1 files changed, 0 insertions, 202 deletions
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
deleted file mode 100644
index 0c398a3727..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
+++ /dev/null
@@ -1,202 +0,0 @@
-#ifndef IDLINEARMATHINTERFACE_HPP_
-#define IDLINEARMATHINTERFACE_HPP_
-
-#include <cstdlib>
-
-#include "../IDConfig.hpp"
-
-#include "../../LinearMath/btMatrix3x3.h"
-#include "../../LinearMath/btVector3.h"
-#include "../../LinearMath/btMatrixX.h"
-#define BT_ID_HAVE_MAT3X
-
-namespace btInverseDynamics
-{
-class vec3;
-class vecx;
-class mat33;
-typedef btMatrixX<idScalar> matxx;
-
-class vec3 : public btVector3
-{
-public:
-	vec3() : btVector3() {}
-	vec3(const btVector3& btv) { *this = btv; }
-	idScalar& operator()(int i) { return (*this)[i]; }
-	const idScalar& operator()(int i) const { return (*this)[i]; }
-	int size() const { return 3; }
-	const vec3& operator=(const btVector3& rhs)
-	{
-		*static_cast<btVector3*>(this) = rhs;
-		return *this;
-	}
-};
-
-class mat33 : public btMatrix3x3
-{
-public:
-	mat33() : btMatrix3x3() {}
-	mat33(const btMatrix3x3& btm) { *this = btm; }
-	idScalar& operator()(int i, int j) { return (*this)[i][j]; }
-	const idScalar& operator()(int i, int j) const { return (*this)[i][j]; }
-	const mat33& operator=(const btMatrix3x3& rhs)
-	{
-		*static_cast<btMatrix3x3*>(this) = rhs;
-		return *this;
-	}
-	friend mat33 operator*(const idScalar& s, const mat33& a);
-	friend mat33 operator/(const mat33& a, const idScalar& s);
-};
-
-inline mat33 operator/(const mat33& a, const idScalar& s) { return a * (1.0 / s); }
-
-inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
-
-class vecx : public btVectorX<idScalar>
-{
-public:
-	vecx(int size) : btVectorX<idScalar>(size) {}
-	const vecx& operator=(const btVectorX<idScalar>& rhs)
-	{
-		*static_cast<btVectorX<idScalar>*>(this) = rhs;
-		return *this;
-	}
-
-	idScalar& operator()(int i) { return (*this)[i]; }
-	const idScalar& operator()(int i) const { return (*this)[i]; }
-
-	friend vecx operator*(const vecx& a, const idScalar& s);
-	friend vecx operator*(const idScalar& s, const vecx& a);
-
-	friend vecx operator+(const vecx& a, const vecx& b);
-	friend vecx operator-(const vecx& a, const vecx& b);
-	friend vecx operator/(const vecx& a, const idScalar& s);
-};
-
-inline vecx operator*(const vecx& a, const idScalar& s)
-{
-	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++)
-	{
-		result(i) = a(i) * s;
-	}
-	return result;
-}
-inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
-inline vecx operator+(const vecx& a, const vecx& b)
-{
-	vecx result(a.size());
-	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size())
-	{
-		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
-		abort();
-	}
-	for (int i = 0; i < a.size(); i++)
-	{
-		result(i) = a(i) + b(i);
-	}
-
-	return result;
-}
-
-inline vecx operator-(const vecx& a, const vecx& b)
-{
-	vecx result(a.size());
-	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size())
-	{
-		bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
-		abort();
-	}
-	for (int i = 0; i < a.size(); i++)
-	{
-		result(i) = a(i) - b(i);
-	}
-	return result;
-}
-inline vecx operator/(const vecx& a, const idScalar& s)
-{
-	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++)
-	{
-		result(i) = a(i) / s;
-	}
-
-	return result;
-}
-
-// use btMatrixX to implement 3xX matrix
-class mat3x : public matxx
-{
-public:
-	mat3x() {}
-	mat3x(const mat3x& rhs)
-	{
-		matxx::resize(rhs.rows(), rhs.cols());
-		*this = rhs;
-	}
-	mat3x(int rows, int cols) : matxx(3, cols)
-	{
-	}
-	void operator=(const mat3x& rhs)
-	{
-		if (m_cols != rhs.m_cols)
-		{
-			bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
-			abort();
-		}
-		for (int i = 0; i < rows(); i++)
-		{
-			for (int k = 0; k < cols(); k++)
-			{
-				setElem(i, k, rhs(i, k));
-			}
-		}
-	}
-	void setZero()
-	{
-		matxx::setZero();
-	}
-};
-
-inline vec3 operator*(const mat3x& a, const vecx& b)
-{
-	vec3 result;
-	if (a.cols() != b.size())
-	{
-		bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
-		abort();
-	}
-	result(0) = 0.0;
-	result(1) = 0.0;
-	result(2) = 0.0;
-	for (int i = 0; i < b.size(); i++)
-	{
-		for (int k = 0; k < 3; k++)
-		{
-			result(k) += a(k, i) * b(i);
-		}
-	}
-	return result;
-}
-
-inline void resize(mat3x& m, idArrayIdx size)
-{
-	m.resize(3, size);
-	m.setZero();
-}
-
-inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx* m)
-{
-	m->setElem(row, col, val);
-}
-
-inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x* m)
-{
-	m->setElem(row, col, val);
-}
-
-}  // namespace btInverseDynamics
-
-#endif  // IDLINEARMATHINTERFACE_HPP_