1 files changed, 0 insertions, 144 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
deleted file mode 100644
index 631fd5fbed..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
+++ /dev/null
@@ -1,144 +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.
- */
-
-#include "btDeformableMultiBodyConstraintSolver.h"
-#include <iostream>
-// override the iterations method to include deformable/multibody contact
-btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	{
-		///this is a special step to resolve penetrations (just for contacts)
-		solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-
-		int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
-		for (int iteration = 0; iteration < maxIterations; iteration++)
-		{
-			// rigid bodies are solved using solver body velocity, but rigid/deformable contact directly uses the velocity of the actual rigid body. So we have to do the following: Solve one iteration of the rigid/rigid contact, get the updated velocity in the solver body and update the velocity of the underlying rigid body. Then solve the rigid/deformable contact. Finally, grab the (once again) updated rigid velocity and update the velocity of the wrapping solver body
-
-			// solve rigid/rigid in solver body
-			m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
-			// solver body velocity -> rigid body velocity
-			solverBodyWriteBack(infoGlobal);
-			btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies, numDeformableBodies, infoGlobal);
-			// update rigid body velocity in rigid/deformable contact
-			m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual);
-			// solver body velocity <- rigid body velocity
-			writeToSolverBody(bodies, numBodies, infoGlobal);
-
-			if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
-			{
-#ifdef VERBOSE_RESIDUAL_PRINTF
-				if (iteration >= (maxIterations - 1))
-					printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
-#endif
-				m_analyticsData.m_numSolverCalls++;
-				m_analyticsData.m_numIterationsUsed = iteration + 1;
-				m_analyticsData.m_islandId = -2;
-				if (numBodies > 0)
-					m_analyticsData.m_islandId = bodies[0]->getCompanionId();
-				m_analyticsData.m_numBodies = numBodies;
-				m_analyticsData.m_numContactManifolds = numManifolds;
-				m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual;
-				break;
-			}
-		}
-	}
-	return 0.f;
-}
-
-void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
-{
-	m_tmpMultiBodyConstraints = multiBodyConstraints;
-	m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
-
-	// inherited from MultiBodyConstraintSolver
-	solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
-
-	// overriden
-	solveDeformableGroupIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
-
-	// inherited from MultiBodyConstraintSolver
-	solveGroupCacheFriendlyFinish(bodies, numBodies, info);
-
-	m_tmpMultiBodyConstraints = 0;
-	m_tmpNumMultiBodyConstraints = 0;
-}
-
-void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
-{
-	for (int i = 0; i < numBodies; i++)
-	{
-		int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
-
-		btRigidBody* body = btRigidBody::upcast(bodies[i]);
-		if (body && body->getInvMass())
-		{
-			btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
-			solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity;
-			solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity;
-		}
-	}
-}
-
-void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal)
-{
-	for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
-	{
-		btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
-		if (body)
-		{
-			m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity + m_tmpSolverBodyPool[i].m_deltaLinearVelocity);
-			m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity + m_tmpSolverBodyPool[i].m_deltaAngularVelocity);
-		}
-	}
-}
-
-void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
-{
-	BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
-	int iteration;
-	if (infoGlobal.m_splitImpulse)
-	{
-		{
-			for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
-			{
-				btScalar leastSquaresResidual = 0.f;
-				{
-					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-					int j;
-					for (j = 0; j < numPoolConstraints; j++)
-					{
-						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-
-						btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
-						leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-					}
-					// solve the position correction between deformable and rigid/multibody
-					//                    btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal);
-					btScalar residual = m_deformableSolver->m_objective->m_projection.solveSplitImpulse(deformableBodies, numDeformableBodies, infoGlobal);
-					leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
-				}
-				if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
-				{
-#ifdef VERBOSE_RESIDUAL_PRINTF
-					if (iteration >= (infoGlobal.m_numIterations - 1))
-						printf("split impulse residual = %f at iteration #%d\n", leastSquaresResidual, iteration);
-#endif
-					break;
-				}
-			}
-		}
-	}
-}