1 files changed, 0 insertions, 107 deletions
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp b/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp
deleted file mode 100644
index b662b80152..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp
+++ /dev/null
@@ -1,107 +0,0 @@
-///@file Configuration for Inverse Dynamics Library,
-///	  such as choice of linear algebra library and underlying scalar type
-#ifndef IDCONFIG_HPP_
-#define IDCONFIG_HPP_
-
-// If true, enable jacobian calculations.
-// This adds a 3xN matrix to every body, + 2 3-Vectors.
-// so it is not advised for large systems if it is not absolutely necessary.
-// Also, this is not required for standard inverse dynamics calculations.
-// Will only work with vector math libraries that support 3xN matrices.
-#define BT_ID_WITH_JACOBIANS
-
-// If we have a custom configuration, compile without using other parts of bullet.
-#ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H
-#include <cmath>
-#define BT_ID_WO_BULLET
-#define BT_ID_SQRT(x) std::sqrt(x)
-#define BT_ID_FABS(x) std::fabs(x)
-#define BT_ID_COS(x) std::cos(x)
-#define BT_ID_SIN(x) std::sin(x)
-#define BT_ID_ATAN2(x, y) std::atan2(x, y)
-#define BT_ID_POW(x, y) std::pow(x, y)
-#define BT_ID_SNPRINTF snprintf
-#define BT_ID_PI M_PI
-#define BT_ID_USE_DOUBLE_PRECISION
-#else
-#define BT_ID_SQRT(x) btSqrt(x)
-#define BT_ID_FABS(x) btFabs(x)
-#define BT_ID_COS(x) btCos(x)
-#define BT_ID_SIN(x) btSin(x)
-#define BT_ID_ATAN2(x, y) btAtan2(x, y)
-#define BT_ID_POW(x, y) btPow(x, y)
-#define BT_ID_PI SIMD_PI
-#ifdef _WIN32
-#define BT_ID_SNPRINTF _snprintf
-#else
-#define BT_ID_SNPRINTF snprintf
-#endif  //
-#endif
-// error messages
-#include "IDErrorMessages.hpp"
-
-#ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H
-/*
-#include "IDConfigEigen.hpp"
-#include "IDConfigBuiltin.hpp"
-*/
-#define INVDYN_INCLUDE_HELPER_2(x) #x
-#define INVDYN_INCLUDE_HELPER(x) INVDYN_INCLUDE_HELPER_2(x)
-#include INVDYN_INCLUDE_HELPER(BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H)
-#ifndef btInverseDynamics
-#error "custom inverse dynamics config, but no custom namespace defined"
-#endif
-
-#define BT_ID_MAX(a, b) std::max(a, b)
-#define BT_ID_MIN(a, b) std::min(a, b)
-
-#else
-#define btInverseDynamics btInverseDynamicsBullet3
-// Use default configuration with bullet's types
-// Use the same scalar type as rest of bullet library
-#include "LinearMath/btScalar.h"
-typedef btScalar idScalar;
-#include "LinearMath/btMinMax.h"
-#define BT_ID_MAX(a, b) btMax(a, b)
-#define BT_ID_MIN(a, b) btMin(a, b)
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define BT_ID_USE_DOUBLE_PRECISION
-#endif
-
-#ifndef BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
-
-// use bullet types for arrays and array indices
-#include "Bullet3Common/b3AlignedObjectArray.h"
-// this is to make it work with C++2003, otherwise we could do this:
-// template <typename T>
-// using idArray = b3AlignedObjectArray<T>;
-template <typename T>
-struct idArray
-{
-	typedef b3AlignedObjectArray<T> type;
-};
-typedef int idArrayIdx;
-#define ID_DECLARE_ALIGNED_ALLOCATOR() B3_DECLARE_ALIGNED_ALLOCATOR()
-
-#else  // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
-
-#include "LinearMath/btAlignedObjectArray.h"
-template <typename T>
-struct idArray
-{
-	typedef btAlignedObjectArray<T> type;
-};
-typedef int idArrayIdx;
-#define ID_DECLARE_ALIGNED_ALLOCATOR() BT_DECLARE_ALIGNED_ALLOCATOR()
-
-#endif  // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
-
-// use bullet's allocator functions
-#define idMalloc btAllocFunc
-#define idFree btFreeFunc
-
-#define ID_LINEAR_MATH_USE_BULLET
-#include "details/IDLinearMathInterface.hpp"
-#endif
-#endif