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remove printf

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This commit is contained in:
erwincoumans
2018-06-01 21:56:34 -07:00
parent 92579f9196
commit 54ddbad29f
1 changed files with 3 additions and 30 deletions
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33
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -26,7 +26,6 @@ subject to the following restrictions:
btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{ {
printf("btSequentialImpulseConstraintSolver::solveSingleIteration\n");
btScalar leastSquaredResidual = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer); btScalar leastSquaredResidual = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
//solve featherstone non-contact constraints //solve featherstone non-contact constraints
@@ -39,7 +38,6 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index]; btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
printf("m_multiBodyNonContactConstraints resolveSingleConstraintRowGeneric\n");
btScalar residual = resolveSingleConstraintRowGeneric(constraint); btScalar residual = resolveSingleConstraintRowGeneric(constraint);
leastSquaredResidual += residual*residual; leastSquaredResidual += residual*residual;
@@ -48,8 +46,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
if(constraint.m_multiBodyB) if(constraint.m_multiBodyB)
constraint.m_multiBodyB->setPosUpdated(false); constraint.m_multiBodyB->setPosUpdated(false);
} }
printf("featherstone normal contact\n");
printf("numContact=%d\n", m_multiBodyNormalContactConstraints.size());
//solve featherstone normal contact //solve featherstone normal contact
for (int j0=0;j0<m_multiBodyNormalContactConstraints.size();j0++) for (int j0=0;j0<m_multiBodyNormalContactConstraints.size();j0++)
{ {
@@ -60,7 +57,6 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
if (iteration < infoGlobal.m_numIterations) if (iteration < infoGlobal.m_numIterations)
{ {
printf("featherstone normal contact resolveSingleConstraintRowGeneric\n");
residual = resolveSingleConstraintRowGeneric(constraint); residual = resolveSingleConstraintRowGeneric(constraint);
} }
@@ -72,7 +68,6 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
constraint.m_multiBodyB->setPosUpdated(false); constraint.m_multiBodyB->setPosUpdated(false);
} }
printf("featherstone frictional contact\n");
//solve featherstone frictional contact //solve featherstone frictional contact
if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode&SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0)) if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode&SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0))
{ {
@@ -163,7 +158,6 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
} }
} }
} }
printf("end featjerstp\n");
return leastSquaredResidual; return leastSquaredResidual;
} }
@@ -209,19 +203,6 @@ btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const bt
int ndofA = 0; int ndofA = 0;
int ndofB = 0; int ndofB = 0;
printf("c.m_solverBodyIdA=%d\n", c.m_solverBodyIdA);
printf("c.m_solverBodyIdB=%d\n", c.m_solverBodyIdB);
printf("c.m_multiBodyA=%p\n", c.m_multiBodyA);
printf("c.m_multiBodyB=%p\n", c.m_multiBodyB);
printf("c.m_jacAindex=%d\n",c.m_jacAindex);
printf("c.m_jacBindex=%d\n",c.m_jacBindex);
printf("c.m_deltaVelAindex=%d\n",c.m_deltaVelAindex);
printf("c.m_deltaVelBindex=%d\n",c.m_deltaVelBindex);
if (c.m_deltaVelAindex>500)
{
printf("???\n");
}
if (c.m_multiBodyA) if (c.m_multiBodyA)
{ {
ndofA = c.m_multiBodyA->getNumDofs() + 6; ndofA = c.m_multiBodyA->getNumDofs() + 6;
@@ -558,13 +539,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
} }
const int ndofA = multiBodyA->getNumDofs() + 6; const int ndofA = multiBodyA->getNumDofs() + 6;
solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId(); solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
if (solverConstraint.m_deltaVelAindex>10000)
{
printf("????????????????????????????????????????\n");
printf("solverConstraint.m_deltaVelAindex==%d\n", solverConstraint.m_deltaVelAindex);
}
if (solverConstraint.m_deltaVelAindex <0) if (solverConstraint.m_deltaVelAindex <0)
{ {
@@ -1682,13 +1657,11 @@ void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodie
//printf("solveMultiBodyGroup start\n"); //printf("solveMultiBodyGroup start\n");
m_tmpMultiBodyConstraints = multiBodyConstraints; m_tmpMultiBodyConstraints = multiBodyConstraints;
m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
printf("m_tmpNumMultiBodyConstraints =%d\n",m_tmpNumMultiBodyConstraints );
printf("solveGroup\n");
btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher); btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher);
m_tmpMultiBodyConstraints = 0; m_tmpMultiBodyConstraints = 0;
m_tmpNumMultiBodyConstraints = 0; m_tmpNumMultiBodyConstraints = 0;
} }