Remove unused Bullet module and thirdparty code

It has been disabled in `master` since one year (#45852) and our plan
is for Bullet, and possibly other thirdparty physics engines, to be
implemented via GDExtension so that they can be selected by the users
who need them.

1 files changed, 0 insertions, 510 deletions

diff --git a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp b/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp
deleted file mode 100644
index 2f120ed489..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp
+++ /dev/null
@@ -1,510 +0,0 @@
-#include "IDMath.hpp"
-
-#include <cmath>
-#include <limits>
-
-namespace btInverseDynamics
-{
-static const idScalar kIsZero = 5 * std::numeric_limits<idScalar>::epsilon();
-// requirements for axis length deviation from 1.0
-// experimentally set from random euler angle rotation matrices
-static const idScalar kAxisLengthEpsilon = 10 * kIsZero;
-
-void setZero(vec3 &v)
-{
-	v(0) = 0;
-	v(1) = 0;
-	v(2) = 0;
-}
-
-void setZero(vecx &v)
-{
-	for (int i = 0; i < v.size(); i++)
-	{
-		v(i) = 0;
-	}
-}
-
-void setZero(mat33 &m)
-{
-	m(0, 0) = 0;
-	m(0, 1) = 0;
-	m(0, 2) = 0;
-	m(1, 0) = 0;
-	m(1, 1) = 0;
-	m(1, 2) = 0;
-	m(2, 0) = 0;
-	m(2, 1) = 0;
-	m(2, 2) = 0;
-}
-
-void skew(vec3 &v, mat33 *result)
-{
-	(*result)(0, 0) = 0.0;
-	(*result)(0, 1) = -v(2);
-	(*result)(0, 2) = v(1);
-	(*result)(1, 0) = v(2);
-	(*result)(1, 1) = 0.0;
-	(*result)(1, 2) = -v(0);
-	(*result)(2, 0) = -v(1);
-	(*result)(2, 1) = v(0);
-	(*result)(2, 2) = 0.0;
-}
-
-idScalar maxAbs(const vecx &v)
-{
-	idScalar result = 0.0;
-	for (int i = 0; i < v.size(); i++)
-	{
-		const idScalar tmp = BT_ID_FABS(v(i));
-		if (tmp > result)
-		{
-			result = tmp;
-		}
-	}
-	return result;
-}
-
-idScalar maxAbs(const vec3 &v)
-{
-	idScalar result = 0.0;
-	for (int i = 0; i < 3; i++)
-	{
-		const idScalar tmp = BT_ID_FABS(v(i));
-		if (tmp > result)
-		{
-			result = tmp;
-		}
-	}
-	return result;
-}
-
-#if (defined BT_ID_HAVE_MAT3X)
-idScalar maxAbsMat3x(const mat3x &m)
-{
-	// only used for tests -- so just loop here for portability
-	idScalar result = 0.0;
-	for (idArrayIdx col = 0; col < m.cols(); col++)
-	{
-		for (idArrayIdx row = 0; row < 3; row++)
-		{
-			result = BT_ID_MAX(result, std::fabs(m(row, col)));
-		}
-	}
-	return result;
-}
-
-void mul(const mat33 &a, const mat3x &b, mat3x *result)
-{
-	if (b.cols() != result->cols())
-	{
-		bt_id_error_message("size missmatch. b.cols()= %d, result->cols()= %d\n",
-							static_cast<int>(b.cols()), static_cast<int>(result->cols()));
-		abort();
-	}
-
-	for (idArrayIdx col = 0; col < b.cols(); col++)
-	{
-		const idScalar x = a(0, 0) * b(0, col) + a(0, 1) * b(1, col) + a(0, 2) * b(2, col);
-		const idScalar y = a(1, 0) * b(0, col) + a(1, 1) * b(1, col) + a(1, 2) * b(2, col);
