From bf215a3ce1c5404cab7a12877a09be6ac0731fbe Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 16 Aug 2019 13:42:53 -0700 Subject: [PATCH] rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld --- .../DeformableDemo/DeformableMultibody.cpp | 14 +++++------ examples/DeformableDemo/DeformableRigid.cpp | 14 +++++------ examples/DeformableDemo/GraspDeformable.cpp | 14 +++++------ examples/DeformableDemo/Pinch.cpp | 16 ++++++------- .../DeformableDemo/VolumetricDeformable.cpp | 14 +++++------ src/BulletSoftBody/CMakeLists.txt | 4 ++-- src/BulletSoftBody/btCGProjection.h | 6 ++--- .../btDeformableBackwardEulerObjective.h | 8 +++---- src/BulletSoftBody/btDeformableBodySolver.cpp | 2 +- src/BulletSoftBody/btDeformableBodySolver.h | 6 ++--- .../btDeformableContactProjection.cpp | 2 +- ...=> btDeformableMultiBodyDynamicsWorld.cpp} | 24 +++++++++---------- ...h => btDeformableMultiBodyDynamicsWorld.h} | 8 +++---- src/BulletSoftBody/premake4.lua | 2 +- 14 files changed, 67 insertions(+), 67 deletions(-) rename src/BulletSoftBody/{btDeformableRigidDynamicsWorld.cpp => btDeformableMultiBodyDynamicsWorld.cpp} (90%) rename src/BulletSoftBody/{btDeformableRigidDynamicsWorld.h => btDeformableMultiBodyDynamicsWorld.h} (91%) diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp index 9ce15ff22..6c3740edf 100644 --- a/examples/DeformableDemo/DeformableMultibody.cpp +++ b/examples/DeformableDemo/DeformableMultibody.cpp @@ -28,7 +28,7 @@ #include "DeformableMultibody.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btDeformableBodySolver.h" @@ -79,20 +79,20 @@ public: void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents); - virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } - virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } virtual void renderScene() { CommonMultiBodyBase::renderScene(); - btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) { @@ -121,7 +121,7 @@ void DeformableMultibody::initPhysics() sol = new btMultiBodyConstraintSolver; m_solver = sol; - m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp index 48809cf99..2b5186595 100644 --- a/examples/DeformableDemo/DeformableRigid.cpp +++ b/examples/DeformableDemo/DeformableRigid.cpp @@ -28,7 +28,7 @@ #include "DeformableRigid.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btDeformableBodySolver.h" @@ -115,24 +115,24 @@ public: createRigidBody(mass, startTransform, shape[0]); } - virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const { ///just make it a btSoftRigidDynamicsWorld please ///or we will add type checking - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } - virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() { ///just make it a btSoftRigidDynamicsWorld please ///or we will add type checking - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) { @@ -163,7 +163,7 @@ void DeformableRigid::initPhysics() btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); m_solver = sol; - m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 6d8824515..f439e9983 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -14,7 +14,7 @@ #include "GraspDeformable.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btDeformableBodySolver.h" @@ -148,20 +148,20 @@ public: } } - virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } - virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) { @@ -189,7 +189,7 @@ void GraspDeformable::initPhysics() btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); m_solver = sol; - m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); btVector3 gravity = btVector3(0, -10, 0); m_dynamicsWorld->setGravity(gravity); diff --git a/examples/DeformableDemo/Pinch.cpp b/examples/DeformableDemo/Pinch.cpp index 190658d62..abe428577 100644 --- a/examples/DeformableDemo/Pinch.cpp +++ b/examples/DeformableDemo/Pinch.cpp @@ -28,7 +28,7 @@ #include "Pinch.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btDeformableBodySolver.h" @@ -102,20 +102,20 @@ public: } } - virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } - virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() { - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) { @@ -128,7 +128,7 @@ public: } }; -void dynamics(btScalar time, btDeformableRigidDynamicsWorld* world) +void dynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world) { btAlignedObjectArray& rbs = world->getNonStaticRigidBodies(); if (rbs.size()<2) @@ -247,7 +247,7 @@ void Pinch::initPhysics() btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); m_solver = sol; - m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp index 5c5e395bd..745c0cd87 100644 --- a/examples/DeformableDemo/VolumetricDeformable.cpp +++ b/examples/DeformableDemo/VolumetricDeformable.cpp @@ -28,7 +28,7 @@ #include "VolumetricDeformable.h" ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. #include "btBulletDynamicsCommon.h" -#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h" +#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btDeformableBodySolver.h" @@ -133,24 +133,24 @@ public: } } - virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const + virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const { ///just make it a btSoftRigidDynamicsWorld please ///or we will add type checking - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } - virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() + virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() { ///just make it a btSoftRigidDynamicsWorld please ///or we will add type checking - return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld; + return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld; } virtual void renderScene() { CommonRigidBodyBase::renderScene(); - btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); + btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld(); for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++) { @@ -181,7 +181,7 @@ void VolumetricDeformable::initPhysics() btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver(); m_solver = sol; - m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); + m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); deformableBodySolver->setWorld(getDeformableDynamicsWorld()); // m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality btVector3 gravity = btVector3(0, -10, 0); diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt index 40155786e..262b27e36 100644 --- a/src/BulletSoftBody/CMakeLists.txt +++ b/src/BulletSoftBody/CMakeLists.txt @@ -20,7 +20,7 @@ SET(BulletSoftBody_SRCS btDeformableBackwardEulerObjective.cpp btDeformableBodySolver.cpp btDeformableContactProjection.cpp - btDeformableRigidDynamicsWorld.cpp + btDeformableMultiBodyDynamicsWorld.cpp ) @@ -49,7 +49,7 @@ SET(BulletSoftBody_HDRS btDeformableBackwardEulerObjective.h btDeformableBodySolver.h btDeformableContactProjection.h - btDeformableRigidDynamicsWorld.h + btDeformableMultiBodyDynamicsWorld.h btSoftBodySolverVertexBuffer.h ) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 493aafb7a..bdc219945 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -20,7 +20,7 @@ #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" -class btDeformableRigidDynamicsWorld; +class btDeformableMultiBodyDynamicsWorld; struct DeformableContactConstraint { @@ -62,7 +62,7 @@ public: typedef btAlignedObjectArray > TVArrayStack; typedef btAlignedObjectArray > TArrayStack; btAlignedObjectArray& m_softBodies; - btDeformableRigidDynamicsWorld* m_world; + btDeformableMultiBodyDynamicsWorld* m_world; const btScalar& m_dt; btCGProjection(btAlignedObjectArray& softBodies, const btScalar& dt) @@ -87,7 +87,7 @@ public: { } - virtual void setWorld(btDeformableRigidDynamicsWorld* world) + virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world) { m_world = world; } diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 1c3e7890a..9dd85da6d 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -22,16 +22,16 @@ #include "btDeformableCorotatedForce.h" #include "btDeformableContactProjection.h" #include "btPreconditioner.h" -#include "btDeformableRigidDynamicsWorld.h" +#include "btDeformableMultiBodyDynamicsWorld.h" #include "LinearMath/btQuickprof.h" -class btDeformableRigidDynamicsWorld; +class btDeformableMultiBodyDynamicsWorld; class btDeformableBackwardEulerObjective { public: typedef btAlignedObjectArray TVStack; btScalar m_dt; - btDeformableRigidDynamicsWorld* m_world; + btDeformableMultiBodyDynamicsWorld* m_world; btAlignedObjectArray m_lf; btAlignedObjectArray& m_softBodies; Preconditioner* m_preconditioner; @@ -98,7 +98,7 @@ public: m_preconditioner->operator()(x,b); } - virtual void setWorld(btDeformableRigidDynamicsWorld* world) + virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world) { m_world = world; projection.setWorld(world); diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 93558ade3..b173aa53b 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -87,7 +87,7 @@ void btDeformableBodySolver::setConstraints() } } -void btDeformableBodySolver::setWorld(btDeformableRigidDynamicsWorld* world) +void btDeformableBodySolver::setWorld(btDeformableMultiBodyDynamicsWorld* world) { m_objective->setWorld(world); } diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 93e430e8e..205086d84 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -19,13 +19,13 @@ #include "btSoftBodySolvers.h" #include "btDeformableBackwardEulerObjective.h" -#include "btDeformableRigidDynamicsWorld.h" +#include "btDeformableMultiBodyDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" struct btCollisionObjectWrapper; class btDeformableBackwardEulerObjective; -class btDeformableRigidDynamicsWorld; +class btDeformableMultiBodyDynamicsWorld; class btDeformableBodySolver : public btSoftBodySolver { @@ -91,7 +91,7 @@ public: } virtual void optimize(btAlignedObjectArray &softBodies, bool forceUpdate = false){} virtual bool checkInitialized(){return true;} - virtual void setWorld(btDeformableRigidDynamicsWorld* world); + virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world); }; #endif /* btDeformableBodySolver_h */ diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 61d08b3b8..e03001c3f 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -14,7 +14,7 @@ */ #include "btDeformableContactProjection.h" -#include "btDeformableRigidDynamicsWorld.h" +#include "btDeformableMultiBodyDynamicsWorld.h" #include #include void btDeformableContactProjection::update() diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp similarity index 90% rename from src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp rename to src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 18864e126..354ce3304 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -30,11 +30,11 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed */ #include -#include "btDeformableRigidDynamicsWorld.h" +#include "btDeformableMultiBodyDynamicsWorld.h" #include "btDeformableBodySolver.h" #include "LinearMath/btQuickprof.h" -void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { BT_PROFILE("internalSingleStepSimulation"); reinitialize(timeStep); @@ -66,7 +66,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS // /////////////////////////////// } -void btDeformableRigidDynamicsWorld::positionCorrection(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) { // perform position correction for all constraints BT_PROFILE("positionCorrection"); @@ -141,7 +141,7 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar timeStep) } -void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { BT_PROFILE("integrateTransforms"); m_deformableBodySolver->backupVelocity(); @@ -159,12 +159,12 @@ void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar timeStep) m_deformableBodySolver->revertVelocity(); } -void btDeformableRigidDynamicsWorld::solveDeformableBodiesConstraints(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::solveDeformableBodiesConstraints(btScalar timeStep) { m_deformableBodySolver->solveConstraints(timeStep); } -void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) +void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) { m_softBodies.push_back(body); @@ -177,14 +177,14 @@ void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collision collisionFilterMask); } -void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { BT_PROFILE("predictUnconstraintMotion"); btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep); m_deformableBodySolver->predictMotion(timeStep); } -void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) { m_internalTime += timeStep; m_deformableBodySolver->reinitialize(m_softBodies, timeStep); @@ -195,7 +195,7 @@ void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep) btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep; } -void btDeformableRigidDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) { // Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep @@ -215,7 +215,7 @@ void btDeformableRigidDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) clearMultiBodyForces(); } -void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) { if (0 != m_internalTickCallback) { @@ -228,7 +228,7 @@ void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) } } -void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep) +void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks(btScalar timeStep) { if (0 != m_solverCallback) { @@ -236,7 +236,7 @@ void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep) } } -void btDeformableRigidDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) +void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) { btAlignedObjectArray& forces = m_deformableBodySolver->m_objective->m_lf; bool added = false; diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h similarity index 91% rename from src/BulletSoftBody/btDeformableRigidDynamicsWorld.h rename to src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h index 49b36748a..bd886d4dc 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -28,7 +28,7 @@ class btDeformableBodySolver; class btDeformableLagrangianForce; typedef btAlignedObjectArray btSoftBodyArray; -class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld +class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld { typedef btAlignedObjectArray TVStack; // using TVStack = btAlignedObjectArray; @@ -42,7 +42,7 @@ class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld btSoftBodyWorldInfo m_sbi; btScalar m_internalTime; - typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world); + typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world); btSolverCallback m_solverCallback; protected: @@ -55,7 +55,7 @@ protected: void solveDeformableBodiesConstraints(btScalar timeStep); public: - btDeformableRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) + btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0) : btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration), m_deformableBodySolver(deformableBodySolver), m_solverCallback(0) { @@ -83,7 +83,7 @@ public: m_solverCallback = cb; } - virtual ~btDeformableRigidDynamicsWorld() + virtual ~btDeformableMultiBodyDynamicsWorld() { } diff --git a/src/BulletSoftBody/premake4.lua b/src/BulletSoftBody/premake4.lua index 6f09196fa..c8a6e5151 100644 --- a/src/BulletSoftBody/premake4.lua +++ b/src/BulletSoftBody/premake4.lua @@ -11,4 +11,4 @@ files { "**.cpp", "**.h" - } \ No newline at end of file + }