1 files changed, 0 insertions, 159 deletions
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h b/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h
deleted file mode 100644
index 7a12257b33..0000000000
--- a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-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 B3_CONTACT_SOLVER_INFO
-#define B3_CONTACT_SOLVER_INFO
-
-#include "Bullet3Common/b3Scalar.h"
-
-enum	b3SolverMode
-{
-	B3_SOLVER_RANDMIZE_ORDER = 1,
-	B3_SOLVER_FRICTION_SEPARATE = 2,
-	B3_SOLVER_USE_WARMSTARTING = 4,
-	B3_SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
-	B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
-	B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
-	B3_SOLVER_CACHE_FRIENDLY = 128,
-	B3_SOLVER_SIMD = 256,
-	B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
-	B3_SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
-};
-
-struct b3ContactSolverInfoData
-{
-	
-
-	b3Scalar	m_tau;
-	b3Scalar	m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	b3Scalar	m_friction;
-	b3Scalar	m_timeStep;
-	b3Scalar	m_restitution;
-	int		m_numIterations;
-	b3Scalar	m_maxErrorReduction;
-	b3Scalar	m_sor;
-	b3Scalar	m_erp;//used as Baumgarte factor
-	b3Scalar	m_erp2;//used in Split Impulse
-	b3Scalar	m_globalCfm;//constraint force mixing
-	int			m_splitImpulse;
-	b3Scalar	m_splitImpulsePenetrationThreshold;
-	b3Scalar	m_splitImpulseTurnErp;
-	b3Scalar	m_linearSlop;
-	b3Scalar	m_warmstartingFactor;
-
-	int			m_solverMode;
-	int	m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-	b3Scalar	m_maxGyroscopicForce;
-	b3Scalar	m_singleAxisRollingFrictionThreshold;
-
-
-};
-
-struct b3ContactSolverInfo : public b3ContactSolverInfoData
-{
-
-	
-
-	inline b3ContactSolverInfo()
-	{
-		m_tau = b3Scalar(0.6);
-		m_damping = b3Scalar(1.0);
-		m_friction = b3Scalar(0.3);
-		m_timeStep = b3Scalar(1.f/60.f);
-		m_restitution = b3Scalar(0.);
-		m_maxErrorReduction = b3Scalar(20.);
-		m_numIterations = 10;
-		m_erp = b3Scalar(0.2);
-		m_erp2 = b3Scalar(0.8);
-		m_globalCfm = b3Scalar(0.);
-		m_sor = b3Scalar(1.);
-		m_splitImpulse = true;
-		m_splitImpulsePenetrationThreshold = -.04f;
-		m_splitImpulseTurnErp = 0.1f;
-		m_linearSlop = b3Scalar(0.0);
-		m_warmstartingFactor=b3Scalar(0.85);
-		//m_solverMode =  B3_SOLVER_USE_WARMSTARTING |  B3_SOLVER_SIMD | B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | B3_SOLVER_RANDMIZE_ORDER;
-		m_solverMode = B3_SOLVER_USE_WARMSTARTING | B3_SOLVER_SIMD;// | B3_SOLVER_RANDMIZE_ORDER;
-		m_restingContactRestitutionThreshold = 2;//unused as of 2.81
-		m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
-		m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their B3_ENABLE_GYROPSCOPIC_FORCE flag set (using b3RigidBody::setFlag)
-		m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
-	}
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct b3ContactSolverInfoDoubleData
-{
-	double		m_tau;
-	double		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	double		m_friction;
-	double		m_timeStep;
-	double		m_restitution;
-	double		m_maxErrorReduction;
-	double		m_sor;
-	double		m_erp;//used as Baumgarte factor
-	double		m_erp2;//used in Split Impulse
-	double		m_globalCfm;//constraint force mixing
-	double		m_splitImpulsePenetrationThreshold;
-	double		m_splitImpulseTurnErp;
-	double		m_linearSlop;
-	double		m_warmstartingFactor;
-	double		m_maxGyroscopicForce;
-	double		m_singleAxisRollingFrictionThreshold;
-
-	int			m_numIterations;
-	int			m_solverMode;
-	int			m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-	int			m_splitImpulse;
-	char		m_padding[4];
-
-};
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct b3ContactSolverInfoFloatData
-{
-	float		m_tau;
-	float		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
-	float		m_friction;
-	float		m_timeStep;
-
-	float		m_restitution;
-	float		m_maxErrorReduction;
-	float		m_sor;
-	float		m_erp;//used as Baumgarte factor
-
-	float		m_erp2;//used in Split Impulse
-	float		m_globalCfm;//constraint force mixing
-	float		m_splitImpulsePenetrationThreshold;
-	float		m_splitImpulseTurnErp;
-
-	float		m_linearSlop;
-	float		m_warmstartingFactor;
-	float		m_maxGyroscopicForce;
-	float		m_singleAxisRollingFrictionThreshold;
-
-	int			m_numIterations;
-	int			m_solverMode;
-	int			m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-
-	int			m_splitImpulse;
-	char		m_padding[4];
-};
-
-
-
-#endif //B3_CONTACT_SOLVER_INFO