From 6d31c73216e8267f0a08ac54d4340b7c8e0c99b2 Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan2015@u.northwestern.edu>
Date: Thu, 15 Aug 2019 11:05:24 -0700
Subject: [PATCH] style fix and remove unused variable

---
 examples/DeformableDemo/DeformableMultibody.cpp      |  2 --
 .../btDeformableRigidDynamicsWorld.cpp               | 12 ++++++------
 src/BulletSoftBody/btDeformableRigidDynamicsWorld.h  |  3 +--
 src/BulletSoftBody/btSoftBodyInternals.h             |  4 ++--
 4 files changed, 9 insertions(+), 12 deletions(-)

diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp
index e947a5585..d32cd67a7 100644
--- a/examples/DeformableDemo/DeformableMultibody.cpp
+++ b/examples/DeformableDemo/DeformableMultibody.cpp
@@ -49,8 +49,6 @@ static bool g_floatingBase = true;
 static float friction = 1.;
 class DeformableMultibody : public CommonMultiBodyBase
 {
-    btMultiBody* m_multiBody;
-    btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
 public:
 	DeformableMultibody(struct GUIHelperInterface* helper)
 		: CommonMultiBodyBase(helper)
diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
index 3b3b62edc..80c77ada1 100644
--- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
@@ -64,7 +64,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
     // ///////////////////////////////
 }
 
-void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt)
+void btDeformableRigidDynamicsWorld::positionCorrection(btScalar timeStep)
 {
     // perform position correction for all constraints 
     BT_PROFILE("positionCorrection");
@@ -140,7 +140,7 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt)
                         {
                             c->m_node->m_v = va;
                         }
-                        c->m_node->m_v -= dp * cti.m_normal / dt;
+                        c->m_node->m_v -= dp * cti.m_normal / timeStep;
                     }
                 }
             }
@@ -149,19 +149,19 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt)
 }
 
 
-void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar dt)
+void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar timeStep)
 {
     BT_PROFILE("integrateTransforms");
     m_deformableBodySolver->backupVelocity();
-    positionCorrection(dt);
-    btMultiBodyDynamicsWorld::integrateTransforms(dt);
+    positionCorrection(timeStep);
+    btMultiBodyDynamicsWorld::integrateTransforms(timeStep);
     for (int i = 0; i < m_softBodies.size(); ++i)
     {
         btSoftBody* psb = m_softBodies[i];
         for (int j = 0; j < psb->m_nodes.size(); ++j)
         {
             btSoftBody::Node& node = psb->m_nodes[j];
-            node.m_x  =  node.m_q + dt * node.m_v;
+            node.m_x  =  node.m_q + timeStep * node.m_v;
         }
     }
     m_deformableBodySolver->revertVelocity();
diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
index de5eb7ef4..6efbb204b 100644
--- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
+++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
@@ -38,7 +38,6 @@ class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld
     bool m_drawFaceTree;
     bool m_drawClusterTree;
     btSoftBodyWorldInfo m_sbi;
-    bool m_ownsSolver;
     btScalar m_internalTime;
     
     typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world);
@@ -49,7 +48,7 @@ protected:
     
     virtual void integrateTransforms(btScalar timeStep);
     
-    void positionCorrection(btScalar dt);
+    void positionCorrection(btScalar timeStep);
     
     void solveDeformableBodiesConstraints(btScalar timeStep);
     
diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h
index 80545ebad..a39394e0b 100644
--- a/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/src/BulletSoftBody/btSoftBodyInternals.h
@@ -998,7 +998,7 @@ struct btSoftColliders
 			if (!n.m_battach)
             {
                 // check for collision at x_{n+1}^*
-                if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predicted = */ true))
+                if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true))
                 {
                     const btScalar ima = n.m_im;
                     const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
@@ -1006,7 +1006,7 @@ struct btSoftColliders
                     if (ms > 0)
                     {
                         // resolve contact at x_n
-                        psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false);
+                        psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ false);
                         btSoftBody::sCti& cti = c.m_cti;
                         c.m_node = &n;
                         const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();