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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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2
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -49,8 +49,6 @@ static bool g_floatingBase = true;
static float friction = 1.; static float friction = 1.;
class DeformableMultibody : public CommonMultiBodyBase class DeformableMultibody : public CommonMultiBodyBase
{ {
btMultiBody* m_multiBody;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
public: public:
DeformableMultibody(struct GUIHelperInterface* helper) DeformableMultibody(struct GUIHelperInterface* helper)
: CommonMultiBodyBase(helper) : CommonMultiBodyBase(helper)

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 // perform position correction for all constraints
BT_PROFILE("positionCorrection"); BT_PROFILE("positionCorrection");
@@ -140,7 +140,7 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt)
{ {
c->m_node->m_v = va; 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"); BT_PROFILE("integrateTransforms");
m_deformableBodySolver->backupVelocity(); m_deformableBodySolver->backupVelocity();
positionCorrection(dt); positionCorrection(timeStep);
btMultiBodyDynamicsWorld::integrateTransforms(dt); btMultiBodyDynamicsWorld::integrateTransforms(timeStep);
for (int i = 0; i < m_softBodies.size(); ++i) for (int i = 0; i < m_softBodies.size(); ++i)
{ {
btSoftBody* psb = m_softBodies[i]; btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j) for (int j = 0; j < psb->m_nodes.size(); ++j)
{ {
btSoftBody::Node& node = psb->m_nodes[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(); 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_drawFaceTree;
bool m_drawClusterTree; bool m_drawClusterTree;
btSoftBodyWorldInfo m_sbi; btSoftBodyWorldInfo m_sbi;
bool m_ownsSolver;
btScalar m_internalTime; btScalar m_internalTime;
typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world); typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world);
@@ -49,7 +48,7 @@ protected:
virtual void integrateTransforms(btScalar timeStep); virtual void integrateTransforms(btScalar timeStep);
void positionCorrection(btScalar dt); void positionCorrection(btScalar timeStep);
void solveDeformableBodiesConstraints(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) if (!n.m_battach)
{ {
// check for collision at x_{n+1}^* // 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 ima = n.m_im;
const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
@@ -1006,7 +1006,7 @@ struct btSoftColliders
if (ms > 0) if (ms > 0)
{ {
// resolve contact at x_n // 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; btSoftBody::sCti& cti = c.m_cti;
c.m_node = &n; c.m_node = &n;
const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();