1 files changed, 0 insertions, 118 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h
deleted file mode 100644
index bdeccc2e24..0000000000
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h
+++ /dev/null
@@ -1,118 +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
-
-#ifndef BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H
-#define BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H
-
-#include "btMultiBodyConstraint.h"
-struct btSolverInfo;
-
-class btMultiBodySphericalJointMotor : public btMultiBodyConstraint
-{
-protected:
-	btVector3 m_desiredVelocity;
-	btQuaternion m_desiredPosition;
-	bool m_use_multi_dof_params;
-	btVector3 m_kd;
-	btVector3 m_kp;
-	btScalar m_erp;
-	btScalar m_rhsClamp;  //maximum error
-	btVector3 m_maxAppliedImpulseMultiDof;
-	btVector3 m_damping;
-
-public:
-	btMultiBodySphericalJointMotor(btMultiBody* body, int link, btScalar maxMotorImpulse);
-	
-	virtual ~btMultiBodySphericalJointMotor();
-	virtual void finalizeMultiDof();
-
-	virtual int getIslandIdA() const;
-	virtual int getIslandIdB() const;
-
-	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-									  btMultiBodyJacobianData& data,
-									  const btContactSolverInfo& infoGlobal);
-
-	virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.0)
-	{
-		m_desiredVelocity = velTarget;
-		m_kd = btVector3(kd, kd, kd);
-		m_use_multi_dof_params = false;
-	}
-
-	virtual void setVelocityTargetMultiDof(const btVector3& velTarget, const btVector3& kd = btVector3(1.0, 1.0, 1.0))
-	{
-		m_desiredVelocity = velTarget;
-		m_kd = kd;
-		m_use_multi_dof_params = true;
-	}
-
-	virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp =1.f)
-	{
-		m_desiredPosition = posTarget;
-		m_kp = btVector3(kp, kp, kp);
-		m_use_multi_dof_params = false;
-	}
-
-	virtual void setPositionTargetMultiDof(const btQuaternion& posTarget, const btVector3& kp = btVector3(1.f, 1.f, 1.f))
-	{
-		m_desiredPosition = posTarget;
-		m_kp = kp;
-		m_use_multi_dof_params = true;
-	}
-
-	virtual void setErp(btScalar erp)
-	{
-		m_erp = erp;
-	}
-	virtual btScalar getErp() const
-	{
-		return m_erp;
-	}
-	virtual void setRhsClamp(btScalar rhsClamp)
-	{
-		m_rhsClamp = rhsClamp;
-	}
-
-	btScalar getMaxAppliedImpulseMultiDof(int i) const
-	{
-		return m_maxAppliedImpulseMultiDof[i];
-	}
-
-	void setMaxAppliedImpulseMultiDof(const btVector3& maxImp)
-	{
-		m_maxAppliedImpulseMultiDof = maxImp;
-		m_use_multi_dof_params = true;
-	}
-
-	btScalar getDamping(int i) const
-	{
-		return m_damping[i];
-	}
-
-	void setDamping(const btVector3& damping)
-	{
-		m_damping = damping;
-	}
-
-	virtual void debugDraw(class btIDebugDraw* drawer)
-	{
-		//todo(erwincoumans)
-	}
-};
-
-#endif  //BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H