setDt in reinitialize and remove unused variables

src/BulletSoftBody/btCGProjection.h

@@ -113,13 +113,13 @@ public:
     typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
     btAlignedObjectArray<btSoftBody *> m_softBodies;
     btDeformableRigidDynamicsWorld* m_world;
-    const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
+//    const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
     const btScalar& m_dt;
     
-    btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt, const btAlignedObjectArray<btSoftBody::Node*>* nodes)
+    btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
     : m_softBodies(softBodies)
     , m_dt(dt)
-    , m_nodes(nodes)
+//    , m_nodes(nodes)
     {
     }
     

src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp

@@ -16,7 +16,7 @@
 
 btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v)
 : m_softBodies(softBodies)
-, projection(m_softBodies, m_dt, &m_nodes)
+, projection(m_softBodies, m_dt)
 , m_backupVelocity(backup_v)
 {
     m_preconditioner = new DefaultPreconditioner();

src/BulletSoftBody/btDeformableBodySolver.cpp

@@ -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.resize(m_numNodes, btVector3(0,0,0));
-    {
+    m_residual.resize(m_numNodes, btVector3(0,0,0));
-        m_dv[i].setZero();
+    m_backupVelocity.resize(m_numNodes, btVector3(0,0,0));
-        m_residual[i].setZero();
+    
-    }
     m_objective->reinitialize(nodeUpdated);
 }
 

src/BulletSoftBody/btDeformableBodySolver.h

@@ -60,7 +60,7 @@ public:
     
     virtual void solveConstraints(float solverdt);
     
-    void reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies);
+    void reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt);
     
     void setConstraints();
     

src/BulletSoftBody/btDeformableContactProjection.cpp

@@ -254,7 +254,6 @@ void btDeformableContactProjection::setConstraints()
         btSoftBody* psb = m_softBodies[i];
         btMultiBodyJacobianData jacobianData_normal;
         btMultiBodyJacobianData jacobianData_complementary;
-        std::cout <<psb->m_rcontacts.size() << std::endl;
         for (int j = 0; j < psb->m_rcontacts.size(); ++j)
         {
             const btSoftBody::RContact& c = psb->m_rcontacts[j];

src/BulletSoftBody/btDeformableContactProjection.h

@@ -25,8 +25,8 @@ public:
     btHashMap<btHashInt, btAlignedObjectArray<DeformableContactConstraint> > m_constraints;
     btHashMap<btHashInt, btAlignedObjectArray<DeformableFrictionConstraint> >m_frictions;
     
-    btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt, const btAlignedObjectArray<btSoftBody::Node*>* nodes)
+    btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
-    : btCGProjection(softBodies, dt, nodes)
+    : btCGProjection(softBodies, dt)
     {
     }
     

src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp

@@ -179,7 +179,7 @@ void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep
 void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep)
 {
     m_internalTime += timeStep;
-    m_deformableBodySolver->reinitialize(m_softBodies);
+    m_deformableBodySolver->reinitialize(m_softBodies, timeStep);
     btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo();
     dispatchInfo.m_timeStep = timeStep;
     dispatchInfo.m_stepCount = 0;