1 files changed, 0 insertions, 107 deletions
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
deleted file mode 100644
index c3f4ec3997..0000000000
--- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2013 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.
-*/
-///original version written by Erwin Coumans, October 2013
-
-#ifndef BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
-#define BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
-
-#include "btMLCPSolverInterface.h"
-
-///This solver is mainly for debug/learning purposes: it is functionally equivalent to the btSequentialImpulseConstraintSolver solver, but much slower (it builds the full LCP matrix)
-class btSolveProjectedGaussSeidel : public btMLCPSolverInterface
-{
-public:
-	btScalar m_leastSquaresResidualThreshold;
-	btScalar m_leastSquaresResidual;
-
-	btSolveProjectedGaussSeidel()
-		: m_leastSquaresResidualThreshold(0),
-		  m_leastSquaresResidual(0)
-	{
-	}
-
-	virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
-	{
-		if (!A.rows())
-			return true;
-		//the A matrix is sparse, so compute the non-zero elements
-		A.rowComputeNonZeroElements();
-
-		//A is a m-n matrix, m rows, n columns
-		btAssert(A.rows() == b.rows());
-
-		int i, j, numRows = A.rows();
-
-		btScalar delta;
-
-		for (int k = 0; k < numIterations; k++)
-		{
-			m_leastSquaresResidual = 0.f;
-			for (i = 0; i < numRows; i++)
-			{
-				delta = 0.0f;
-				if (useSparsity)
-				{
-					for (int h = 0; h < A.m_rowNonZeroElements1[i].size(); h++)
-					{
-						j = A.m_rowNonZeroElements1[i][h];
-						if (j != i)  //skip main diagonal
-						{
-							delta += A(i, j) * x[j];
-						}
-					}
-				}
-				else
-				{
-					for (j = 0; j < i; j++)
-						delta += A(i, j) * x[j];
-					for (j = i + 1; j < numRows; j++)
-						delta += A(i, j) * x[j];
-				}
-
-				btScalar aDiag = A(i, i);
-				btScalar xOld = x[i];
-				x[i] = (b[i] - delta) / aDiag;
-				btScalar s = 1.f;
-
-				if (limitDependency[i] >= 0)
-				{
-					s = x[limitDependency[i]];
-					if (s < 0)
-						s = 1;
-				}
-
-				if (x[i] < lo[i] * s)
-					x[i] = lo[i] * s;
-				if (x[i] > hi[i] * s)
-					x[i] = hi[i] * s;
-				btScalar diff = x[i] - xOld;
-				m_leastSquaresResidual += diff * diff;
-			}
-
-			btScalar eps = m_leastSquaresResidualThreshold;
-			if ((m_leastSquaresResidual < eps) || (k >= (numIterations - 1)))
-			{
-#ifdef VERBOSE_PRINTF_RESIDUAL
-				printf("totalLenSqr = %f at iteration #%d\n", m_leastSquaresResidual, k);
-#endif
-				break;
-			}
-		}
-		return true;
-	}
-};
-
-#endif  //BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H