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remove siData

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This commit is contained in:
Xuchen Han
2019-09-27 15:13:14 -07:00
parent ccaddfca21
commit c178905998
1 changed files with 3 additions and 20 deletions
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23
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -80,31 +80,14 @@ void btDeformableMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObjec
void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) 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++) 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]); btRigidBody* body = btRigidBody::upcast(bodies[i]);
if (body && body->getInvMass()) 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_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity;
solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity;
} }