1 files changed, 0 insertions, 125 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
deleted file mode 100644
index 671e15d314..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
+++ /dev/null
@@ -1,125 +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.
-*/
-
-#ifndef BT_FEATHERSTONE_LINK_COLLIDER_H
-#define BT_FEATHERSTONE_LINK_COLLIDER_H
-
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-#include "btMultiBody.h"
-
-class btMultiBodyLinkCollider : public btCollisionObject
-{
-//protected:
-public:
-
-	btMultiBody* m_multiBody;
-	int m_link;
-
-
-	btMultiBodyLinkCollider (btMultiBody* multiBody,int link)
-		:m_multiBody(multiBody),
-		m_link(link)
-	{
-		m_checkCollideWith =  true;
-		//we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands
-		//this means that some constraints might point to bodies that are not in the islands, causing crashes
-		//if (link>=0 || (multiBody && !multiBody->hasFixedBase()))
-		{
-			m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
-		}
-		// else
-		//{
-		//	m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT);
-		//}
-
-		m_internalType = CO_FEATHERSTONE_LINK;
-	}
-	static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK)
-			return (btMultiBodyLinkCollider*)colObj;
-		return 0;
-	}
-	static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK)
-			return (btMultiBodyLinkCollider*)colObj;
-		return 0;
-	}
-
-	virtual bool checkCollideWithOverride(const  btCollisionObject* co) const
-	{
-		const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co);
-		if (!other)
-			return true;
-		if (other->m_multiBody != this->m_multiBody)
-			return true;
-		if (!m_multiBody->hasSelfCollision())
-			return false;
-
-		//check if 'link' has collision disabled
-		if (m_link>=0)
-		{
-			const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
-			if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
-			{
-				int parent_of_this = m_link;
-				while (1)
-				{
-					if (parent_of_this==-1)
-						break;
-					parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
-					if (parent_of_this==other->m_link)
-					{
-						return false;
-					}
-				}
-			}
-			else if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
-			{
-				if ( link.m_parent == other->m_link)
-					return false;
-			}
-
-		}
-
-		if (other->m_link>=0)
-		{
-			const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
-			if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
-			{
-				int parent_of_other = other->m_link;
-				while (1)
-				{
-					if (parent_of_other==-1)
-						break;
-					parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
-					if (parent_of_other==this->m_link)
-						return false;
-				}
-			}
-			else if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
-			{
-				if (otherLink.m_parent == this->m_link)
-					return false;
-			}
-		}
-		return true;
-	}
-};
-
-#endif //BT_FEATHERSTONE_LINK_COLLIDER_H
-