1 files changed, 0 insertions, 368 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
deleted file mode 100644
index 1957f08a96..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ /dev/null
@@ -1,368 +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.
-*/
-
-/*
-Added by Roman Ponomarev (rponom@gmail.com)
-April 04, 2008
-
-TODO:
- - add clamping od accumulated impulse to improve stability
- - add conversion for ODE constraint solver
-*/
-
-#ifndef BT_SLIDER_CONSTRAINT_H
-#define BT_SLIDER_CONSTRAINT_H
-
-#include "LinearMath/btScalar.h"//for BT_USE_DOUBLE_PRECISION
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btSliderConstraintData2		btSliderConstraintDoubleData
-#define btSliderConstraintDataName  "btSliderConstraintDoubleData"
-#else
-#define btSliderConstraintData2		btSliderConstraintData 
-#define btSliderConstraintDataName	"btSliderConstraintData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-
-
-class btRigidBody;
-
-
-
-#define SLIDER_CONSTRAINT_DEF_SOFTNESS		(btScalar(1.0))
-#define SLIDER_CONSTRAINT_DEF_DAMPING		(btScalar(1.0))
-#define SLIDER_CONSTRAINT_DEF_RESTITUTION	(btScalar(0.7))
-#define SLIDER_CONSTRAINT_DEF_CFM			(btScalar(0.f))
-
-
-enum btSliderFlags
-{
-	BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
-	BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
-	BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
-	BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
-	BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
-	BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
-	BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
-	BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
-	BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
-	BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
-	BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
-	BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
-};
-
-
-ATTRIBUTE_ALIGNED16(class) btSliderConstraint : public btTypedConstraint
-{
-protected:
-	///for backwards compatibility during the transition to 'getInfo/getInfo2'
-	bool		m_useSolveConstraintObsolete;
-	bool		m_useOffsetForConstraintFrame;
-	btTransform	m_frameInA;
-    btTransform	m_frameInB;
-	// use frameA fo define limits, if true
-	bool m_useLinearReferenceFrameA;
-	// linear limits
-	btScalar m_lowerLinLimit;
-	btScalar m_upperLinLimit;
-	// angular limits
-	btScalar m_lowerAngLimit;
-	btScalar m_upperAngLimit;
-	// softness, restitution and damping for different cases
-	// DirLin - moving inside linear limits
-	// LimLin - hitting linear limit
-	// DirAng - moving inside angular limits
-	// LimAng - hitting angular limit
-	// OrthoLin, OrthoAng - against constraint axis
-	btScalar m_softnessDirLin;
-	btScalar m_restitutionDirLin;
-	btScalar m_dampingDirLin;
-	btScalar m_cfmDirLin;
-
-	btScalar m_softnessDirAng;
-	btScalar m_restitutionDirAng;
-	btScalar m_dampingDirAng;
-	btScalar m_cfmDirAng;
-
-	btScalar m_softnessLimLin;
-	btScalar m_restitutionLimLin;
-	btScalar m_dampingLimLin;
-	btScalar m_cfmLimLin;
-
-	btScalar m_softnessLimAng;
-	btScalar m_restitutionLimAng;
-	btScalar m_dampingLimAng;
-	btScalar m_cfmLimAng;
-
-	btScalar m_softnessOrthoLin;
-	btScalar m_restitutionOrthoLin;
-	btScalar m_dampingOrthoLin;
-	btScalar m_cfmOrthoLin;
-
-	btScalar m_softnessOrthoAng;
-	btScalar m_restitutionOrthoAng;
-	btScalar m_dampingOrthoAng;
-	btScalar m_cfmOrthoAng;
-	
-	// for interlal use
-	bool m_solveLinLim;
-	bool m_solveAngLim;
-
-	int m_flags;
-
-	btJacobianEntry	m_jacLin[3];
-	btScalar		m_jacLinDiagABInv[3];
-
-    btJacobianEntry	m_jacAng[3];
-
-	btScalar m_timeStep;
-    btTransform m_calculatedTransformA;
-    btTransform m_calculatedTransformB;
-
-	btVector3 m_sliderAxis;
-	btVector3 m_realPivotAInW;
-	btVector3 m_realPivotBInW;
-	btVector3 m_projPivotInW;
-	btVector3 m_delta;
-	btVector3 m_depth;
-	btVector3 m_relPosA;
-	btVector3 m_relPosB;
-
-	btScalar m_linPos;
-	btScalar m_angPos;
-
-	btScalar m_angDepth;
-	btScalar m_kAngle;
-
-	bool	 m_poweredLinMotor;
-    btScalar m_targetLinMotorVelocity;
-    btScalar m_maxLinMotorForce;
-    btScalar m_accumulatedLinMotorImpulse;
-	
-	bool	 m_poweredAngMotor;
-    btScalar m_targetAngMotorVelocity;
-    btScalar m_maxAngMotorForce;
-    btScalar m_accumulatedAngMotorImpulse;
-
-	//------------------------    
-	void initParams();
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	// constructors
-    btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-    btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
-
-	// overrides
-
-    virtual void getInfo1 (btConstraintInfo1* info);
-
-	void getInfo1NonVirtual(btConstraintInfo1* info);
-	
-	virtual void getInfo2 (btConstraintInfo2* info);
-
-	void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
-
-
-	// access
-    const btRigidBody& getRigidBodyA() const { return m_rbA; }
-    const btRigidBody& getRigidBodyB() const { return m_rbB; }
-    const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
-    const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
-    const btTransform & getFrameOffsetA() const { return m_frameInA; }
-    const btTransform & getFrameOffsetB() const { return m_frameInB; }
-    btTransform & getFrameOffsetA() { return m_frameInA; }
-    btTransform & getFrameOffsetB() { return m_frameInB; }
-    btScalar getLowerLinLimit() { return m_lowerLinLimit; }
-    void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
-    btScalar getUpperLinLimit() { return m_upperLinLimit; }
-    void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
-    btScalar getLowerAngLimit() { return m_lowerAngLimit; }
-    void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
-    btScalar getUpperAngLimit() { return m_upperAngLimit; }
