minor clean-up

src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp

@@ -167,149 +167,4 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
 													);
 #endif
 	}
-}
+}
-
-
-
-//#include "btMultiBodyPoint2Point.h"
-//#include "btMultiBodyLinkCollider.h"
-//#include "BulletDynamics/Dynamics/btRigidBody.h"
-//
-//btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
-//	:btMultiBodyConstraint(body,0,link,-1,6,false),	
-//	m_rigidBodyA(0),
-//	m_rigidBodyB(bodyB),
-//	m_pivotInA(pivotInA),
-//	m_pivotInB(pivotInB)
-//{
-//}
-//
-//btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB)
-//	:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,6,false),
-//	m_rigidBodyA(0),
-//	m_rigidBodyB(0),
-//	m_pivotInA(pivotInA),
-//	m_pivotInB(pivotInB)
-//{
-//}
-//
-//
-//btMultiBodyPoint2Point::~btMultiBodyPoint2Point()
-//{
-//}
-//
-//
-//int btMultiBodyPoint2Point::getIslandIdA() const
-//{
-//	if (m_rigidBodyA)
-//		return m_rigidBodyA->getIslandTag();
-//
-//	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 btMultiBodyPoint2Point::getIslandIdB() const
-//{
-//	if (m_rigidBodyB)
-//		return m_rigidBodyB->getIslandTag();
-//	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 btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
-//		btMultiBodyJacobianData& data,
-//		const btContactSolverInfo& infoGlobal)
-//{
-//
-////	int i=1;
-//	for (int i=0;i<6;i++)
-//	{
-//
-//		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
-//
-//		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
-//		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
-//		
-//
-//		btVector3 contactNormalOnB(0,0,0);
-//		btVector3 normalAng(0, 0, 0);
-//		if(i >= 3)
-//			contactNormalOnB[i-3] = -1;
-//		else
-//			normalAng[i] = -1;
-//
-//
-//		btScalar penetration = 0;
-//
-//		 // Convert local points back to world
-//		btVector3 pivotAworld = m_pivotInA;
-//		if (m_rigidBodyA)
-//		{
-//			
-//			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
-//			pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
-//		} else
-//		{
-//			if (m_bodyA)
-//				pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
-//		}
-//		btVector3 pivotBworld = m_pivotInB;
-//		if (m_rigidBodyB)
-//		{
-//			constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId();
-//			pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB;
-//		} else
-//		{
-//			if (m_bodyB)
-//				pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-//			
-//		}
-//		btScalar position = (pivotAworld-pivotBworld).dot(contactNormalOnB);
-//		btScalar relaxation = 1.f;
-//
-//		if(i < 3)
-//			position = 0;
-//		
-//		constraintRow.m_jacAindex = data.m_jacobians.size();
-//		data.m_jacobians.resize(data.m_jacobians.size()+m_bodyA->getNumDofs()+6);
-//		btScalar* jac1=&data.m_jacobians[constraintRow.m_jacAindex];
-//
-//		m_bodyA->filConstraintJacobianMultiDof(m_linkA, pivotAworld, normalAng, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
-//		
-//		
-//		fillMultiBodyConstraintMixed_old(constraintRow, data,
-//																 contactNormalOnB,
-//																 pivotAworld, pivotBworld, 
-//																 position,
-//																 infoGlobal,
-//																 relaxation,
-//																 false);
-//		constraintRow.m_lowerLimit = -m_maxAppliedImpulse;
-//		constraintRow.m_upperLimit = m_maxAppliedImpulse;
-//
-//	}
-//}