Remove deprecated code 2020-12 (#14398)

Deprecated as of:

 * bullet, freetype2 externals (#13986)
 * drake::systems::kAutoSize (#13981)
 * drake::systems::Subvector empty constructor (#13907)
 * drake::math::Slerp (#13810)
 * drake::systems::Simulator: time jumps warning (#13851)

math/quaternion.h

@@ -110,62 +110,6 @@ typename Derived1::Scalar quatDiffAxisInvar(
          2 * pow(u(0) * r(1) + u(1) * r(2) + u(2) * r(3), 2);
 }
 
-/**
- * Q = Slerp(q1, q2, f) Spherical linear interpolation between two quaternions
- *   This function uses the implementation given in Algorithm 8 of [1].
- *
- * @param q1   Initial quaternion (w, x, y, z)
- * @param q2   Final quaternion (w, x, y, z)
- * @param interpolation_parameter between 0 and 1 (inclusive)
- * @retval Q   Interpolated quaternion(s). 4-by-1 vector.
- *
- * [1] Kuffner, J.J., "Effective sampling and distance metrics for 3D rigid
- * body path planning," Robotics and Automation, 2004. Proceedings. ICRA '04.
- * 2004 IEEE International Conference on , vol.4, no., pp.3993, 3998 Vol.4,
- * April 26-May 1, 2004
- * doi: 10.1109/ROBOT.2004.1308895
- */
-template <typename Derived1, typename Derived2, typename Scalar>
-DRAKE_DEPRECATED("2020-12-01", "Use Eigen::Quaternion<T>::slerp() instead")
-Vector4<Scalar> Slerp(const Eigen::MatrixBase<Derived1>& q1,
-                      const Eigen::MatrixBase<Derived2>& q2,
-                      const Scalar& interpolation_parameter) {
-  // TODO(hongkai.dai@tri.global): Switch to Eigen's Quaternion when we fix
-  // the range problem in Eigen
-  using std::acos;
-  using std::sin;
-
-  // Compute the quaternion inner product
-  auto lambda = (q1.transpose() * q2).value();
-  int q2_sign;
-  if (lambda < Scalar(0)) {
-    // The quaternions are pointing in opposite directions, so use the
-    // equivalent alternative representation for q2
-    lambda = -lambda;
-    q2_sign = -1;
-  } else {
-    q2_sign = 1;
-  }
-
-  // Calculate interpolation factors
-  // TODO(tkoolen): do we really want an epsilon so small?
-  Scalar r, s;
-  if (std::abs(1.0 - lambda) < Eigen::NumTraits<Scalar>::epsilon()) {
-    // The quaternions are nearly parallel, so use linear interpolation
-    r = 1.0 - interpolation_parameter;
-    s = interpolation_parameter;
-  } else {
-    Scalar alpha = acos(lambda);
-    Scalar gamma = 1.0 / sin(alpha);
-    r = std::sin((1.0 - interpolation_parameter) * alpha) * gamma;
-    s = std::sin(interpolation_parameter * alpha) * gamma;
-  }
-
-  auto ret = (q1 * r).eval();
-  ret += q2 * (q2_sign * s);
-  return ret;
-}
-
 /**
  * This function tests whether a quaternion is in "canonical form" meaning that
  * it tests whether the quaternion [w, x, y, z] has a non-negative w value.

systems/analysis/simulator.cc

@@ -197,10 +197,9 @@ SimulatorStatus Simulator<T>::AdvanceTo(const T& boundary_time) {
 
   DRAKE_DEMAND(!std::isnan(last_known_simtime_));
   if (last_known_simtime_ != context_->get_time()) {
-    static const logging::Warn log_once(
+    throw std::logic_error(
         "Simulation time has changed since last Initialize() or AdvanceTo()."
-        " Resetting simulation time requires a call to Initialize()."
-        " This warning will become a hard error on or after 2020-12-01.");
+        " Resetting simulation time requires a call to Initialize().");
   }
 
   DRAKE_THROW_UNLESS(boundary_time >= context_->get_time());

systems/analysis/simulator.h

@@ -270,9 +270,8 @@ class Simulator {
   ///
   /// @note In particular, if you changed the time you must call Initialize().
   /// The time-triggered events must be recalculated in case one is due at the
-  /// new starting time. Currently, the AdvanceTo() call will print a warning
-  /// for the first violation; after 2020-12-01 the warning will become a hard
-  /// error.
+  /// new starting time. The AdvanceTo() call will throw an exception if the
+  /// Initialize() call is missing.
   ///
   /// @note The only way to suppress initialization events is by calling
   /// Initialize() explicitly. The most common scenario for this is when

systems/framework/framework_common.h

@@ -75,12 +75,6 @@ typedef enum {
   kAbstractValued = 1,
 } PortDataType;
 
