From c178905998b2cae126e2275ffb730b5869d26ae5 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 27 Sep 2019 15:13:14 -0700 Subject: [PATCH] remove siData --- .../btDeformableMultiBodyConstraintSolver.cpp | 23 +++---------------- 1 file changed, 3 insertions(+), 20 deletions(-) diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp index fc293ba78..362451c0e 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -80,31 +80,14 @@ void btDeformableMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObjec void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - for (int i = 0; i < numBodies; i++) { - int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); - + int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + btRigidBody* body = btRigidBody::upcast(bodies[i]); if (body && body->getInvMass()) { - btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity; solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; }