1 files changed, 0 insertions, 172 deletions
diff --git a/thirdparty/bullet/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/thirdparty/bullet/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp
deleted file mode 100644
index 5bb4a33bdd..0000000000
--- a/thirdparty/bullet/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp
+++ /dev/null
@@ -1,172 +0,0 @@
-#ifndef IDLINEARMATHINTERFACE_HPP_
-#define IDLINEARMATHINTERFACE_HPP_
-
-#include <cstdlib>
-
-#include "../IDConfig.hpp"
-
-#include "../../LinearMath/btMatrix3x3.h"
-#include "../../LinearMath/btVector3.h"
-#include "../../LinearMath/btMatrixX.h"
-#define BT_ID_HAVE_MAT3X
-
-namespace btInverseDynamics {
-class vec3;
-class vecx;
-class mat33;
-typedef btMatrixX<idScalar> matxx;
-
-class vec3 : public btVector3 {
-public:
-	vec3() : btVector3() {}
-	vec3(const btVector3& btv) { *this = btv; }
-	idScalar& operator()(int i) { return (*this)[i]; }
-	const idScalar& operator()(int i) const { return (*this)[i]; }
-	int size() const { return 3; }
-	const vec3& operator=(const btVector3& rhs) {
-		*static_cast<btVector3*>(this) = rhs;
-		return *this;
-	}
-};
-
-class mat33 : public btMatrix3x3 {
-public:
-	mat33() : btMatrix3x3() {}
-	mat33(const btMatrix3x3& btm) { *this = btm; }
-	idScalar& operator()(int i, int j) { return (*this)[i][j]; }
-	const idScalar& operator()(int i, int j) const { return (*this)[i][j]; }
-	const mat33& operator=(const btMatrix3x3& rhs) {
-		*static_cast<btMatrix3x3*>(this) = rhs;
-		return *this;
-	}
-	friend mat33 operator*(const idScalar& s, const mat33& a);
-	friend mat33 operator/(const mat33& a, const idScalar& s);
-};
-
-inline mat33 operator/(const mat33& a, const idScalar& s) { return a * (1.0 / s); }
-
-inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
-
-class vecx : public btVectorX<idScalar> {
-public:
-	vecx(int size) : btVectorX(size) {}
-	const vecx& operator=(const btVectorX<idScalar>& rhs) {
-		*static_cast<btVectorX*>(this) = rhs;
-		return *this;
-	}
-
-	idScalar& operator()(int i) { return (*this)[i]; }
-	const idScalar& operator()(int i) const { return (*this)[i]; }
-
-	friend vecx operator*(const vecx& a, const idScalar& s);
-	friend vecx operator*(const idScalar& s, const vecx& a);
-
-	friend vecx operator+(const vecx& a, const vecx& b);
-	friend vecx operator-(const vecx& a, const vecx& b);
-	friend vecx operator/(const vecx& a, const idScalar& s);
-};
-
-inline vecx operator*(const vecx& a, const idScalar& s) {
-	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++) {
-		result(i) = a(i) * s;
-	}
-	return result;
-}
-inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
-inline vecx operator+(const vecx& a, const vecx& b) {
-	vecx result(a.size());
-	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size()) {
-		error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
-		abort();
-	}
-	for (int i = 0; i < a.size(); i++) {
-		result(i) = a(i) + b(i);
-	}
-
-	return result;
-}
-
-inline vecx operator-(const vecx& a, const vecx& b) {
-	vecx result(a.size());
-	// TODO: error handling for a.size() != b.size()??
-	if (a.size() != b.size()) {
-		error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
-		abort();
-	}
-	for (int i = 0; i < a.size(); i++) {
-		result(i) = a(i) - b(i);
-	}
-	return result;
-}
-inline vecx operator/(const vecx& a, const idScalar& s) {
-	vecx result(a.size());
-	for (int i = 0; i < result.size(); i++) {
-		result(i) = a(i) / s;
-	}
-
-	return result;
-}
-
-// use btMatrixX to implement 3xX matrix
-class mat3x : public matxx {
-public:
-    mat3x(){}
-    mat3x(const mat3x&rhs) {
-        matxx::resize(rhs.rows(), rhs.cols());
-        *this = rhs;
-    }
-    mat3x(int rows, int cols): matxx(3,cols) {
-    }
-    void operator=(const mat3x& rhs) {
-	if (m_cols != rhs.m_cols) {
-            error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
-            abort();
-	}
-        for(int i=0;i<rows();i++) {
-            for(int k=0;k<cols();k++) {
-                setElem(i,k,rhs(i,k));
-            }
-        }
-    }
-    void setZero() {
-        matxx::setZero();
-    }
-};
-
-
-inline vec3 operator*(const mat3x& a, const vecx& b) {
-    vec3 result;
-    if (a.cols() != b.size()) {
-        error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
-        abort();
-    }
-    result(0)=0.0;
-    result(1)=0.0;
-    result(2)=0.0;
-    for(int i=0;i<b.size();i++) {
-        for(int k=0;k<3;k++) {
-            result(k)+=a(k,i)*b(i);
-        }
-    }
-    return result;
-}
-
-
-inline void resize(mat3x &m, idArrayIdx size) {
-    m.resize(3, size);
-    m.setZero();
-}
-
-inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx*m){
-    m->setElem(row, col, val);
-}
-
-inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x*m){
-    m->setElem(row, col, val);
-}
-
-}
-
-#endif  // IDLINEARMATHINTERFACE_HPP_