1 files changed, 0 insertions, 83 deletions
diff --git a/thirdparty/bullet/LinearMath/btModifiedGramSchmidt.h b/thirdparty/bullet/LinearMath/btModifiedGramSchmidt.h
deleted file mode 100644
index 33bab8d650..0000000000
--- a/thirdparty/bullet/LinearMath/btModifiedGramSchmidt.h
+++ /dev/null
@@ -1,83 +0,0 @@
-//
-//  btModifiedGramSchmidt.h
-//  LinearMath
-//
-//  Created by Xuchen Han on 4/4/20.
-//
-
-#ifndef btModifiedGramSchmidt_h
-#define btModifiedGramSchmidt_h
-
-#include "btReducedVector.h"
-#include "btAlignedObjectArray.h"
-#include <iostream>
-#include <cmath>
-template<class TV>
-class btModifiedGramSchmidt
-{
-public:
-    btAlignedObjectArray<TV> m_in;
-    btAlignedObjectArray<TV> m_out;
-    
-    btModifiedGramSchmidt(const btAlignedObjectArray<TV>& vecs): m_in(vecs)
-    {
-        m_out.resize(0);
-    }
-    
-    void solve()
-    {
-        m_out.resize(m_in.size());
-        for (int i = 0; i < m_in.size(); ++i)
-        {
-//            printf("========= starting %d ==========\n", i);
-            TV v(m_in[i]);
-//            v.print();
-            for (int j = 0; j < i; ++j)
-            {
-                v = v - v.proj(m_out[j]);
-//                v.print();
-            }
-            v.normalize();
-            m_out[i] = v;
-//            v.print();
-        }
-    }
-    
-    void test()
-    {
-        std::cout << SIMD_EPSILON << std::endl;
-        printf("=======inputs=========\n");
-        for (int i = 0; i < m_out.size(); ++i)
-        {
-            m_in[i].print();
-        }
-        printf("=======output=========\n");
-        for (int i = 0; i < m_out.size(); ++i)
-        {
-            m_out[i].print();
-        }
-        btScalar eps = SIMD_EPSILON;
-        for (int i = 0; i < m_out.size(); ++i)
-        {
-            for (int j = 0; j < m_out.size(); ++j)
-            {
-                if (i == j)
-                {
-                    if (std::abs(1.0-m_out[i].dot(m_out[j])) > eps)// && std::abs(m_out[i].dot(m_out[j])) > eps)
-                    {
-                        printf("vec[%d] is not unit, norm squared = %f\n", i,m_out[i].dot(m_out[j]));
-                    }
-                }
-                else
-                {
-                    if (std::abs(m_out[i].dot(m_out[j])) > eps)
-                    {
-                        printf("vec[%d] and vec[%d] is not orthogonal, dot product = %f\n", i, j, m_out[i].dot(m_out[j]));
-                    }
-                }
-            }
-        }
-    }
-};
-template class btModifiedGramSchmidt<btReducedVector>;
-#endif /* btModifiedGramSchmidt_h */