Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

remove unused functions

Browse Source
This commit is contained in:
Xuchen Han
2019-08-16 13:34:10 -07:00
parent 86a1312875
commit 8860f8bacc
1 changed files with 0 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
src/BulletSoftBody/btDeformableContactProjection.cpp
View File

@@ -17,39 +17,6 @@
#include "btDeformableRigidDynamicsWorld.h"
#include <algorithm>
#include <cmath>
static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
btMultiBodyJacobianData& jacobianData,
const btVector3& contact_point,
const btVector3& dir)
{
const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
jacobianData.m_jacobians.resize(ndof);
jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof);
btScalar* jac = &jacobianData.m_jacobians[0];
multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m);
multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v);
}
static btVector3 generateUnitOrthogonalVector(const btVector3& u)
{
btScalar ux = u.getX();
btScalar uy = u.getY();
btScalar uz = u.getZ();
btScalar ax = std::abs(ux);
btScalar ay = std::abs(uy);
btScalar az = std::abs(uz);
btVector3 v;
if (ax <= ay && ax <= az)
v = btVector3(0, -uz, uy);
else if (ay <= ax && ay <= az)
v = btVector3(-uz, 0, ux);
else
v = btVector3(-uy, ux, 0);
v.normalize();
return v;
}
void btDeformableContactProjection::update()
{
///solve rigid body constraints