Remove cross_product_matrix function from pose.cpp

Author: zfergus

python/examples/find_ipctk.py

@@ -1,20 +1,4 @@
-try:
-    import ipctk  # Try to import the built module
-except ImportError:
-    import sys
-    import pathlib
-    repo_root = pathlib.Path(__file__).parents[2]
-    possible_paths = [
-        pathlib.Path("python").resolve(),
-        repo_root / "build" / "python",
-        repo_root / "build" / "release" / "python",
-        repo_root / "build" / "debug" / "python",
-    ]
-    for path in possible_paths:
-        if path.exists() and len(list(path.glob("ipctk.*"))) > 0:
-            sys.path.append(str(path))
-            break
-    else:
-        raise ImportError("Could not find the ipctk module")
-    print(f"Using found ipctk module at {path}")
-    import ipctk  # Try again
+import sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parents[1]))
+from _find_ipctk import ipctk  # noqa

src/ipc/dynamics/rigid/pose.cpp

@@ -4,18 +4,6 @@
 
 namespace ipc::rigid {
 
-namespace {
-    inline Eigen::Matrix3d
-    cross_product_matrix(Eigen::ConstRef<Eigen::Vector3d> x)
-    {
-        Eigen::Matrix3d X;
-        X << 0, -x.z(), x.y(), //
-            x.z(), 0, -x.x(),  //
-            -x.y(), x.x(), 0;
-        return X;
-    }
-} // namespace
-
 Eigen::Matrix3d
 rotation_vector_to_matrix(Eigen::ConstRef<Eigen::Vector3d> theta)
 {