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remove one softbody array copy

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This commit is contained in:
Xuchen Han
2019-08-08 17:26:19 -07:00
parent 436b6c6963
commit 817e64a769
5 changed files with 6 additions and 13 deletions
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BIN
examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a
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8
src/BulletSoftBody/btCGProjection.h
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@@ -111,7 +111,7 @@ public:
typedef btAlignedObjectArray<btVector3> TVStack; typedef btAlignedObjectArray<btVector3> TVStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack; typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack; typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
btAlignedObjectArray<btSoftBody *> m_softBodies; btAlignedObjectArray<btSoftBody *>& m_softBodies;
btDeformableRigidDynamicsWorld* m_world; btDeformableRigidDynamicsWorld* m_world;
// const btAlignedObjectArray<btSoftBody::Node*>* m_nodes; // const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
const btScalar& m_dt; const btScalar& m_dt;
@@ -119,7 +119,6 @@ public:
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt) btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
: m_softBodies(softBodies) : m_softBodies(softBodies)
, m_dt(dt) , m_dt(dt)
// , m_nodes(nodes)
{ {
} }
@@ -139,11 +138,6 @@ public:
{ {
} }
void setSoftBodies(btAlignedObjectArray<btSoftBody* > softBodies)
{
m_softBodies.copyFromArray(softBodies);
}
virtual void setWorld(btDeformableRigidDynamicsWorld* world) virtual void setWorld(btDeformableRigidDynamicsWorld* world)
{ {
m_world = world; m_world = world;

4
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -22,13 +22,13 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
m_preconditioner = new DefaultPreconditioner(); m_preconditioner = new DefaultPreconditioner();
} }
void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated) void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt)
{ {
BT_PROFILE("reinitialize"); BT_PROFILE("reinitialize");
setDt(dt);
if(nodeUpdated) if(nodeUpdated)
{ {
updateId(); updateId();
projection.setSoftBodies(m_softBodies);
} }
for (int i = 0; i < m_lf.size(); ++i) for (int i = 0; i < m_lf.size(); ++i)
{ {

4
src/BulletSoftBody/btDeformableBackwardEulerObjective.h
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@@ -62,8 +62,8 @@ public:
// set initial guess for CG solve // set initial guess for CG solve
void initialGuess(TVStack& dv, const TVStack& residual); void initialGuess(TVStack& dv, const TVStack& residual);
// reset data structure // reset data structure and reset dt
void reinitialize(bool nodeUpdated); void reinitialize(bool nodeUpdated, btScalar dt);
void setDt(btScalar dt); void setDt(btScalar dt);

3
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -51,7 +51,6 @@ void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual)
void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt) void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt)
{ {
m_objective->setDt(dt);
m_softBodySet.copyFromArray(softBodies); m_softBodySet.copyFromArray(softBodies);
bool nodeUpdated = updateNodes(); bool nodeUpdated = updateNodes();
@@ -69,7 +68,7 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody
m_residual[i].setZero(); m_residual[i].setZero();
} }
m_objective->reinitialize(nodeUpdated); m_objective->reinitialize(nodeUpdated, dt);
} }
void btDeformableBodySolver::setConstraints() void btDeformableBodySolver::setConstraints()