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add method to remove softbody

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This commit is contained in:
Xuchen Han
2019-08-19 19:18:02 -07:00
parent ef65d6422b
commit 3bf3b66fb7
3 changed files with 14 additions and 1 deletions
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3
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -27,7 +27,10 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt) void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt)
{ {
BT_PROFILE("reinitialize"); BT_PROFILE("reinitialize");
if (dt > 0)
{
setDt(dt); setDt(dt);
}
if(nodeUpdated) if(nodeUpdated)
{ {
updateId(); updateId();

8
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -269,3 +269,11 @@ void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableL
forces.push_back(force); forces.push_back(force);
} }
} }
void btDeformableMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body)
{
m_softBodies.remove(body);
btCollisionWorld::removeCollisionObject(body);
// force a reinitialize so that node indices get updated.
m_deformableBodySolver->reinitialize(m_softBodies, btScalar(-1));
}

2
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
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@@ -136,6 +136,8 @@ public:
void addForce(btSoftBody* psb, btDeformableLagrangianForce* force); void addForce(btSoftBody* psb, btDeformableLagrangianForce* force);
void removeSoftBody(btSoftBody* body);
int getDrawFlags() const { return (m_drawFlags); } int getDrawFlags() const { return (m_drawFlags); }
void setDrawFlags(int f) { m_drawFlags = f; } void setDrawFlags(int f) { m_drawFlags = f; }
}; };