relRot), angleDiff);
-
-
-
-	for (int row = 0; row < getNumRows(); row++)
-	{
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-
-		int dof = row;
-		
-		btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
-		btScalar desiredVelocity = this->m_desiredVelocity[row];
-		
-		double kd = m_use_multi_dof_params ? m_kd[row % 3] : m_kd[0];
-		btScalar velocityError = (desiredVelocity - currentVelocity) * kd;
-
-		btMatrix3x3 frameAworld;
-		frameAworld.setIdentity();
-		frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
-		btScalar posError = 0;
-		{
-			btAssert(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eSpherical);
-			switch (m_bodyA->getLink(m_linkA).m_jointType)
-			{
-				case btMultibodyLink::eSpherical:
-				{
-					btVector3 constraintNormalAng = frameAworld.getColumn(row % 3);
-					double kp = m_use_multi_dof_params ? m_kp[row % 3] : m_kp[0];
-					posError = kp*angleDiff[row % 3];
-					double max_applied_impulse = m_use_multi_dof_params ? m_maxAppliedImpulseMultiDof[row % 3] : m_maxAppliedImpulse;
-					fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
-						btVector3(0,0,0), dummy, dummy,
-						posError,
-						infoGlobal,
-						-max_applied_impulse, max_applied_impulse, true,
-						1.0, false, 0, 0,
-						m_damping[row % 3]);
-					constraintRow.m_orgConstraint = this;
-					constraintRow.m_orgDofIndex = row;
-					break;
-				}
-				default:
-				{
-					btAssert(0);
-				}
-			};
-		}
-	}
-}