1 files changed, 0 insertions, 184 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
deleted file mode 100644
index 5fdb7007d8..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
+++ /dev/null
@@ -1,184 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
-
-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.
-*/
-
-///This file was written by Erwin Coumans
-
-#include "btMultiBodyGearConstraint.h"
-#include "btMultiBody.h"
-#include "btMultiBodyLinkCollider.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-btMultiBodyGearConstraint::btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
-	:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,1,false),
-	m_gearRatio(1),
-	m_gearAuxLink(-1),
-	m_erp(0),
-	m_relativePositionTarget(0)
-{
-   
-}
-
-void btMultiBodyGearConstraint::finalizeMultiDof()
-{
-	
-	allocateJacobiansMultiDof();
-	
-	m_numDofsFinalized = m_jacSizeBoth;
-}
-
-btMultiBodyGearConstraint::~btMultiBodyGearConstraint()
-{
-}
-
-
-int btMultiBodyGearConstraint::getIslandIdA() const
-{
-
-	if (m_bodyA)
-	{
-		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-		for (int i=0;i<m_bodyA->getNumLinks();i++)
-		{
-			if (m_bodyA->getLink(i).m_collider)
-				return m_bodyA->getLink(i).m_collider->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-int btMultiBodyGearConstraint::getIslandIdB() const
-{
-	if (m_bodyB)
-	{
-		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
-		if (col)
-			return col->getIslandTag();
-
-		for (int i=0;i<m_bodyB->getNumLinks();i++)
-		{
-			col = m_bodyB->getLink(i).m_collider;
-			if (col)
-				return col->getIslandTag();
-		}
-	}
-	return -1;
-}
-
-
-void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-		btMultiBodyJacobianData& data,
-		const btContactSolverInfo& infoGlobal)
-{
-    // only positions need to be updated -- data.m_jacobians and force
-    // directions were set in the ctor and never change.
-	
-	if (m_numDofsFinalized != m_jacSizeBoth)
-	{
-        finalizeMultiDof();
-	}
-
-	//don't crash
-	if (m_numDofsFinalized != m_jacSizeBoth)
-		return;
-
-	
-	if (m_maxAppliedImpulse==0.f)
-		return;
-	
-	// note: we rely on the fact that data.m_jacobians are
-	// always initialized to zero by the Constraint ctor
-	int linkDoF = 0;
-	unsigned int offsetA = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
-	unsigned int offsetB = 6 + (m_bodyB->getLink(m_linkB).m_dofOffset + linkDoF);
-
-	// row 0: the lower bound
-	jacobianA(0)[offsetA] = 1;
-	jacobianB(0)[offsetB] = m_gearRatio;
-
-	btScalar posError = 0;
-	const btVector3 dummy(0, 0, 0);
-	
-	btScalar kp = 1;
-	btScalar kd = 1;
-	int numRows = getNumRows();
-
-	for (int row=0;row<numRows;row++)
-	{
-		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-
-
-        int dof = 0;
-        btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
-        btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
-		btScalar auxVel = 0;
-		
-		if (m_gearAuxLink>=0)
-		{
-			auxVel = m_bodyA->getJointVelMultiDof(m_gearAuxLink)[dof];
-		}
-		currentVelocity += auxVel;
-		if (m_erp!=0)
-		{
-			btScalar currentPositionA = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
-			btScalar currentPositionB = m_gearRatio*m_bodyA->getJointPosMultiDof(m_linkB)[dof];
-			btScalar diff = currentPositionB+currentPositionA;
-			btScalar desiredPositionDiff = this->m_relativePositionTarget;
-			posError = -m_erp*(desiredPositionDiff - diff);
-		}
-		
-        btScalar desiredRelativeVelocity =   auxVel;
-    
-		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,desiredRelativeVelocity);
-
-		constraintRow.m_orgConstraint = this;
-		constraintRow.m_orgDofIndex = row;
-		{
-			//expect either prismatic or revolute joint type for now
-			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
-			switch (m_bodyA->getLink(m_linkA).m_jointType)
-			{
-				case btMultibodyLink::eRevolute:
-				{
-					constraintRow.m_contactNormal1.setZero();
-					constraintRow.m_contactNormal2.setZero();
-					btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
-					constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
-					constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;
-					
-					break;
-				}
-				case btMultibodyLink::ePrismatic:
-				{
-					btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
-					constraintRow.m_contactNormal1=prismaticAxisInWorld;
-					constraintRow.m_contactNormal2=-prismaticAxisInWorld;
-					constraintRow.m_relpos1CrossNormal.setZero();
-					constraintRow.m_relpos2CrossNormal.setZero();					
-					break;
-				}
-				default:
-				{
-					btAssert(0);
-				}
-			};
-			
-		}
-
-	}
-
-}
-