1 files changed, 0 insertions, 198 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h
deleted file mode 100644
index eb05b9f010..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h
+++ /dev/null
@@ -1,198 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. 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.
- */
-
-#ifndef BT_BACKWARD_EULER_OBJECTIVE_H
-#define BT_BACKWARD_EULER_OBJECTIVE_H
-//#include "btConjugateGradient.h"
-#include "btDeformableLagrangianForce.h"
-#include "btDeformableMassSpringForce.h"
-#include "btDeformableGravityForce.h"
-#include "btDeformableCorotatedForce.h"
-#include "btDeformableMousePickingForce.h"
-#include "btDeformableLinearElasticityForce.h"
-#include "btDeformableNeoHookeanForce.h"
-#include "btDeformableContactProjection.h"
-#include "btPreconditioner.h"
-#include "btDeformableMultiBodyDynamicsWorld.h"
-#include "LinearMath/btQuickprof.h"
-
-class btDeformableBackwardEulerObjective
-{
-public:
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	btScalar m_dt;
-	btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
-	btAlignedObjectArray<btSoftBody*>& m_softBodies;
-	Preconditioner* m_preconditioner;
-	btDeformableContactProjection m_projection;
-	const TVStack& m_backupVelocity;
-	btAlignedObjectArray<btSoftBody::Node*> m_nodes;
-	bool m_implicit;
-	MassPreconditioner* m_massPreconditioner;
-	KKTPreconditioner* m_KKTPreconditioner;
-
-	btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody*>& softBodies, const TVStack& backup_v);
-
-	virtual ~btDeformableBackwardEulerObjective();
-
-	void initialize() {}
-
-	// compute the rhs for CG solve, i.e, add the dt scaled implicit force to residual
-	void computeResidual(btScalar dt, TVStack& residual);
-
-	// add explicit force to the velocity
-	void applyExplicitForce(TVStack& force);
-
-	// apply force to velocity and optionally reset the force to zero
-	void applyForce(TVStack& force, bool setZero);
-
-	// compute the norm of the residual
-	btScalar computeNorm(const TVStack& residual) const;
-
-	// compute one step of the solve (there is only one solve if the system is linear)
-	void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt);
-
-	// perform A*x = b
-	void multiply(const TVStack& x, TVStack& b) const;
-
-	// set initial guess for CG solve
-	void initialGuess(TVStack& dv, const TVStack& residual);
-
-	// reset data structure and reset dt
-	void reinitialize(bool nodeUpdated, btScalar dt);
-
-	void setDt(btScalar dt);
-
-	// add friction force to residual
-	void applyDynamicFriction(TVStack& r);
-
-	// add dv to velocity
-	void updateVelocity(const TVStack& dv);
-
-	//set constraints as projections
-	void setConstraints(const btContactSolverInfo& infoGlobal);
-
-	// update the projections and project the residual
-	void project(TVStack& r)
-	{
-		BT_PROFILE("project");
-		m_projection.project(r);
-	}
-
-	// perform precondition M^(-1) x = b
-	void precondition(const TVStack& x, TVStack& b)
-	{
-		m_preconditioner->operator()(x, b);
-	}
-
-	// reindex all the vertices
-	virtual void updateId()
-	{
-		size_t node_id = 0;
-		size_t face_id = 0;
-		m_nodes.clear();
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				psb->m_nodes[j].index = node_id;
-				m_nodes.push_back(&psb->m_nodes[j]);
-				++node_id;
-			}
-			for (int j = 0; j < psb->m_faces.size(); ++j)
-			{
-				psb->m_faces[j].m_index = face_id;
-				++face_id;
-			}
-		}
-	}
-
-	const btAlignedObjectArray<btSoftBody::Node*>* getIndices() const
-	{
-		return &m_nodes;
-	}
-
-	void setImplicit(bool implicit)
-	{
-		m_implicit = implicit;
-	}
-
-	// Calculate the total potential energy in the system
-	btScalar totalEnergy(btScalar dt);
-
-	void addLagrangeMultiplier(const TVStack& vec, TVStack& extended_vec)
-	{
-		extended_vec.resize(vec.size() + m_projection.m_lagrangeMultipliers.size());
-		for (int i = 0; i < vec.size(); ++i)
-		{
-			extended_vec[i] = vec[i];
-		}
-		int offset = vec.size();
-		for (int i = 0; i < m_projection.m_lagrangeMultipliers.size(); ++i)
-		{
-			extended_vec[offset + i].setZero();
-		}
-	}
-
-	void addLagrangeMultiplierRHS(const TVStack& residual, const TVStack& m_dv, TVStack& extended_residual)
-	{
-		extended_residual.resize(residual.size() + m_projection.m_lagrangeMultipliers.size());
-		for (int i = 0; i < residual.size(); ++i)
-		{
-			extended_residual[i] = residual[i];
-		}
-		int offset = residual.size();
-		for (int i = 0; i < m_projection.m_lagrangeMultipliers.size(); ++i)
-		{
-			const LagrangeMultiplier& lm = m_projection.m_lagrangeMultipliers[i];
-			extended_residual[offset + i].setZero();
-			for (int d = 0; d < lm.m_num_constraints; ++d)
-			{
-				for (int n = 0; n < lm.m_num_nodes; ++n)
-				{
-					extended_residual[offset + i][d] += lm.m_weights[n] * m_dv[lm.m_indices[n]].dot(lm.m_dirs[d]);
-				}
-			}
-		}
-	}
-
-	void calculateContactForce(const TVStack& dv, const TVStack& rhs, TVStack& f)
-	{
-		size_t counter = 0;
-		for (int i = 0; i < m_softBodies.size(); ++i)
-		{
-			btSoftBody* psb = m_softBodies[i];
-			for (int j = 0; j < psb->m_nodes.size(); ++j)
-			{
-				const btSoftBody::Node& node = psb->m_nodes[j];
-				f[counter] = (node.m_im == 0) ? btVector3(0, 0, 0) : dv[counter] / node.m_im;
-				++counter;
-			}
-		}
-		for (int i = 0; i < m_lf.size(); ++i)
-		{
-			// add damping matrix
-			m_lf[i]->addScaledDampingForceDifferential(-m_dt, dv, f);
-		}
-		counter = 0;
-		for (; counter < f.size(); ++counter)
-		{
-			f[counter] = rhs[counter] - f[counter];
-		}
-	}
-};
-
-#endif /* btBackwardEulerObjective_h */