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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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38
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -8,7 +8,7 @@
#include "btDeformableContactProjection.h"
#include "btDeformableRigidDynamicsWorld.h"
#include <algorithm>
#include <math.h>
#include <cmath>
static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
btMultiBodyJacobianData& jacobianData,
const btVector3& contact_point,
@@ -49,10 +49,10 @@ void btDeformableContactProjection::update()
m_world->btMultiBodyDynamicsWorld::solveInternalConstraints(m_world->getSolverInfo());
// loop through constraints to set constrained values
for (auto& it : m_constraints)
for (int index = 0; index < m_constraints.size(); ++index)
{
btAlignedObjectArray<DeformableFrictionConstraint>& frictions = m_frictions[it.first];
btAlignedObjectArray<DeformableContactConstraint>& constraints = it.second;
btAlignedObjectArray<DeformableFrictionConstraint>& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)];
btAlignedObjectArray<DeformableContactConstraint>& constraints = *m_constraints.getAtIndex(index);
for (int i = 0; i < constraints.size(); ++i)
{
DeformableContactConstraint& constraint = constraints[i];
@@ -230,13 +230,13 @@ void btDeformableContactProjection::setConstraints()
c.push_back(DeformableContactConstraint(btVector3(1,0,0)));
c.push_back(DeformableContactConstraint(btVector3(0,1,0)));
c.push_back(DeformableContactConstraint(btVector3(0,0,1)));
m_constraints[&(psb->m_nodes[j])] = c;
m_constraints.insert(psb->m_nodes[j].index, c);
btAlignedObjectArray<DeformableFrictionConstraint> f;
f.push_back(DeformableFrictionConstraint());
f.push_back(DeformableFrictionConstraint());
f.push_back(DeformableFrictionConstraint());
m_frictions[&(psb->m_nodes[j])] = f;
m_frictions.insert(psb->m_nodes[j].index, f);
}
}
}
@@ -290,22 +290,22 @@ void btDeformableContactProjection::setConstraints()
const btScalar dn = btDot(vr, cti.m_normal);
if (dn < SIMD_EPSILON)
{
if (m_constraints.find(c.m_node) == m_constraints.end())
if (m_constraints.find(c.m_node->index) == NULL)
{
btAlignedObjectArray<DeformableContactConstraint> constraints;
constraints.push_back(DeformableContactConstraint(c));
m_constraints[c.m_node] = constraints;
m_constraints.insert(c.m_node->index,constraints);
btAlignedObjectArray<DeformableFrictionConstraint> frictions;
frictions.push_back(DeformableFrictionConstraint());
m_frictions[c.m_node] = frictions;
m_frictions.insert(c.m_node->index,frictions);
}
else
{
// group colinear constraints into one
const btScalar angle_epsilon = 0.015192247; // less than 10 degree
bool merged = false;
btAlignedObjectArray<DeformableContactConstraint>& constraints = m_constraints[c.m_node];
btAlignedObjectArray<DeformableFrictionConstraint>& frictions = m_frictions[c.m_node];
btAlignedObjectArray<DeformableContactConstraint>& constraints = *m_constraints[c.m_node->index];
btAlignedObjectArray<DeformableFrictionConstraint>& frictions = *m_frictions[c.m_node->index];
for (int j = 0; j < constraints.size(); ++j)
{
const btAlignedObjectArray<btVector3>& dirs = constraints[j].m_direction;
@@ -337,11 +337,11 @@ void btDeformableContactProjection::setConstraints()
void btDeformableContactProjection::enforceConstraint(TVStack& x)
{
const int dim = 3;
for (auto& it : m_constraints)
for (int index = 0; index < m_constraints.size(); ++index)
{
const btAlignedObjectArray<DeformableContactConstraint>& constraints = it.second;
size_t i = m_indices->at(it.first);
const btAlignedObjectArray<DeformableFrictionConstraint>& frictions = m_frictions[it.first];
const btAlignedObjectArray<DeformableContactConstraint>& constraints = *m_constraints.getAtIndex(index);
size_t i = m_constraints.getKeyAtIndex(index).getUid1();
const btAlignedObjectArray<DeformableFrictionConstraint>& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)];
btAssert(constraints.size() <= dim);
btAssert(constraints.size() > 0);
if (constraints.size() == 1)
@@ -400,11 +400,11 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x)
void btDeformableContactProjection::project(TVStack& x)
{
const int dim = 3;
for (auto& it : m_constraints)
for (int index = 0; index < m_constraints.size(); ++index)
{
const btAlignedObjectArray<DeformableContactConstraint>& constraints = it.second;
size_t i = m_indices->at(it.first);
btAlignedObjectArray<DeformableFrictionConstraint>& frictions = m_frictions[it.first];
const btAlignedObjectArray<DeformableContactConstraint>& constraints = *m_constraints.getAtIndex(index);
size_t i = m_constraints.getKeyAtIndex(index).getUid1();
btAlignedObjectArray<DeformableFrictionConstraint>& frictions = *m_frictions[m_constraints.getKeyAtIndex(index)];
btAssert(constraints.size() <= dim);
btAssert(constraints.size() > 0);
if (constraints.size() == 1)