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clean up forces

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This commit is contained in:
Xuchen Han
2019-08-26 16:01:29 -07:00
parent 0b391798b7
commit 7c39052163
5 changed files with 35 additions and 29 deletions
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11
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -49,7 +49,7 @@ static bool g_floatingBase = true;
static float friction = 1.; static float friction = 1.;
class DeformableMultibody : public CommonMultiBodyBase class DeformableMultibody : public CommonMultiBodyBase
{ {
btAlignedObjectArray<btDeformableLagrangianForce*> forces; btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
public: public:
DeformableMultibody(struct GUIHelperInterface* helper) DeformableMultibody(struct GUIHelperInterface* helper)
: CommonMultiBodyBase(helper) : CommonMultiBodyBase(helper)
@@ -229,11 +229,11 @@ void DeformableMultibody::initPhysics()
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false); btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false);
getDeformableDynamicsWorld()->addForce(psb, mass_spring); getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring); m_forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force); getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force); m_forces.push_back(gravity_force);
} }
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
@@ -257,11 +257,12 @@ void DeformableMultibody::exitPhysics()
delete obj; delete obj;
} }
// delete forces // delete forces
for (int j = 0; j < forces.size(); j++) for (int j = 0; j < m_forces.size(); j++)
{ {
btDeformableLagrangianForce* force = forces[j]; btDeformableLagrangianForce* force = m_forces[j];
delete force; delete force;
} }
m_forces.clear();
//delete collision shapes //delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++) for (int j = 0; j < m_collisionShapes.size(); j++)
{ {

11
examples/DeformableDemo/DeformableRigid.cpp
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@@ -44,7 +44,7 @@
///Generally it is best to leave the rolling friction coefficient zero (or close to zero). ///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
class DeformableRigid : public CommonRigidBodyBase class DeformableRigid : public CommonRigidBodyBase
{ {
btAlignedObjectArray<btDeformableLagrangianForce*> forces; btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
public: public:
DeformableRigid(struct GUIHelperInterface* helper) DeformableRigid(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper) : CommonRigidBodyBase(helper)
@@ -240,11 +240,11 @@ void DeformableRigid::initPhysics()
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.01, false); btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.01, false);
getDeformableDynamicsWorld()->addForce(psb, mass_spring); getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring); m_forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force); getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force); m_forces.push_back(gravity_force);
// add a few rigid bodies // add a few rigid bodies
Ctor_RbUpStack(1); Ctor_RbUpStack(1);
} }
@@ -269,11 +269,12 @@ void DeformableRigid::exitPhysics()
delete obj; delete obj;
} }
// delete forces // delete forces
for (int j = 0; j < forces.size(); j++) for (int j = 0; j < m_forces.size(); j++)
{ {
btDeformableLagrangianForce* force = forces[j]; btDeformableLagrangianForce* force = m_forces[j];
delete force; delete force;
} }
m_forces.clear();
//delete collision shapes //delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++) for (int j = 0; j < m_collisionShapes.size(); j++)
{ {

14
examples/DeformableDemo/GraspDeformable.cpp
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@@ -59,7 +59,7 @@ static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex)
class GraspDeformable : public CommonRigidBodyBase class GraspDeformable : public CommonRigidBodyBase
{ {
btAlignedObjectArray<btDeformableLagrangianForce*> forces; btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
public: public:
GraspDeformable(struct GUIHelperInterface* helper) GraspDeformable(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper) : CommonRigidBodyBase(helper)
@@ -359,15 +359,15 @@ void GraspDeformable::initPhysics()
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.5,0.04, true); btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.5,0.04, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring); getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring); m_forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force); getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force); m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(2,10); btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(2,10);
getDeformableDynamicsWorld()->addForce(psb, neohookean); getDeformableDynamicsWorld()->addForce(psb, neohookean);
forces.push_back(neohookean); m_forces.push_back(neohookean);
} }
// // create a piece of cloth // // create a piece of cloth
@@ -440,11 +440,13 @@ void GraspDeformable::exitPhysics()
delete obj; delete obj;
} }
// delete forces // delete forces
for (int j = 0; j < forces.size(); j++) for (int j = 0; j < m_forces.size(); j++)
{ {
btDeformableLagrangianForce* force = forces[j]; btDeformableLagrangianForce* force = m_forces[j];
delete force; delete force;
} }
m_forces.clear();
//delete collision shapes //delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++) for (int j = 0; j < m_collisionShapes.size(); j++)
{ {

13
examples/DeformableDemo/Pinch.cpp
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@@ -56,7 +56,7 @@ struct TetraBunny
class Pinch : public CommonRigidBodyBase class Pinch : public CommonRigidBodyBase
{ {
btAlignedObjectArray<btDeformableLagrangianForce*> forces; btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
public: public:
Pinch(struct GUIHelperInterface* helper) Pinch(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper) : CommonRigidBodyBase(helper)
@@ -339,15 +339,15 @@ void Pinch::initPhysics()
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05); btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05);
getDeformableDynamicsWorld()->addForce(psb, mass_spring); getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring); m_forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force); getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force); m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.2,1); btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.2,1);
getDeformableDynamicsWorld()->addForce(psb, neohookean); getDeformableDynamicsWorld()->addForce(psb, neohookean);
forces.push_back(neohookean); m_forces.push_back(neohookean);
// add a grippers // add a grippers
createGrip(); createGrip();
} }
@@ -372,11 +372,12 @@ void Pinch::exitPhysics()
delete obj; delete obj;
} }
// delete forces // delete forces
for (int j = 0; j < forces.size(); j++) for (int j = 0; j < m_forces.size(); j++)
{ {
btDeformableLagrangianForce* force = forces[j]; btDeformableLagrangianForce* force = m_forces[j];
delete force; delete force;
} }
m_forces.clear();
//delete collision shapes //delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++) for (int j = 0; j < m_collisionShapes.size(); j++)
{ {

13
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -51,7 +51,7 @@ struct TetraCube
class VolumetricDeformable : public CommonRigidBodyBase class VolumetricDeformable : public CommonRigidBodyBase
{ {
btAlignedObjectArray<btDeformableLagrangianForce*> forces; btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
public: public:
VolumetricDeformable(struct GUIHelperInterface* helper) VolumetricDeformable(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper) : CommonRigidBodyBase(helper)
@@ -238,15 +238,15 @@ void VolumetricDeformable::initPhysics()
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(0,0.03); btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(0,0.03);
getDeformableDynamicsWorld()->addForce(psb, mass_spring); getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring); m_forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity); btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force); getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force); m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.5,2.5); btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.5,2.5);
getDeformableDynamicsWorld()->addForce(psb, neohookean); getDeformableDynamicsWorld()->addForce(psb, neohookean);
forces.push_back(neohookean); m_forces.push_back(neohookean);
} }
// add a few rigid bodies // add a few rigid bodies
@@ -273,11 +273,12 @@ void VolumetricDeformable::exitPhysics()
delete obj; delete obj;
} }
// delete forces // delete forces
for (int j = 0; j < forces.size(); j++) for (int j = 0; j < m_forces.size(); j++)
{ {
btDeformableLagrangianForce* force = forces[j]; btDeformableLagrangianForce* force = m_forces[j];
delete force; delete force;
} }
m_forces.clear();
//delete collision shapes //delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++) for (int j = 0; j < m_collisionShapes.size(); j++)