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remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now

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This commit is contained in:
Xuchen Han
2019-08-21 22:17:46 -07:00
parent f33532273a
commit 4e1c1a30a7
16 changed files with 98 additions and 80 deletions
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8
src/BulletSoftBody/btCGProjection.h
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@@ -20,7 +20,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
class btDeformableMultiBodyDynamicsWorld;
//class btDeformableMultiBodyDynamicsWorld;
struct DeformableContactConstraint
{
@@ -62,7 +62,6 @@ public:
typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
btAlignedObjectArray<btSoftBody *>& m_softBodies;
btDeformableMultiBodyDynamicsWorld* m_world;
const btScalar& m_dt;
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
@@ -86,11 +85,6 @@ public:
virtual void reinitialize(bool nodeUpdated)
{
}
virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world)
{
m_world = world;
}
};