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add profiling and code clean up

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This commit is contained in:
Xuchen Han
2019-08-05 16:49:04 -07:00
parent 02d3a9469f
commit 73f5eb6a8f
8 changed files with 27 additions and 20 deletions
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8
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -224,6 +224,7 @@ void btDeformableContactProjection::update()
void btDeformableContactProjection::setConstraints()
{
BT_PROFILE("setConstraints");
// set Dirichlet constraint
for (int i = 0; i < m_softBodies.size(); ++i)
{
@@ -233,12 +234,14 @@ void btDeformableContactProjection::setConstraints()
if (psb->m_nodes[j].m_im == 0)
{
btAlignedObjectArray<DeformableContactConstraint> c;
c.reserve(3);
c.push_back(DeformableContactConstraint(btVector3(1,0,0)));
c.push_back(DeformableContactConstraint(btVector3(0,1,0)));
c.push_back(DeformableContactConstraint(btVector3(0,0,1)));
m_constraints.insert(psb->m_nodes[j].index, c);
btAlignedObjectArray<DeformableFrictionConstraint> f;
f.reserve(3);
f.push_back(DeformableFrictionConstraint());
f.push_back(DeformableFrictionConstraint());
f.push_back(DeformableFrictionConstraint());
@@ -246,13 +249,12 @@ void btDeformableContactProjection::setConstraints()
}
}
}
for (int i = 0; i < m_softBodies.size(); ++i)
{
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];
@@ -296,6 +298,7 @@ void btDeformableContactProjection::setConstraints()
const btScalar dn = btDot(vr, cti.m_normal);
if (dn < SIMD_EPSILON)
{
if (m_constraints.find(c.m_node->index) == NULL)
{
btAlignedObjectArray<DeformableContactConstraint> constraints;
@@ -369,7 +372,6 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x)
x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k];
}
}
}
else
{