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rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld

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This commit is contained in:
Xuchen Han
2019-08-16 13:42:53 -07:00
parent 8860f8bacc
commit bf215a3ce1
14 changed files with 67 additions and 67 deletions
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14
examples/DeformableDemo/GraspDeformable.cpp
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@@ -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);