From 2f9184acc98041eadb396cc153a002757d5ab257 Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan2015@u.northwestern.edu>
Date: Thu, 19 Sep 2019 16:57:25 -0700
Subject: [PATCH] remove position correction

---
 .../btDeformableMultiBodyDynamicsWorld.cpp    | 74 -------------------
 1 file changed, 74 deletions(-)

diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
index 39d2d61bb..0d5067339 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
@@ -69,80 +69,6 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
     // End solver-wise simulation step
     // ///////////////////////////////
 }
-//
-//void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep)
-//{
-//    // perform position correction for all constraints
-//    BT_PROFILE("positionCorrection");
-//    for (int index = 0; index < m_deformableBodySolver->m_objective->m_projection.m_constraints.size(); ++index)
-//    {
-//        DeformableContactConstraint& constraint = *m_deformableBodySolver->m_objective->m_projection.m_constraints.getAtIndex(index);
-//        for (int j = 0; j < constraint.m_contact.size(); ++j)
-//        {
-//            const btSoftBody::RContact* c = constraint.m_contact[j];
-//            // skip anchor points
-//            if (c == NULL || c->m_node->m_im == 0)
-//                continue;
-//            const btSoftBody::sCti& cti = c->m_cti;
-//            btVector3 va(0, 0, 0);
-//            
-//            // grab the velocity of the rigid body
-//            if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-//            {
-//                btRigidBody* rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
-//                va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c->m_c1)): btVector3(0, 0, 0);
-//            }
-//            else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-//            {
-//                btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
-//                if (multibodyLinkCol)
-//                {
-//                    const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-//                    const btScalar* J_n = &c->jacobianData_normal.m_jacobians[0];
-//                    const btScalar* J_t1 = &c->jacobianData_t1.m_jacobians[0];
-//                    const btScalar* J_t2 = &c->jacobianData_t2.m_jacobians[0];
-//                    const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector();
-//                    // add in the normal component of the va
-//                    btScalar vel = 0.0;
-//                    for (int k = 0; k < ndof; ++k)
-//                    {
-//                        vel += local_v[k] * J_n[k];
-//                    }
-//                    va = cti.m_normal * vel;
-//                    
-//                    vel = 0.0;
-//                    for (int k = 0; k < ndof; ++k)
-//                    {
-//                        vel += local_v[k] * J_t1[k];
-//                    }
-//                    va += c->t1 * vel;
-//                    vel = 0.0;
-//                    for (int k = 0; k < ndof; ++k)
-//                    {
-//                        vel += local_v[k] * J_t2[k];
-//                    }
-//                    va += c->t2 * vel;
-//                }
-//            }
-//            else
-//            {
-//                // The object interacting with deformable node is not supported for position correction
-//                btAssert(false);
-//            }
-//            
-//            if (cti.m_colObj->hasContactResponse())
-//            {
-//                btScalar dp = cti.m_offset;
-//                
-//                // only perform position correction when penetrating
-//                if (dp < 0)
-//                {
-//                    c->m_node->m_v -= dp * cti.m_normal / timeStep;
-//                }
-//            }
-//        }
-//    }
-//}
 
 void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
 {