From dd5d0a10941b2ad7ee5cd6a0e18e4b2b858997b7 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 10 Apr 2020 09:16:30 -0700
Subject: [PATCH] remove old unused methods from btMultiBody.

---
 .../Featherstone/btMultiBody.cpp              | 46 -------------------
 src/BulletDynamics/Featherstone/btMultiBody.h |  7 ---
 2 files changed, 53 deletions(-)

diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index bdaa47347..a1d5bb9ca 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -583,52 +583,6 @@ void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
 	}
 }
 
-btScalar btMultiBody::getKineticEnergy() const
-{
-	int num_links = getNumLinks();
-	// TODO: would be better not to allocate memory here
-	btAlignedObjectArray<btVector3> omega;
-	omega.resize(num_links + 1);
-	btAlignedObjectArray<btVector3> vel;
-	vel.resize(num_links + 1);
-	compTreeLinkVelocities(&omega[0], &vel[0]);
-
-	// we will do the factor of 0.5 at the end
-	btScalar result = m_baseMass * vel[0].dot(vel[0]);
-	result += omega[0].dot(m_baseInertia * omega[0]);
-
-	for (int i = 0; i < num_links; ++i)
-	{
-		result += m_links[i].m_mass * vel[i + 1].dot(vel[i + 1]);
-		result += omega[i + 1].dot(m_links[i].m_inertiaLocal * omega[i + 1]);
-	}
-
-	return 0.5f * result;
-}
-
-btVector3 btMultiBody::getAngularMomentum() const
-{
-	int num_links = getNumLinks();
-	// TODO: would be better not to allocate memory here
-	btAlignedObjectArray<btVector3> omega;
-	omega.resize(num_links + 1);
-	btAlignedObjectArray<btVector3> vel;
-	vel.resize(num_links + 1);
-	btAlignedObjectArray<btQuaternion> rot_from_world;
-	rot_from_world.resize(num_links + 1);
-	compTreeLinkVelocities(&omega[0], &vel[0]);
-
-	rot_from_world[0] = m_baseQuat;
-	btVector3 result = quatRotate(rot_from_world[0].inverse(), (m_baseInertia * omega[0]));
-
-	for (int i = 0; i < num_links; ++i)
-	{
-		rot_from_world[i + 1] = m_links[i].m_cachedRotParentToThis * rot_from_world[m_links[i].m_parent + 1];
-		result += (quatRotate(rot_from_world[i + 1].inverse(), (m_links[i].m_inertiaLocal * omega[i + 1])));
-	}
-
-	return result;
-}
 
 void btMultiBody::clearConstraintForces()
 {
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index afed669a7..be795633f 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -307,13 +307,6 @@ public:
 	//
 	btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &local_frame) const;
 
-	//
-	// calculate kinetic energy and angular momentum
-	// useful for debugging.
-	//
-
-	btScalar getKineticEnergy() const;
-	btVector3 getAngularMomentum() const;
 
 	//
 	// set external forces and torques. Note all external forces/torques are given in the WORLD frame.