1 files changed, 0 insertions, 131 deletions
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
deleted file mode 100644
index a718db051e..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
+++ /dev/null
@@ -1,131 +0,0 @@
-#include "MultiBodyTreeInitCache.hpp"
-
-namespace btInverseDynamics
-{
-MultiBodyTree::InitCache::InitCache()
-{
-	m_inertias.resize(0);
-	m_joints.resize(0);
-	m_num_dofs = 0;
-	m_root_index = -1;
-}
-
-int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_index,
-									  const JointType joint_type,
-									  const vec3& parent_r_parent_body_ref,
-									  const mat33& body_T_parent_ref,
-									  const vec3& body_axis_of_motion, const idScalar mass,
-									  const vec3& body_r_body_com, const mat33& body_I_body,
-									  const int user_int, void* user_ptr)
-{
-	switch (joint_type)
-	{
-		case REVOLUTE:
-		case PRISMATIC:
-			m_num_dofs += 1;
-			break;
-		case FIXED:
-			// does not add a degree of freedom
-			// m_num_dofs+=0;
-			break;
-		case SPHERICAL:
-			m_num_dofs += 3;
-			break;
-		case FLOATING:
-			m_num_dofs += 6;
-			break;
-		default:
-			bt_id_error_message("unknown joint type %d\n", joint_type);
-			return -1;
-	}
-
-	if (-1 == parent_index)
-	{
-		if (m_root_index >= 0)
-		{
-			bt_id_error_message("trying to add body %d as root, but already added %d as root body\n",
-								body_index, m_root_index);
-			return -1;
-		}
-		m_root_index = body_index;
-	}
-
-	JointData joint;
-	joint.m_child = body_index;
-	joint.m_parent = parent_index;
-	joint.m_type = joint_type;
-	joint.m_parent_pos_parent_child_ref = parent_r_parent_body_ref;
-	joint.m_child_T_parent_ref = body_T_parent_ref;
-	joint.m_child_axis_of_motion = body_axis_of_motion;
-
-	InertiaData body;
-	body.m_mass = mass;
-	body.m_body_pos_body_com = body_r_body_com;
-	body.m_body_I_body = body_I_body;
-
-	m_inertias.push_back(body);
-	m_joints.push_back(joint);
-	m_user_int.push_back(user_int);
-	m_user_ptr.push_back(user_ptr);
-	return 0;
-}
-int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inertia) const
-{
-	if (index < 0 || index > static_cast<int>(m_inertias.size()))
-	{
-		bt_id_error_message("index out of range\n");
-		return -1;
-	}
-
-	*inertia = m_inertias[index];
-	return 0;
-}
-
-int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const
-{
-	if (index < 0 || index > static_cast<int>(m_user_int.size()))
-	{
-		bt_id_error_message("index out of range\n");
-		return -1;
-	}
-	*user_int = m_user_int[index];
-	return 0;
-}
-
-int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const
-{
-	if (index < 0 || index > static_cast<int>(m_user_ptr.size()))
-	{
-		bt_id_error_message("index out of range\n");
-		return -1;
-	}
-	*user_ptr = m_user_ptr[index];
-	return 0;
-}
-
-int MultiBodyTree::InitCache::getJointData(const int index, JointData* joint) const
-{
-	if (index < 0 || index > static_cast<int>(m_joints.size()))
-	{
-		bt_id_error_message("index out of range\n");
-		return -1;
-	}
-	*joint = m_joints[index];
-	return 0;
-}
-
-int MultiBodyTree::InitCache::buildIndexSets()
-{
-	// NOTE: This function assumes that proper indices were provided
-	//	   User2InternalIndex from utils can be used to facilitate this.
-
-	m_parent_index.resize(numBodies());
-	for (idArrayIdx j = 0; j < m_joints.size(); j++)
-	{
-		const JointData& joint = m_joints[j];
-		m_parent_index[joint.m_child] = joint.m_parent;
-	}
-
-	return 0;
-}
-}  // namespace btInverseDynamics