1 files changed, 0 insertions, 69 deletions
diff --git a/thirdparty/bullet/LinearMath/btPolarDecomposition.h b/thirdparty/bullet/LinearMath/btPolarDecomposition.h
deleted file mode 100644
index bf29140a14..0000000000
--- a/thirdparty/bullet/LinearMath/btPolarDecomposition.h
+++ /dev/null
@@ -1,69 +0,0 @@
-#ifndef POLARDECOMPOSITION_H
-#define POLARDECOMPOSITION_H
-
-#include "btMatrix3x3.h"
-
-/**
- * This class is used to compute the polar decomposition of a matrix. In
- * general, the polar decomposition factorizes a matrix, A, into two parts: a
- * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H).
- * However, in this particular implementation the original matrix, A, is
- * required to be a square 3x3 matrix with real elements. This means that U will
- * be an orthogonal matrix and H with be a positive-definite, symmetric matrix.
- */
-class btPolarDecomposition
-{
-public:
-	/**
-     * Creates an instance with optional parameters.
-     *
-     * @param tolerance     - the tolerance used to determine convergence of the
-     *                        algorithm
-     * @param maxIterations - the maximum number of iterations used to achieve
-     *                        convergence
-     */
-	btPolarDecomposition(btScalar tolerance = btScalar(0.0001),
-						 unsigned int maxIterations = 16);
-
-	/**
-     * Decomposes a matrix into orthogonal and symmetric, positive-definite
-     * parts. If the number of iterations returned by this function is equal to
-     * the maximum number of iterations, the algorithm has failed to converge.
-     *
-     * @param a - the original matrix
-     * @param u - the resulting orthogonal matrix
-     * @param h - the resulting symmetric matrix
-     *
-     * @return the number of iterations performed by the algorithm.
-     */
-	unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;
-
-	/**
-     * Returns the maximum number of iterations that this algorithm will perform
-     * to achieve convergence.
-     *
-     * @return maximum number of iterations
-     */
-	unsigned int maxIterations() const;
-
-private:
-	btScalar m_tolerance;
-	unsigned int m_maxIterations;
-};
-
-/**
- * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix
- * 'u' and a symmetric, positive-definite matrix 'h'. If the number of
- * iterations returned by this function is equal to
- * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to
- * converge.
- *
- * @param a - the original matrix
- * @param u - the resulting orthogonal matrix
- * @param h - the resulting symmetric matrix
- *
- * @return the number of iterations performed by the algorithm.
- */
-unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);
-
-#endif  // POLARDECOMPOSITION_H