1 files changed, 0 insertions, 107 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btKrylovSolver.h b/thirdparty/bullet/BulletSoftBody/btKrylovSolver.h
deleted file mode 100644
index 59126b47ae..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btKrylovSolver.h
+++ /dev/null
@@ -1,107 +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_KRYLOV_SOLVER_H
-#define BT_KRYLOV_SOLVER_H
-#include <iostream>
-#include <cmath>
-#include <limits>
-#include <LinearMath/btAlignedObjectArray.h>
-#include <LinearMath/btVector3.h>
-#include <LinearMath/btScalar.h>
-#include "LinearMath/btQuickprof.h"
-
-template <class MatrixX>
-class btKrylovSolver
-{
-	typedef btAlignedObjectArray<btVector3> TVStack;
-
-public:
-	int m_maxIterations;
-	btScalar m_tolerance;
-	btKrylovSolver(int maxIterations, btScalar tolerance)
-		: m_maxIterations(maxIterations), m_tolerance(tolerance)
-	{
-	}
-
-	virtual ~btKrylovSolver() {}
-
-	virtual int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false) = 0;
-
-	virtual void reinitialize(const TVStack& b) = 0;
-
-	virtual SIMD_FORCE_INLINE TVStack sub(const TVStack& a, const TVStack& b)
-	{
-		// c = a-b
-		btAssert(a.size() == b.size());
-		TVStack c;
-		c.resize(a.size());
-		for (int i = 0; i < a.size(); ++i)
-		{
-			c[i] = a[i] - b[i];
-		}
-		return c;
-	}
-
-	virtual SIMD_FORCE_INLINE btScalar squaredNorm(const TVStack& a)
-	{
-		return dot(a, a);
-	}
-
-	virtual SIMD_FORCE_INLINE btScalar norm(const TVStack& a)
-	{
-		btScalar ret = 0;
-		for (int i = 0; i < a.size(); ++i)
-		{
-			for (int d = 0; d < 3; ++d)
-			{
-				ret = btMax(ret, btFabs(a[i][d]));
-			}
-		}
-		return ret;
-	}
-
-	virtual SIMD_FORCE_INLINE btScalar dot(const TVStack& a, const TVStack& b)
-	{
-		btScalar ans(0);
-		for (int i = 0; i < a.size(); ++i)
-			ans += a[i].dot(b[i]);
-		return ans;
-	}
-
-	virtual SIMD_FORCE_INLINE void multAndAddTo(btScalar s, const TVStack& a, TVStack& result)
-	{
-		//        result += s*a
-		btAssert(a.size() == result.size());
-		for (int i = 0; i < a.size(); ++i)
-			result[i] += s * a[i];
-	}
-
-	virtual SIMD_FORCE_INLINE TVStack multAndAdd(btScalar s, const TVStack& a, const TVStack& b)
-	{
-		// result = a*s + b
-		TVStack result;
-		result.resize(a.size());
-		for (int i = 0; i < a.size(); ++i)
-			result[i] = s * a[i] + b[i];
-		return result;
-	}
-
-	virtual SIMD_FORCE_INLINE void setTolerance(btScalar tolerance)
-	{
-		m_tolerance = tolerance;
-	}
-};
-#endif /* BT_KRYLOV_SOLVER_H */