1 files changed, 0 insertions, 71 deletions
diff --git a/src/dynamics/solver/joint_constraint/revolute_position_constraint_wide.rs b/src/dynamics/solver/joint_constraint/revolute_position_constraint_wide.rs
deleted file mode 100644
index 5881cb3..0000000
--- a/src/dynamics/solver/joint_constraint/revolute_position_constraint_wide.rs
+++ /dev/null
@@ -1,71 +0,0 @@
-use super::{RevolutePositionConstraint, RevolutePositionGroundConstraint};
-use crate::dynamics::{
-    IntegrationParameters, RevoluteJoint, RigidBodyIds, RigidBodyMassProps, RigidBodyPosition,
-};
-use crate::math::{Isometry, Real, SIMD_WIDTH};
-
-// TODO: this does not uses SIMD optimizations yet.
-#[derive(Debug)]
-pub(crate) struct WRevolutePositionConstraint {
-    constraints: [RevolutePositionConstraint; SIMD_WIDTH],
-}
-
-impl WRevolutePositionConstraint {
-    pub fn from_params(
-        rbs1: (
-            [&RigidBodyMassProps; SIMD_WIDTH],
-            [&RigidBodyIds; SIMD_WIDTH],
-        ),
-        rbs2: (
-            [&RigidBodyMassProps; SIMD_WIDTH],
-            [&RigidBodyIds; SIMD_WIDTH],
-        ),
-        cparams: [&RevoluteJoint; SIMD_WIDTH],
-    ) -> Self {
-        Self {
-            constraints: gather![|ii| RevolutePositionConstraint::from_params(
-                (rbs1.0[ii], rbs1.1[ii]),
-                (rbs2.0[ii], rbs2.1[ii]),
-                cparams[ii]
-            )],
-        }
-    }
-
-    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
-        for constraint in &self.constraints {
-            constraint.solve(params, positions);
-        }
-    }
-}
-
-#[derive(Debug)]
-pub(crate) struct WRevolutePositionGroundConstraint {
-    constraints: [RevolutePositionGroundConstraint; SIMD_WIDTH],
-}
-
-impl WRevolutePositionGroundConstraint {
-    pub fn from_params(
-        rbs1: [&RigidBodyPosition; SIMD_WIDTH],
-        rbs2: (
-            [&RigidBodyMassProps; SIMD_WIDTH],
-            [&RigidBodyIds; SIMD_WIDTH],
-        ),
-        cparams: [&RevoluteJoint; SIMD_WIDTH],
-        flipped: [bool; SIMD_WIDTH],
-    ) -> Self {
-        Self {
-            constraints: gather![|ii| RevolutePositionGroundConstraint::from_params(
-                rbs1[ii],
-                (rbs2.0[ii], rbs2.1[ii]),
-                cparams[ii],
-                flipped[ii]
-            )],
-        }
-    }
-
-    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
-        for constraint in &self.constraints {
-            constraint.solve(params, positions);
-        }
-    }
-}