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setDt in reinitialize and remove unused variables

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This commit is contained in:
Xuchen Han
2019-08-06 10:16:56 -07:00
parent 73f5eb6a8f
commit 6a599bde87
7 changed files with 14 additions and 23 deletions
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20
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -31,8 +31,6 @@ btDeformableBodySolver::~btDeformableBodySolver()
void btDeformableBodySolver::solveConstraints(float solverdt)
{
BT_PROFILE("solveConstraints");
m_objective->setDt(solverdt);
// add constraints to the solver
setConstraints();
@@ -51,22 +49,16 @@ void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual)
m_cg.solve(*m_objective, dv, residual, tolerance);
}
void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies)
void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt)
{
m_objective->setDt(dt);
m_softBodySet.copyFromArray(softBodies);
bool nodeUpdated = updateNodes();
if (nodeUpdated)
{
m_dv.resize(m_numNodes);
m_residual.resize(m_numNodes);
m_backupVelocity.resize(m_numNodes);
}
for (int i = 0; i < m_dv.size(); ++i)
{
m_dv[i].setZero();
m_residual[i].setZero();
}
m_dv.resize(m_numNodes, btVector3(0,0,0));
m_residual.resize(m_numNodes, btVector3(0,0,0));
m_backupVelocity.resize(m_numNodes, btVector3(0,0,0));
m_objective->reinitialize(nodeUpdated);
}