1 files changed, 0 insertions, 137 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp
deleted file mode 100644
index af687b54e9..0000000000
--- a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp
+++ /dev/null
@@ -1,137 +0,0 @@
-/*
-Copyright (c) 2012 Advanced Micro Devices, Inc.  
-
-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.
-*/
-//Originally written by Erwin Coumans
-
-#include "b3GpuGenericConstraint.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
-
-#include <new>
-#include "Bullet3Common/b3Transform.h"
-
-void b3GpuGenericConstraint::getInfo1 (unsigned int* info,const b3RigidBodyData* bodies)
-{
-	switch (m_constraintType)
-	{
-	case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
-		{
-			*info = 3;
-			break;
-		};
-		default:
-		{
-			b3Assert(0);
-		}
-	};
-}
-
-void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo2* info,  const b3RigidBodyData* bodies)
-{
-	b3Transform trA;
-	trA.setIdentity();
-	trA.setOrigin(bodies[constraint->m_rbA].m_pos);
-	trA.setRotation(bodies[constraint->m_rbA].m_quat);
-
-	b3Transform trB;
-	trB.setIdentity();
-	trB.setOrigin(bodies[constraint->m_rbB].m_pos);
-	trB.setRotation(bodies[constraint->m_rbB].m_quat);
-
-		// anchor points in global coordinates with respect to body PORs.
-   
-    // set jacobian
-    info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip+1] = 1;
-	info->m_J1linearAxis[2*info->rowskip+2] = 1;
-
-	b3Vector3 a1 = trA.getBasis()*constraint->getPivotInA();
-	//b3Vector3 a1a = b3QuatRotate(trA.getRotation(),constraint->getPivotInA());
-
-	{
-		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 = trB.getBasis()*constraint->getPivotInB();
-   
-	{
-	//	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
-//	b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
-	b3Scalar currERP = info->erp;
-
-	b3Scalar k = info->fps * currERP;
-    int j;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = k * (a2[j] + trB.getOrigin()[j] - a1[j] - trA.getOrigin()[j]);
-		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-    }
-#if 0
-	if(m_flags & B3_P2P_FLAGS_CFM)
-	{
-		for (j=0; j<3; j++)
-		{
-			info->cfm[j*info->rowskip] = m_cfm;
-		}
-	}
-#endif
-
-#if 0
-	b3Scalar impulseClamp = m_setting.m_impulseClamp;//
-	for (j=0; j<3; j++)
-    {
-		if (m_setting.m_impulseClamp > 0)
-		{
-			info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
-			info->m_upperLimit[j*info->rowskip] = impulseClamp;
-		}
-	}
-	info->m_damping = m_setting.m_damping;
-#endif
-
-}
-
-void b3GpuGenericConstraint::getInfo2 (b3GpuConstraintInfo2* info,  const b3RigidBodyData* bodies)
-{
-	switch (m_constraintType)
-	{
-	case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
-		{
-			getInfo2Point2Point(this,info,bodies);
-			break;
-		};
-		default:
-			{
-				b3Assert(0);
-			}
-	};
-}