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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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4
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -995,7 +995,9 @@ struct btSoftColliders
btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
btMatrix3x3 rot(normal, t1, t2); // world frame to local frame
btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(),
t1.getX(), t1.getY(), t1.getZ(),
t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame
const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
btScalar dt = psb->m_sst.sdt;
btMatrix3x3 local_impulse_matrix = Diagonal(1/dt) * (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();