-		const idScalar z = a(2, 0) * b(0, col) + a(2, 1) * b(1, col) + a(2, 2) * b(2, col);
-		setMat3xElem(0, col, x, result);
-		setMat3xElem(1, col, y, result);
-		setMat3xElem(2, col, z, result);
-	}
-}
-void add(const mat3x &a, const mat3x &b, mat3x *result)
-{
-	if (a.cols() != b.cols())
-	{
-		bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
-							static_cast<int>(a.cols()), static_cast<int>(b.cols()));
-		abort();
-	}
-	for (idArrayIdx col = 0; col < b.cols(); col++)
-	{
-		for (idArrayIdx row = 0; row < 3; row++)
-		{
-			setMat3xElem(row, col, a(row, col) + b(row, col), result);
-		}
-	}
-}
-void sub(const mat3x &a, const mat3x &b, mat3x *result)
-{
-	if (a.cols() != b.cols())
-	{
-		bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
-							static_cast<int>(a.cols()), static_cast<int>(b.cols()));
-		abort();
-	}
-	for (idArrayIdx col = 0; col < b.cols(); col++)
-	{
-		for (idArrayIdx row = 0; row < 3; row++)
-		{
-			setMat3xElem(row, col, a(row, col) - b(row, col), result);
-		}
-	}
-}
-#endif
-
-mat33 transformX(const idScalar &alpha)
-{
-	mat33 T;
-	const idScalar cos_alpha = BT_ID_COS(alpha);
-	const idScalar sin_alpha = BT_ID_SIN(alpha);
-	// [1  0 0]
-	// [0  c s]
-	// [0 -s c]
-	T(0, 0) = 1.0;
-	T(0, 1) = 0.0;
-	T(0, 2) = 0.0;
-
-	T(1, 0) = 0.0;
-	T(1, 1) = cos_alpha;
-	T(1, 2) = sin_alpha;
-
-	T(2, 0) = 0.0;
-	T(2, 1) = -sin_alpha;
-	T(2, 2) = cos_alpha;
-
-	return T;
-}
-
-mat33 transformY(const idScalar &beta)
-{
-	mat33 T;
-	const idScalar cos_beta = BT_ID_COS(beta);
-	const idScalar sin_beta = BT_ID_SIN(beta);
-	// [c 0 -s]
-	// [0 1  0]
-	// [s 0  c]
-	T(0, 0) = cos_beta;
-	T(0, 1) = 0.0;
-	T(0, 2) = -sin_beta;
-
-	T(1, 0) = 0.0;
-	T(1, 1) = 1.0;
-	T(1, 2) = 0.0;
-
-	T(2, 0) = sin_beta;
-	T(2, 1) = 0.0;
-	T(2, 2) = cos_beta;
-
-	return T;
-}
-
-mat33 transformZ(const idScalar &gamma)
-{
-	mat33 T;
-	const idScalar cos_gamma = BT_ID_COS(gamma);
-	const idScalar sin_gamma = BT_ID_SIN(gamma);
-	// [ c s 0]
-	// [-s c 0]
-	// [ 0 0 1]
-	T(0, 0) = cos_gamma;
-	T(0, 1) = sin_gamma;
-	T(0, 2) = 0.0;
-
-	T(1, 0) = -sin_gamma;
-	T(1, 1) = cos_gamma;
-	T(1, 2) = 0.0;
-
-	T(2, 0) = 0.0;
-	T(2, 1) = 0.0;
-	T(2, 2) = 1.0;
-
-	return T;
-}
-
-mat33 tildeOperator(const vec3 &v)
-{
-	mat33 m;
-	m(0, 0) = 0.0;
-	m(0, 1) = -v(2);
-	m(0, 2) = v(1);
-	m(1, 0) = v(2);
-	m(1, 1) = 0.0;
-	m(1, 2) = -v(0);
-	m(2, 0) = -v(1);
-	m(2, 1) = v(0);
-	m(2, 2) = 0.0;
-	return m;
-}
-
-void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec3 *r, mat33 *T)
-{
-	const idScalar sa = BT_ID_SIN(alpha);
-	const idScalar ca = BT_ID_COS(alpha);
-	const idScalar st = BT_ID_SIN(theta);
-	const idScalar ct = BT_ID_COS(theta);
-
-	(*r)(0) = a;
-	(*r)(1) = -sa * d;
-	(*r)(2) = ca * d;
-
-	(*T)(0, 0) = ct;
-	(*T)(0, 1) = -st;
-	(*T)(0, 2) = 0.0;
-
-	(*T)(1, 0) = st * ca;
-	(*T)(1, 1) = ct * ca;
