1 files changed, 0 insertions, 66 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
deleted file mode 100644
index 4be2aabe4d..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment 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.
-*/
-
-
-
-#include "btHinge2Constraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-
-
-
-// constructor
-// anchor, axis1 and axis2 are in world coordinate system
-// axis1 must be orthogonal to axis2
-btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
-: btGeneric6DofSpring2Constraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(),RO_XYZ),
- m_anchor(anchor),
- m_axis1(axis1),
- m_axis2(axis2)
-{
-	// build frame basis
-	// 6DOF constraint uses Euler angles and to define limits
-	// it is assumed that rotational order is :
-	// Z - first, allowed limits are (-PI,PI);
-	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number 
-	// used to prevent constraint from instability on poles;
-	// new position of X, allowed limits are (-PI,PI);
-	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
-	// Build the frame in world coordinate system first
-	btVector3 zAxis = axis1.normalize();
-	btVector3 xAxis = axis2.normalize();
-	btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-									xAxis[1], yAxis[1], zAxis[1],
-									xAxis[2], yAxis[2], zAxis[2]);
-	frameInW.setOrigin(anchor);
-	// now get constraint frame in local coordinate systems
-	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
-	// sei limits
-	setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
-	setLinearUpperLimit(btVector3(0.f, 0.f,  1.f));
-	// like front wheels of a car
-	setAngularLowerLimit(btVector3(1.f,  0.f, -SIMD_HALF_PI * 0.5f)); 
-	setAngularUpperLimit(btVector3(-1.f, 0.f,  SIMD_HALF_PI * 0.5f));
-	// enable suspension
-	enableSpring(2, true);
-	setStiffness(2, SIMD_PI * SIMD_PI * 4.f);
-	setDamping(2, 0.01f);
-	setEquilibriumPoint();
-}
-