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take out btrigidbody field mass

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This commit is contained in:
Chuyuan Fu
2019-08-06 16:18:43 -07:00
parent 1cb3655f71
commit 4f70e71afa
2 changed files with 1 additions and 7 deletions
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1
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -86,7 +86,6 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
m_debugBodyId = uniqueId++; m_debugBodyId = uniqueId++;
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia); setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
m_mass = constructionInfo.m_mass;
updateInertiaTensor(); updateInertiaTensor();
m_rigidbodyFlags = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY; m_rigidbodyFlags = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY;

7
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -62,7 +62,6 @@ class btRigidBody : public btCollisionObject
btVector3 m_linearVelocity; btVector3 m_linearVelocity;
btVector3 m_angularVelocity; btVector3 m_angularVelocity;
btScalar m_inverseMass; btScalar m_inverseMass;
btScalar m_mass;
btVector3 m_linearFactor; btVector3 m_linearFactor;
btVector3 m_gravity; btVector3 m_gravity;
@@ -260,9 +259,7 @@ public:
m_invMass = m_linearFactor * m_inverseMass; m_invMass = m_linearFactor * m_inverseMass;
} }
btScalar getInvMass() const { return m_inverseMass; } btScalar getInvMass() const { return m_inverseMass; }
btScalar getMass() const { return m_inverseMass == btScalar(0.) ? btScalar(0.) : btScalar(1.0) / m_inverseMass; }
btScalar getMass() const { return m_mass; }
const btMatrix3x3& getInvInertiaTensorWorld() const const btMatrix3x3& getInvInertiaTensorWorld() const
{ {
return m_invInertiaTensorWorld; return m_invInertiaTensorWorld;
@@ -558,7 +555,6 @@ struct btRigidBodyFloatData
btVector3FloatData m_totalForce; btVector3FloatData m_totalForce;
btVector3FloatData m_totalTorque; btVector3FloatData m_totalTorque;
float m_inverseMass; float m_inverseMass;
float m_mass;
float m_linearDamping; float m_linearDamping;
float m_angularDamping; float m_angularDamping;
float m_additionalDampingFactor; float m_additionalDampingFactor;
@@ -585,7 +581,6 @@ struct btRigidBodyDoubleData
btVector3DoubleData m_totalForce; btVector3DoubleData m_totalForce;
btVector3DoubleData m_totalTorque; btVector3DoubleData m_totalTorque;
double m_inverseMass; double m_inverseMass;
double m_mass;
double m_linearDamping; double m_linearDamping;
double m_angularDamping; double m_angularDamping;
double m_additionalDampingFactor; double m_additionalDampingFactor;