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style fix and remove unused variable

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This commit is contained in:
Xuchen Han
2019-08-15 11:05:24 -07:00
parent cb654ddc80
commit 6d31c73216
4 changed files with 9 additions and 12 deletions
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12
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -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();

3
src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
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@@ -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);

4
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -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();