From 8860f8bacc50403b4eb5ad74f68d139d8955be0d Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 16 Aug 2019 13:34:10 -0700 Subject: [PATCH] remove unused functions --- .../btDeformableContactProjection.cpp | 33 ------------------- 1 file changed, 33 deletions(-) diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 7f7e8184a..61d08b3b8 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -17,39 +17,6 @@ #include "btDeformableRigidDynamicsWorld.h" #include #include -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