-    void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
-	bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
-	btScalar getSoftnessDirLin() { return m_softnessDirLin; }
-	btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
-	btScalar getDampingDirLin() { return m_dampingDirLin ; }
-	btScalar getSoftnessDirAng() { return m_softnessDirAng; }
-	btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
-	btScalar getDampingDirAng() { return m_dampingDirAng; }
-	btScalar getSoftnessLimLin() { return m_softnessLimLin; }
-	btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
-	btScalar getDampingLimLin() { return m_dampingLimLin; }
-	btScalar getSoftnessLimAng() { return m_softnessLimAng; }
-	btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
-	btScalar getDampingLimAng() { return m_dampingLimAng; }
-	btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
-	btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
-	btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
-	btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
-	btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
-	btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
-	void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
-	void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
-	void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
-	void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
-	void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
-	void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
-	void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
-	void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
-	void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
-	void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
-	void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
-	void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
-	void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
-	void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
-	void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
-	void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
-	void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
-	void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
-	void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
-	bool getPoweredLinMotor() { return m_poweredLinMotor; }
-	void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
-	btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
-	void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
-	btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
-	void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
-	bool getPoweredAngMotor() { return m_poweredAngMotor; }
-	void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
-	btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
-	void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
-	btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
-
-	btScalar getLinearPos() const { return m_linPos; }
-	btScalar getAngularPos() const { return m_angPos; }
-	
-	
-
-	// access for ODE solver
-	bool getSolveLinLimit() { return m_solveLinLim; }
-	btScalar getLinDepth() { return m_depth[0]; }
-	bool getSolveAngLimit() { return m_solveAngLim; }
-	btScalar getAngDepth() { return m_angDepth; }
-	// shared code used by ODE solver
-	void	calculateTransforms(const btTransform& transA,const btTransform& transB);
-	void	testLinLimits();
-	void	testAngLimits();
-	// access for PE Solver
-	btVector3 getAncorInA();
-	btVector3 getAncorInB();
-	// access for UseFrameOffset
-	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
-	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-
-	void setFrames(const btTransform& frameA, const btTransform& frameB) 
-	{ 
-		m_frameInA=frameA; 
-		m_frameInB=frameB;
-		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-		buildJacobian();
-	} 
-
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, btScalar value, int axis = -1);
-	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
-	
-	virtual	int getFlags() const
-    	{
-		return m_flags;
-	}
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
-};
-
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-
-
-struct btSliderConstraintData
-{
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
-	btTransformFloatData m_rbBFrame;
-	
-	float	m_linearUpperLimit;
-	float	m_linearLowerLimit;
-
-	float	m_angularUpperLimit;
-	float	m_angularLowerLimit;
-
-	int	m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-
-};
-
-
-struct btSliderConstraintDoubleData
-{
-	btTypedConstraintDoubleData	m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
-	btTransformDoubleData m_rbBFrame;
-	
-	double	m_linearUpperLimit;
-	double	m_linearLowerLimit;
-
-	double	m_angularUpperLimit;
-	double	m_angularLowerLimit;
-
-	int	m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-
-};
-
-SIMD_FORCE_INLINE		int	btSliderConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btSliderConstraintData2);
-}
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-
-	btSliderConstraintData2* sliderData = (btSliderConstraintData2*) dataBuffer;
-	btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
-
-	m_frameInA.serialize(sliderData->m_rbAFrame);
-	m_frameInB.serialize(sliderData->m_rbBFrame);
-
-	sliderData->m_linearUpperLimit = m_upperLinLimit;
-	sliderData->m_linearLowerLimit = m_lowerLinLimit;
-
-	sliderData->m_angularUpperLimit = m_upperAngLimit;
-	sliderData->m_angularLowerLimit = m_lowerAngLimit;
-
-	sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
-	sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
-
-	return btSliderConstraintDataName;
-}
-
-
-
-#endif //BT_SLIDER_CONSTRAINT_H
-