1 files changed, 0 insertions, 108 deletions
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.cpp b/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.cpp
deleted file mode 100644
index 5e11e74935..0000000000
--- a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.cpp
+++ /dev/null
@@ -1,108 +0,0 @@
-
-#include "b3FixedConstraint.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-#include "Bullet3Common/b3TransformUtil.h"
-#include <new>
-
-
-b3FixedConstraint::b3FixedConstraint(int rbA,int rbB, const b3Transform& frameInA,const b3Transform& frameInB)
-:b3TypedConstraint(B3_FIXED_CONSTRAINT_TYPE,rbA,rbB)
-{
-	m_pivotInA = frameInA.getOrigin();
-	m_pivotInB = frameInB.getOrigin();
-	m_relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
-
-}
-
-b3FixedConstraint::~b3FixedConstraint ()
-{
-}
-
-	
-void b3FixedConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies)
-{
-	info->m_numConstraintRows = 6;
-	info->nub = 6;
-}
-
-void b3FixedConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies)
-{
-	//fix the 3 linear degrees of freedom
-
-	const b3Vector3& worldPosA = bodies[m_rbA].m_pos;
-	const b3Quaternion& worldOrnA = bodies[m_rbA].m_quat;
-	const b3Vector3& worldPosB= bodies[m_rbB].m_pos;
-	const b3Quaternion& worldOrnB = bodies[m_rbB].m_quat;
-
-	info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip+1] = 1;
-	info->m_J1linearAxis[2*info->rowskip+2] = 1;
-
-	b3Vector3 a1 = b3QuatRotate(worldOrnA,m_pivotInA);
-	{
-		b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis+info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis+2*info->rowskip);
-		b3Vector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
-	}
-    
-	if (info->m_J2linearAxis)
-	{
-		info->m_J2linearAxis[0] = -1;
-		info->m_J2linearAxis[info->rowskip+1] = -1;
-		info->m_J2linearAxis[2*info->rowskip+2] = -1;
-	}
-	
-	b3Vector3 a2 = b3QuatRotate(worldOrnB,m_pivotInB);
-   
-	{
-	//	b3Vector3 a2n = -a2;
-		b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis);
-		b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis+info->rowskip);
-		b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis+2*info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
-	}
-
-    // set right hand side for the linear dofs
-	b3Scalar k = info->fps * info->erp;
-	b3Vector3 linearError = k*(a2+worldPosB-a1-worldPosA);
-    int j;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = linearError[j];
-		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-    }
-
-		//fix the 3 angular degrees of freedom
-
-	int start_row = 3;
-	int s = info->rowskip;
-    int start_index = start_row * s;
-
-    // 3 rows to make body rotations equal
-	info->m_J1angularAxis[start_index] = 1;
-    info->m_J1angularAxis[start_index + s + 1] = 1;
-    info->m_J1angularAxis[start_index + s*2+2] = 1;
-    if ( info->m_J2angularAxis)
-    {
-        info->m_J2angularAxis[start_index] = -1;
-        info->m_J2angularAxis[start_index + s+1] = -1;
-        info->m_J2angularAxis[start_index + s*2+2] = -1;
-    }
-
-
-    // set right hand side for the angular dofs
-
-	b3Vector3 diff;
-	b3Scalar angle;
-	b3Quaternion qrelCur = worldOrnA *worldOrnB.inverse();
-
-	b3TransformUtil::calculateDiffAxisAngleQuaternion(m_relTargetAB,qrelCur,diff,angle);
-	diff*=-angle;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[(3+j)*info->rowskip] = k * diff[j];
-    }
-
-}
-\ No newline at end of file