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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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4
src/BulletSoftBody/CMakeLists.txt
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@@ -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
)

6
src/BulletSoftBody/btCGProjection.h
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@@ -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<btAlignedObjectArray<btVector3> > TVArrayStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
btAlignedObjectArray<btSoftBody *>& m_softBodies;
btDeformableRigidDynamicsWorld* m_world;
btDeformableMultiBodyDynamicsWorld* m_world;
const btScalar& m_dt;
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
@@ -87,7 +87,7 @@ public:
{
}
virtual void setWorld(btDeformableRigidDynamicsWorld* world)
virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world)
{
m_world = world;
}

8
src/BulletSoftBody/btDeformableBackwardEulerObjective.h
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@@ -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<btVector3> TVStack;
btScalar m_dt;
btDeformableRigidDynamicsWorld* m_world;
btDeformableMultiBodyDynamicsWorld* m_world;
btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
btAlignedObjectArray<btSoftBody *>& 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);

2
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -87,7 +87,7 @@ void btDeformableBodySolver::setConstraints()
}
}
void btDeformableBodySolver::setWorld(btDeformableRigidDynamicsWorld* world)
void btDeformableBodySolver::setWorld(btDeformableMultiBodyDynamicsWorld* world)
{
m_objective->setWorld(world);
}

6
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -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<btSoftBody *> &softBodies, bool forceUpdate = false){}
virtual bool checkInitialized(){return true;}
virtual void setWorld(btDeformableRigidDynamicsWorld* world);
virtual void setWorld(btDeformableMultiBodyDynamicsWorld* world);
};
#endif /* btDeformableBodySolver_h */

2
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -14,7 +14,7 @@
*/
#include "btDeformableContactProjection.h"
#include "btDeformableRigidDynamicsWorld.h"
#include "btDeformableMultiBodyDynamicsWorld.h"
#include <algorithm>
#include <cmath>
void btDeformableContactProjection::update()

24
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp → src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -30,11 +30,11 @@ The algorithm also closely resembles the one in http://physbam.stanford.edu/~fed
*/
#include <stdio.h>
#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<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf;
bool added = false;

8
src/BulletSoftBody/btDeformableRigidDynamicsWorld.h → src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
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@@ -28,7 +28,7 @@ class btDeformableBodySolver;
class btDeformableLagrangianForce;
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld
class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
{
typedef btAlignedObjectArray<btVector3> TVStack;
// using TVStack = btAlignedObjectArray<btVector3>;
@@ -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()
{
}

2
src/BulletSoftBody/premake4.lua
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@@ -11,4 +11,4 @@
files {
"**.cpp",
"**.h"
}
}