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switch from std::unordered_map to btHashMap

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This commit is contained in:
Xuchen Han
2019-08-02 17:46:26 -07:00
parent dae230912b
commit 8c04a78c9b
13 changed files with 68 additions and 57 deletions
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14
src/BulletSoftBody/btCGProjection.h
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@@ -10,7 +10,6 @@
#include "btSoftBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include <unordered_map>
class btDeformableRigidDynamicsWorld;
@@ -21,6 +20,7 @@ struct DeformableContactConstraint
btAlignedObjectArray<btScalar> m_value;
// the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve
btAlignedObjectArray<btScalar> m_accumulated_normal_impulse;
btSoftBody::Node* node;
DeformableContactConstraint(const btSoftBody::RContact& rcontact)
{
@@ -58,7 +58,6 @@ struct DeformableContactConstraint
struct DeformableFrictionConstraint
{
btAlignedObjectArray<bool> m_static; // whether the friction is static
btAlignedObjectArray<btScalar> m_impulse; // the impulse magnitude the node feels
btAlignedObjectArray<btScalar> m_dv; // the dv magnitude of the node
@@ -75,6 +74,7 @@ struct DeformableFrictionConstraint
// the total impulse the node applied to the rb in the tangential direction in the cg solve
btAlignedObjectArray<btVector3> m_accumulated_tangent_impulse;
btSoftBody::Node* node;
DeformableFrictionConstraint()
{
@@ -103,22 +103,18 @@ struct DeformableFrictionConstraint
class btCGProjection
{
public:
// static const int dim = 3;
typedef btAlignedObjectArray<btVector3> TVStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
// using TVStack = btAlignedObjectArray<btVector3>;
// using TVArrayStack = btAlignedObjectArray<btAlignedObjectArray<btVector3> >;
// using TArrayStack = btAlignedObjectArray<btAlignedObjectArray<btScalar> >;
btAlignedObjectArray<btSoftBody *> m_softBodies;
btDeformableRigidDynamicsWorld* m_world;
const std::unordered_map<btSoftBody::Node *, size_t>* m_indices;
const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
const btScalar& m_dt;
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt, const std::unordered_map<btSoftBody::Node *, size_t>* indices)
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt, const btAlignedObjectArray<btSoftBody::Node*>* nodes)
: m_softBodies(softBodies)
, m_dt(dt)
, m_indices(indices)
, m_nodes(nodes)
{
}