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code clean up and optimization

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This commit is contained in:
Xuchen Han
2019-09-15 12:06:28 -07:00
parent 109d9353af
commit 403eb62dfa
10 changed files with 86 additions and 147 deletions
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9
src/BulletSoftBody/btSoftBody.cpp
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@@ -2905,6 +2905,13 @@ void btSoftBody::updateDeformation()
c1.getY(), c2.getY(), c3.getY(),
c1.getZ(), c2.getZ(), c3.getZ());
t.m_F = Ds * t.m_Dm_inverse;
btSoftBody::TetraScratch& s = m_tetraScratches[i];
s.m_F = t.m_F;
s.m_J = t.m_F.determinant();
btMatrix3x3 C = t.m_F.transpose()*t.m_F;
s.m_trace = C[0].getX() + C[1].getY() + C[2].getZ();
s.m_cofF = t.m_F.adjoint().transpose();
}
}
//
@@ -3431,7 +3438,7 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
docollideFace.m_rigidBody = prb1;
docollideFace.dynmargin = basemargin + timemargin;
docollideFace.stamargin = basemargin;
// m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
}
break;
}