-	(*T)(1, 2) = -sa;
-
-	(*T)(2, 0) = st * sa;
-	(*T)(2, 1) = ct * sa;
-	(*T)(2, 2) = ca;
-}
-
-void bodyTParentFromAxisAngle(const vec3 &axis, const idScalar &angle, mat33 *T)
-{
-	const idScalar c = BT_ID_COS(angle);
-	const idScalar s = -BT_ID_SIN(angle);
-	const idScalar one_m_c = 1.0 - c;
-
-	const idScalar &x = axis(0);
-	const idScalar &y = axis(1);
-	const idScalar &z = axis(2);
-
-	(*T)(0, 0) = x * x * one_m_c + c;
-	(*T)(0, 1) = x * y * one_m_c - z * s;
-	(*T)(0, 2) = x * z * one_m_c + y * s;
-
-	(*T)(1, 0) = x * y * one_m_c + z * s;
-	(*T)(1, 1) = y * y * one_m_c + c;
-	(*T)(1, 2) = y * z * one_m_c - x * s;
-
-	(*T)(2, 0) = x * z * one_m_c - y * s;
-	(*T)(2, 1) = y * z * one_m_c + x * s;
-	(*T)(2, 2) = z * z * one_m_c + c;
-}
-
-bool isPositiveDefinite(const mat33 &m)
-{
-	// test if all upper left determinants are positive
-	if (m(0, 0) <= 0)
-	{  // upper 1x1
-		return false;
-	}
-	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) <= 0)
-	{  // upper 2x2
-		return false;
-	}
-	if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
-		 m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
-		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0)
-	{
-		return false;
-	}
-	return true;
-}
-
-bool isPositiveSemiDefinite(const mat33 &m)
-{
-	// test if all upper left determinants are positive
-	if (m(0, 0) < 0)
-	{  // upper 1x1
-		return false;
-	}
-	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < 0)
-	{  // upper 2x2
-		return false;
-	}
-	if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
-		 m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
-		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < 0)
-	{
-		return false;
-	}
-	return true;
-}
-
-bool isPositiveSemiDefiniteFuzzy(const mat33 &m)
-{
-	// test if all upper left determinants are positive
-	if (m(0, 0) < -kIsZero)
-	{  // upper 1x1
-		return false;
-	}
-	if (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0) < -kIsZero)
-	{  // upper 2x2
-		return false;
-	}
-	if ((m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) -
-		 m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) +
-		 m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0))) < -kIsZero)
-	{
-		return false;
-	}
-	return true;
-}
-
-idScalar determinant(const mat33 &m)
-{
-	return m(0, 0) * m(1, 1) * m(2, 2) + m(0, 1) * m(1, 2) * m(2, 0) + m(0, 2) * m(1, 0) * m(2, 1) -
-		   m(0, 2) * m(1, 1) * m(2, 0) - m(0, 0) * m(1, 2) * m(2, 1) - m(0, 1) * m(1, 0) * m(2, 2);
-}
-
-bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint)
-{
-	// TODO(Thomas) do we really want this?
-	//			  in cases where the inertia tensor about the center of mass is zero,
-	//			  the determinant of the inertia tensor about the joint axis is almost
-	//			  zero and can have a very small negative value.
