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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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4
src/BulletSoftBody/btDeformableMassSpringForce.h
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@@ -94,15 +94,15 @@ public:
for (int i = 0; i < m_softBodies.size(); ++i)
{
const btSoftBody* psb = m_softBodies[i];
btScalar scaled_k_damp = psb->m_dampingCoefficient * scale;
for (int j = 0; j < psb->m_links.size(); ++j)
{
const btSoftBody::Link& link = psb->m_links[j];
btSoftBody::Node* node1 = link.m_n[0];
btSoftBody::Node* node2 = link.m_n[1];
btScalar k_damp = psb->m_dampingCoefficient;
size_t id1 = node1->index;
size_t id2 = node2->index;
btVector3 local_scaled_df = scale * k_damp * (dv[id2] - dv[id1]);
btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]);
df[id1] += local_scaled_df;
df[id2] -= local_scaled_df;
}