-/** Port type indicating a vector value whose size is not prespecified but
-rather depends on what it is connected to (not yet implemented). */
-DRAKE_DEPRECATED("2020-12-01",
-    "AutoSize was never implemented; the putative support is being removed.")
-constexpr int kAutoSize = -1;
-
 /** (Advanced.)  Tag type that indicates a system or port should use a default
 name, instead of a user-provided name.  Most users will use the kUseDefaultName
 constant, without ever having to mention this type. */

systems/framework/port_base.cc

@@ -24,13 +24,6 @@ PortBase::PortBase(
   DRAKE_DEMAND(kind_string != nullptr);
   DRAKE_DEMAND(owning_system != nullptr);
   DRAKE_DEMAND(!name_.empty());
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  if (size_ == kAutoSize) {
-    throw std::domain_error(
-        "Auto-size ports are deprecated and unimplemented.");
-  }
-#pragma GCC diagnostic pop
 }
 
 PortBase::~PortBase() = default;

systems/framework/subvector.h

@@ -42,14 +42,6 @@ class Subvector final : public VectorBase<T> {
     }
   }
 
-  /// Constructs an empty subvector.
-  /// @param vector The vector to slice.  Must not be nullptr. Must remain
-  ///               valid for the lifetime of this object.
-  DRAKE_DEPRECATED("2020-12-01",
-      "The slice specification now must always be provided, even if zero.")
-  explicit Subvector(VectorBase<T>* vector)
-      : Subvector(vector, 0, 0) {}
-
   int size() const final { return num_elements_; }
 
  private:

systems/framework/test/subvector_test.cc

@@ -26,15 +26,6 @@ TEST_F(SubvectorTest, NullptrVector) {
   EXPECT_THROW(Subvector<double> subvec(nullptr, 0, 0), std::exception);
 }
 
-TEST_F(SubvectorTest, EmptySubvectorDeprecated) {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  Subvector<double> subvec(vector_.get());
-#pragma GCC diagnostic pop
-  EXPECT_EQ(0, subvec.size());
-  EXPECT_THROW(subvec.GetAtIndex(0), std::exception);
-}
-
 TEST_F(SubvectorTest, OutOfBoundsSubvector) {
   EXPECT_THROW(Subvector<double>(vector_.get(), 1, 4), std::exception);
 }

tools/workspace/default.bzl

@@ -6,7 +6,6 @@ load("@drake//tools/workspace/bazel_skylib:repository.bzl", "bazel_skylib_reposi
 load("@drake//tools/workspace/blas:repository.bzl", "blas_repository")
 load("@drake//tools/workspace/boost:repository.bzl", "boost_repository")
 load("@drake//tools/workspace/buildifier:repository.bzl", "buildifier_repository")  # noqa
-load("@drake//tools/workspace/bullet:repository.bzl", "bullet_repository")
 load("@drake//tools/workspace/cc:repository.bzl", "cc_repository")
 load("@drake//tools/workspace/ccd:repository.bzl", "ccd_repository")
 load("@drake//tools/workspace/cds:repository.bzl", "cds_repository")
@@ -21,7 +20,6 @@ load("@drake//tools/workspace/eigen:repository.bzl", "eigen_repository")
 load("@drake//tools/workspace/expat:repository.bzl", "expat_repository")
 load("@drake//tools/workspace/fcl:repository.bzl", "fcl_repository")
 load("@drake//tools/workspace/fmt:repository.bzl", "fmt_repository")
-load("@drake//tools/workspace/freetype2:repository.bzl", "freetype2_repository")  # noqa
 load("@drake//tools/workspace/gflags:repository.bzl", "gflags_repository")
 load("@drake//tools/workspace/gfortran:repository.bzl", "gfortran_repository")
 load("@drake//tools/workspace/ghc_filesystem:repository.bzl", "ghc_filesystem_repository")  # noqa
@@ -104,8 +102,6 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         boost_repository(name = "boost")
     if "buildifier" not in excludes:
         buildifier_repository(name = "buildifier", mirrors = mirrors)
-    if "bullet" not in excludes:
-        bullet_repository(name = "bullet", mirrors = mirrors)
     if "cc" not in excludes:
         cc_repository(name = "cc")
     if "ccd" not in excludes:
@@ -136,8 +132,6 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         fcl_repository(name = "fcl", mirrors = mirrors)
     if "fmt" not in excludes:
         fmt_repository(name = "fmt", mirrors = mirrors)
-    if "freetype2" not in excludes:
-        freetype2_repository(name = "freetype2")
     if "gflags" not in excludes:
         gflags_repository(name = "gflags")
     if "gfortran" not in excludes: