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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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12
src/BulletSoftBody/btDeformableBackwardEulerObjective.h
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@@ -26,13 +26,13 @@
#include "btDeformableMultiBodyDynamicsWorld.h"
#include "LinearMath/btQuickprof.h"
class btDeformableMultiBodyDynamicsWorld;
//class btDeformableMultiBodyDynamicsWorld;
class btDeformableBackwardEulerObjective
{
public:
typedef btAlignedObjectArray<btVector3> TVStack;
btScalar m_dt;
btDeformableMultiBodyDynamicsWorld* m_world;
// btDeformableMultiBodyDynamicsWorld* m_world;
btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
btAlignedObjectArray<btSoftBody *>& m_softBodies;
Preconditioner* m_preconditioner;
@@ -98,13 +98,7 @@ public:
{
m_preconditioner->operator()(x,b);
}
virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world)
{
m_world = world;
projection.setWorld(world);
}
virtual void updateId()
{
size_t id = 0;