1 files changed, 0 insertions, 153 deletions
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ConvertConstraint4.h b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ConvertConstraint4.h
deleted file mode 100644
index 805a2bd3ea..0000000000
--- a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ConvertConstraint4.h
+++ /dev/null
@@ -1,153 +0,0 @@
-
-
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
-#include "Bullet3Dynamics/shared/b3ContactConstraint4.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-
-void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q);
- void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q)
-{
-  if (b3Fabs(n.z) > 0.70710678f) {
-    // choose p in y-z plane
-    float a = n.y*n.y + n.z*n.z;
-    float k = 1.f/sqrt(a);
-    p[0].x = 0;
-	p[0].y = -n.z*k;
-	p[0].z = n.y*k;
-    // set q = n x p
-    q[0].x = a*k;
-	q[0].y = -n.x*p[0].z;
-	q[0].z = n.x*p[0].y;
-  }
-  else {
-    // choose p in x-y plane
-    float a = n.x*n.x + n.y*n.y;
-    float k = 1.f/sqrt(a);
-    p[0].x = -n.y*k;
-	p[0].y = n.x*k;
-	p[0].z = 0;
-    // set q = n x p
-    q[0].x = -n.z*p[0].y;
-	q[0].y = n.z*p[0].x;
-	q[0].z = a*k;
-  }
-}
-
-
- 
-void setLinearAndAngular( b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)
-{
-	*linear = b3MakeFloat4(n.x,n.y,n.z,0.f);
-	*angular0 = b3Cross3(r0, n);
-	*angular1 = -b3Cross3(r1, n);
-}
-
-
-float calcRelVel( b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,
-	b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1 )
-{
-	return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1);
-}
-
-
-float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1,
-					float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)
-{
-	//	linear0,1 are normlized
-	float jmj0 = invMass0;//b3Dot3F4(linear0, linear0)*invMass0;
-	float jmj1 = b3Dot3F4(mtMul3(angular0,*invInertia0), angular0);
-	float jmj2 = invMass1;//b3Dot3F4(linear1, linear1)*invMass1;
-	float jmj3 = b3Dot3F4(mtMul3(angular1,*invInertia1), angular1);
-	return -1.f/(jmj0+jmj1+jmj2+jmj3);
-}
-
-
-void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,
-	b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB, 
-	__global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,
-	b3ContactConstraint4_t* dstC )
-{
-	dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
-	dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
-
-	float dtInv = 1.f/dt;
-	for(int ic=0; ic<4; ic++)
-	{
-		dstC->m_appliedRambdaDt[ic] = 0.f;
-	}
-	dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
-
-
-	dstC->m_linear = src->m_worldNormalOnB;
-	dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );
-	for(int ic=0; ic<4; ic++)
-	{
-		b3Float4 r0 = src->m_worldPosB[ic] - posA;
-		b3Float4 r1 = src->m_worldPosB[ic] - posB;
-
-		if( ic >= src->m_worldNormalOnB.w )//npoints
-		{
-			dstC->m_jacCoeffInv[ic] = 0.f;
-			continue;
-		}
-
-		float relVelN;
-		{
-			b3Float4 linear, angular0, angular1;
-			setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);
-
-			dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
-				invMassA, &invInertiaA, invMassB, &invInertiaB );
-
-			relVelN = calcRelVel(linear, -linear, angular0, angular1,
-				linVelA, angVelA, linVelB, angVelB);
-
-			float e = 0.f;//src->getRestituitionCoeff();
-			if( relVelN*relVelN < 0.004f ) e = 0.f;
-
-			dstC->m_b[ic] = e*relVelN;
-			//float penetration = src->m_worldPosB[ic].w;
-			dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;
-			dstC->m_appliedRambdaDt[ic] = 0.f;
-		}
-	}
-
-	if( src->m_worldNormalOnB.w > 0 )//npoints
-	{	//	prepare friction
-		b3Float4 center = b3MakeFloat4(0.f,0.f,0.f,0.f);
-		for(int i=0; i<src->m_worldNormalOnB.w; i++) 
-			center += src->m_worldPosB[i];
-		center /= (float)src->m_worldNormalOnB.w;
-
-		b3Float4 tangent[2];
-		b3PlaneSpace1(src->m_worldNormalOnB,&tangent[0],&tangent[1]);
-		
-		b3Float4 r[2];
-		r[0] = center - posA;
-		r[1] = center - posB;
-
-		for(int i=0; i<2; i++)
-		{
-			b3Float4 linear, angular0, angular1;
-			setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);
-
-			dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
-				invMassA, &invInertiaA, invMassB, &invInertiaB );
-			dstC->m_fAppliedRambdaDt[i] = 0.f;
-		}
-		dstC->m_center = center;
-	}
-
-	for(int i=0; i<4; i++)
-	{
-		if( i<src->m_worldNormalOnB.w )
-		{
-			dstC->m_worldPos[i] = src->m_worldPosB[i];
-		}
-		else
-		{
-			dstC->m_worldPos[i] = b3MakeFloat4(0.f,0.f,0.f,0.f);
-		}
-	}
-}