1 files changed, 0 insertions, 178 deletions

diff --git a/libraries/ode-0.9/ode/src/odemath.cpp b/libraries/ode-0.9/ode/src/odemath.cpp
deleted file mode 100644
index 11bc84e..0000000
--- a/libraries/ode-0.9/ode/src/odemath.cpp
+++ /dev/null
@@ -1,178 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/common.h>
-#include <ode/odemath.h>
-
-// get some math functions under windows
-#ifdef WIN32
-#include <float.h>
-#ifndef CYGWIN                  // added by andy for cygwin
-#undef copysign
-#define copysign(a,b) ((dReal)_copysign(a,b))
-#endif                          // added by andy for cygwin
-#endif
-
-#undef dNormalize3
-#undef dNormalize4
-
-
-// this may be called for vectors `a' with extremely small magnitude, for
-// example the result of a cross product on two nearly perpendicular vectors.
-// we must be robust to these small vectors. to prevent numerical error,
-// first find the component a[i] with the largest magnitude and then scale
-// all the components by 1/a[i]. then we can compute the length of `a' and
-// scale the components by 1/l. this has been verified to work with vectors
-// containing the smallest representable numbers.
-
-int dSafeNormalize3 (dVector3 a)
-{
-  dReal a0,a1,a2,aa0,aa1,aa2,l;
-  dAASSERT (a);
-  a0 = a[0];
-  a1 = a[1];
-  a2 = a[2];
-  aa0 = dFabs(a0);
-  aa1 = dFabs(a1);
-  aa2 = dFabs(a2);
-  if (aa1 > aa0) {
-    if (aa2 > aa1) {
-      goto aa2_largest;
-    }
-    else {              // aa1 is largest
-      a0 /= aa1;
-      a2 /= aa1;
-      l = dRecipSqrt (a0*a0 + a2*a2 + 1);
-      a[0] = a0*l;
-      a[1] = dCopySign(l,a1);
-      a[2] = a2*l;
-    }
-  }
-  else {
-    if (aa2 > aa0) {
-      aa2_largest:      // aa2 is largest
-      a0 /= aa2;
-      a1 /= aa2;
-      l = dRecipSqrt (a0*a0 + a1*a1 + 1);
-      a[0] = a0*l;
-      a[1] = a1*l;
-      a[2] = dCopySign(l,a2);
-    }
-    else {              // aa0 is largest
-      if (aa0 <= 0) {
-        a[0] = 1;       // if all a's are zero, this is where we'll end up.
-        a[1] = 0;       // return a default unit length vector.
-        a[2] = 0;
-        return 0;
-      }
-      a1 /= aa0;
-      a2 /= aa0;
-      l = dRecipSqrt (a1*a1 + a2*a2 + 1);
-      a[0] = dCopySign(l,a0);
-      a[1] = a1*l;
-      a[2] = a2*l;
-    }
-  }
-  return 1;
-}
-
-/* OLD VERSION */
-/*
-void dNormalize3 (dVector3 a)
-{
-  dIASSERT (a);
-  dReal l = dDOT(a,a);
-  if (l > 0) {
-    l = dRecipSqrt(l);
-    a[0] *= l;
-    a[1] *= l;
-    a[2] *= l;
-  }
-  else {
-    a[0] = 1;
-    a[1] = 0;
-    a[2] = 0;
-  }
-}
-*/
-
-void dNormalize3(dVector3 a)
-{
-        _dNormalize3(a);
-}
-
-
-int dSafeNormalize4 (dVector4 a)
-{
-  dAASSERT (a);
-  dReal l = dDOT(a,a)+a[3]*a[3];
-  if (l > 0) {
-    l = dRecipSqrt(l);
-    a[0] *= l;
-    a[1] *= l;
-    a[2] *= l;
-    a[3] *= l;
-        return 1;
-  }
-  else {
-    a[0] = 1;
-    a[1] = 0;
-    a[2] = 0;
-    a[3] = 0;
-    return 0;
-  }
-}
-
-void dNormalize4(dVector4 a)
-{
-        _dNormalize4(a);
-}
-
-
-void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q)
-{
-  dAASSERT (n && p && q);
-  if (dFabs(n[2]) > M_SQRT1_2) {
-    // choose p in y-z plane
-    dReal a = n[1]*n[1] + n[2]*n[2];
-    dReal k = dRecipSqrt (a);
-    p[0] = 0;
-    p[1] = -n[2]*k;
-    p[2] = n[1]*k;
-    // set q = n x p
-    q[0] = a*k;
-    q[1] = -n[0]*p[2];
-    q[2] = n[0]*p[1];
-  }
-  else {
-    // choose p in x-y plane
-    dReal a = n[0]*n[0] + n[1]*n[1];
-    dReal k = dRecipSqrt (a);
-    p[0] = -n[1]*k;
-    p[1] = n[0]*k;
-    p[2] = 0;
-    // set q = n x p
-    q[0] = -n[2]*p[1];
-    q[1] = n[2]*p[0];
-    q[2] = a*k;
-  }
-}