-	if (!isPositiveSemiDefiniteFuzzy(I))
-	{
-		bt_id_error_message(
-			"invalid inertia matrix for body %d, not positive definite "
-			"(fixed joint)\n",
-			index);
-		bt_id_error_message(
-			"matrix is:\n"
-			"[%.20e %.20e %.20e;\n"
-			"%.20e %.20e %.20e;\n"
-			"%.20e %.20e %.20e]\n",
-			I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-			I(2, 2));
-
-		return false;
-	}
-
-	// check triangle inequality, must have I(i,i)+I(j,j)>=I(k,k)
-	if (!has_fixed_joint)
-	{
-		if (I(0, 0) + I(1, 1) < I(2, 2))
-		{
-			bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
-			bt_id_error_message(
-				"matrix is:\n"
-				"[%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e]\n",
-				I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-				I(2, 2));
-			return false;
-		}
-		if (I(0, 0) + I(1, 1) < I(2, 2))
-		{
-			bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
-			bt_id_error_message(
-				"matrix is:\n"
-				"[%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e]\n",
-				I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-				I(2, 2));
-			return false;
-		}
-		if (I(1, 1) + I(2, 2) < I(0, 0))
-		{
-			bt_id_error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index);
-			bt_id_error_message(
-				"matrix is:\n"
-				"[%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e;\n"
-				"%.20e %.20e %.20e]\n",
-				I(0, 0), I(0, 1), I(0, 2), I(1, 0), I(1, 1), I(1, 2), I(2, 0), I(2, 1),
-				I(2, 2));
-			return false;
-		}
-	}
-	// check positive/zero diagonal elements
-	for (int i = 0; i < 3; i++)
-	{
-		if (I(i, i) < 0)
-		{  // accept zero
-			bt_id_error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i));
-			return false;
-		}
-	}
-	// check symmetry
-	if (BT_ID_FABS(I(1, 0) - I(0, 1)) > kIsZero)
-	{
-		bt_id_error_message(
-			"invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= "
-			"%e\n",
-			index, I(1, 0) - I(0, 1));
-		return false;
-	}
-	if (BT_ID_FABS(I(2, 0) - I(0, 2)) > kIsZero)
-	{
-		bt_id_error_message(
-			"invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= "
-			"%e\n",
-			index, I(2, 0) - I(0, 2));
-		return false;
-	}
-	if (BT_ID_FABS(I(1, 2) - I(2, 1)) > kIsZero)
-	{
-		bt_id_error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index,
-							I(1, 2) - I(2, 1));
-		return false;
-	}
-	return true;
-}
-
-bool isValidTransformMatrix(const mat33 &m)
-{
-#define print_mat(x)                                                                                   \
-	bt_id_error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \
-						x(1, 0), x(1, 1), x(1, 2), x(2, 0), x(2, 1), x(2, 2))
-
-	// check for unit length column vectors
-	for (int i = 0; i < 3; i++)
-	{
-		const idScalar length_minus_1 =
-			BT_ID_FABS(m(0, i) * m(0, i) + m(1, i) * m(1, i) + m(2, i) * m(2, i) - 1.0);
-		if (length_minus_1 > kAxisLengthEpsilon)
-		{
-			bt_id_error_message(
-				"Not a valid rotation matrix (column %d not unit length)\n"
-				"column = [%.18e %.18e %.18e]\n"
-				"length-1.0= %.18e\n",
-				i, m(0, i), m(1, i), m(2, i), length_minus_1);
-			print_mat(m);
-			return false;
-		}
-	}
-	// check for orthogonal column vectors
-	if (BT_ID_FABS(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon)
-	{
-		bt_id_error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n");
-		print_mat(m);
-		return false;
-	}
-	if (BT_ID_FABS(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon)
-	{
-		bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
-		print_mat(m);
-		return false;
-	}
-	if (BT_ID_FABS(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon)
-	{
-		bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
-		print_mat(m);
-		return false;
-	}
-	// check determinant (rotation not reflection)
-	if (determinant(m) <= 0)
-	{
-		bt_id_error_message("Not a valid rotation matrix (determinant <=0)\n");
-		print_mat(m);
-		return false;
-	}
-	return true;
-}
-
-bool isUnitVector(const vec3 &vector)
-{
-	return BT_ID_FABS(vector(0) * vector(0) + vector(1) * vector(1) + vector(2) * vector(2) - 1.0) <
-		   kIsZero;
-}
-
-vec3 rpyFromMatrix(const mat33 &rot)
-{
-	vec3 rpy;
-	rpy(2) = BT_ID_ATAN2(-rot(1, 0), rot(0, 0));
-	rpy(1) = BT_ID_ATAN2(rot(2, 0), BT_ID_COS(rpy(2)) * rot(0, 0) - BT_ID_SIN(rpy(0)) * rot(1, 0));
-	rpy(0) = BT_ID_ATAN2(-rot(2, 0), rot(2, 2));
-	return rpy;
-}
-}  // namespace btInverseDynamics