1 files changed, 0 insertions, 148 deletions
diff --git a/src/dynamics/joint/ball_joint.rs b/src/dynamics/joint/ball_joint.rs
deleted file mode 100644
index 0b626c0..0000000
--- a/src/dynamics/joint/ball_joint.rs
+++ /dev/null
@@ -1,148 +0,0 @@
-use crate::dynamics::SpringModel;
-use crate::math::{Point, Real, Rotation, UnitVector, Vector};
-
-#[derive(Copy, Clone, PartialEq)]
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-/// A joint that removes all relative linear motion between a pair of points on two bodies.
-pub struct BallJoint {
-    /// Where the ball joint is attached on the first body, expressed in the first body local frame.
-    pub local_anchor1: Point<Real>,
-    /// Where the ball joint is attached on the second body, expressed in the second body local frame.
-    pub local_anchor2: Point<Real>,
-    /// The impulse applied by this joint on the first body.
-    ///
-    /// The impulse applied to the second body is given by `-impulse`.
-    pub impulse: Vector<Real>,
-
-    /// The target relative angular velocity the motor will attempt to reach.
-    #[cfg(feature = "dim2")]
-    pub motor_target_vel: Real,
-    /// The target relative angular velocity the motor will attempt to reach.
-    #[cfg(feature = "dim3")]
-    pub motor_target_vel: Vector<Real>,
-    /// The target angular position of this joint, expressed as an axis-angle.
-    pub motor_target_pos: Rotation<Real>,
-    /// The motor's stiffness.
-    /// See the documentation of `SpringModel` for more information on this parameter.
-    pub motor_stiffness: Real,
-    /// The motor's damping.
-    /// See the documentation of `SpringModel` for more information on this parameter.
-    pub motor_damping: Real,
-    /// The maximal impulse the motor is able to deliver.
-    pub motor_max_impulse: Real,
-    /// The angular impulse applied by the motor.
-    #[cfg(feature = "dim2")]
-    pub motor_impulse: Real,
-    /// The angular impulse applied by the motor.
-    #[cfg(feature = "dim3")]
-    pub motor_impulse: Vector<Real>,
-    /// The spring-like model used by the motor to reach the target velocity and .
-    pub motor_model: SpringModel,
-
-    /// Are the limits enabled for this joint?
-    pub limits_enabled: bool,
-    /// The axis of the limit cone for this joint, if the local-space of the first body.
-    pub limits_local_axis1: UnitVector<Real>,
-    /// The axis of the limit cone for this joint, if the local-space of the first body.
-    pub limits_local_axis2: UnitVector<Real>,
-    /// The maximum angle allowed between the two limit axes in world-space.
-    pub limits_angle: Real,
-    /// The impulse applied to enforce joint limits.
-    pub limits_impulse: Real,
-}
-
-impl BallJoint {
-    /// Creates a new Ball joint from two anchors given on the local spaces of the respective bodies.
-    pub fn new(local_anchor1: Point<Real>, local_anchor2: Point<Real>) -> Self {
-        Self::with_impulse(local_anchor1, local_anchor2, Vector::zeros())
-    }
-
-    pub(crate) fn with_impulse(
-        local_anchor1: Point<Real>,
-        local_anchor2: Point<Real>,
-        impulse: Vector<Real>,
-    ) -> Self {
-        Self {
-            local_anchor1,
-            local_anchor2,
-            impulse,
-            motor_target_vel: na::zero(),
-            motor_target_pos: Rotation::identity(),
-            motor_stiffness: 0.0,
-            motor_damping: 0.0,
-            motor_impulse: na::zero(),
-            motor_max_impulse: Real::MAX,
-            motor_model: SpringModel::default(),
-            limits_enabled: false,
-            limits_local_axis1: Vector::x_axis(),
-            limits_local_axis2: Vector::x_axis(),
-            limits_angle: Real::MAX,
-            limits_impulse: 0.0,
-        }
-    }
-
-    /// Can a SIMD constraint be used for resolving this joint?
-    pub fn supports_simd_constraints(&self) -> bool {
-        // SIMD ball constraints don't support motors and limits right now.
-        !self.limits_enabled
-            && (self.motor_max_impulse == 0.0
-                || (self.motor_stiffness == 0.0 && self.motor_damping == 0.0))
-    }
-
-    /// Set the spring-like model used by the motor to reach the desired target velocity and position.
-    pub fn configure_motor_model(&mut self, model: SpringModel) {
-        self.motor_model = model;
-    }
-
-    /// Sets the target velocity and velocity correction factor this motor.
-    #[cfg(feature = "dim2")]
-    pub fn configure_motor_velocity(&mut self, target_vel: Real, factor: Real) {
-        self.configure_motor(self.motor_target_pos, target_vel, 0.0, factor)
-    }
-
-    /// Sets the target velocity and velocity correction factor this motor.
-    #[cfg(feature = "dim3")]
-    pub fn configure_motor_velocity(&mut self, target_vel: Vector<Real>, factor: Real) {
-        self.configure_motor(self.motor_target_pos, target_vel, 0.0, factor)
-    }
-
-    /// Sets the target orientation this motor needs to reach.
-    pub fn configure_motor_position(
-        &mut self,
-        target_pos: Rotation<Real>,
-        stiffness: Real,
-        damping: Real,
-    ) {
-        self.configure_motor(target_pos, na::zero(), stiffness, damping)
-    }
-
-    /// Sets the target orientation this motor needs to reach.
-    #[cfg(feature = "dim2")]
-    pub fn configure_motor(
-        &mut self,
-        target_pos: Rotation<Real>,
-        target_vel: Real,
-        stiffness: Real,
-        damping: Real,
-    ) {
-        self.motor_target_vel = target_vel;
-        self.motor_target_pos = target_pos;
-        self.motor_stiffness = stiffness;
-        self.motor_damping = damping;
-    }
-
-    /// Configure both the target orientation and target velocity of the motor.
-    #[cfg(feature = "dim3")]
-    pub fn configure_motor(
-        &mut self,
-        target_pos: Rotation<Real>,
-        target_vel: Vector<Real>,
-        stiffness: Real,
-        damping: Real,
-    ) {
-        self.motor_target_vel = target_vel;
-        self.motor_target_pos = target_pos;
-        self.motor_stiffness = stiffness;
-        self.motor_damping = damping;
-    }
-}