1 files changed, 0 insertions, 94 deletions
diff --git a/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp b/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp
deleted file mode 100644
index d9c72a8014..0000000000
--- a/thirdparty/bullet/LinearMath/btPolarDecomposition.cpp
+++ /dev/null
@@ -1,94 +0,0 @@
-#include "btPolarDecomposition.h"
-#include "btMinMax.h"
-
-namespace
-{
-btScalar abs_column_sum(const btMatrix3x3& a, int i)
-{
-	return btFabs(a[0][i]) + btFabs(a[1][i]) + btFabs(a[2][i]);
-}
-
-btScalar abs_row_sum(const btMatrix3x3& a, int i)
-{
-	return btFabs(a[i][0]) + btFabs(a[i][1]) + btFabs(a[i][2]);
-}
-
-btScalar p1_norm(const btMatrix3x3& a)
-{
-	const btScalar sum0 = abs_column_sum(a, 0);
-	const btScalar sum1 = abs_column_sum(a, 1);
-	const btScalar sum2 = abs_column_sum(a, 2);
-	return btMax(btMax(sum0, sum1), sum2);
-}
-
-btScalar pinf_norm(const btMatrix3x3& a)
-{
-	const btScalar sum0 = abs_row_sum(a, 0);
-	const btScalar sum1 = abs_row_sum(a, 1);
-	const btScalar sum2 = abs_row_sum(a, 2);
-	return btMax(btMax(sum0, sum1), sum2);
-}
-}  // namespace
-
-btPolarDecomposition::btPolarDecomposition(btScalar tolerance, unsigned int maxIterations)
-	: m_tolerance(tolerance), m_maxIterations(maxIterations)
-{
-}
-
-unsigned int btPolarDecomposition::decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const
-{
-	// Use the 'u' and 'h' matrices for intermediate calculations
-	u = a;
-	h = a.inverse();
-
-	for (unsigned int i = 0; i < m_maxIterations; ++i)
-	{
-		const btScalar h_1 = p1_norm(h);
-		const btScalar h_inf = pinf_norm(h);
-		const btScalar u_1 = p1_norm(u);
-		const btScalar u_inf = pinf_norm(u);
-
-		const btScalar h_norm = h_1 * h_inf;
-		const btScalar u_norm = u_1 * u_inf;
-
-		// The matrix is effectively singular so we cannot invert it
-		if (btFuzzyZero(h_norm) || btFuzzyZero(u_norm))
-			break;
-
-		const btScalar gamma = btPow(h_norm / u_norm, 0.25f);
-		const btScalar inv_gamma = btScalar(1.0) / gamma;
-
-		// Determine the delta to 'u'
-		const btMatrix3x3 delta = (u * (gamma - btScalar(2.0)) + h.transpose() * inv_gamma) * btScalar(0.5);
-
-		// Update the matrices
-		u += delta;
-		h = u.inverse();
-
-		// Check for convergence
-		if (p1_norm(delta) <= m_tolerance * u_1)
-		{
-			h = u.transpose() * a;
-			h = (h + h.transpose()) * 0.5;
-			return i;
-		}
-	}
-
-	// The algorithm has failed to converge to the specified tolerance, but we
-	// want to make sure that the matrices returned are in the right form.
-	h = u.transpose() * a;
-	h = (h + h.transpose()) * 0.5;
-
-	return m_maxIterations;
-}
-
-unsigned int btPolarDecomposition::maxIterations() const
-{
-	return m_maxIterations;
-}
-
-unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h)
-{
-	static btPolarDecomposition polar;
-	return polar.decompose(a, u, h);
-}