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fix scope override in btMultiBody and scalar type inconsistency in btDeformableBodySolver

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This commit is contained in:
Xuchen Han
2019-08-22 10:12:14 -07:00
parent 3fbd7a7edd
commit ccd8c3a47c
3 changed files with 7 additions and 11 deletions
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9
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -30,14 +30,9 @@ btDeformableBodySolver::~btDeformableBodySolver()
delete m_objective;
}
void btDeformableBodySolver::solveDeformableConstraints(float solverdt)
void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
{
BT_PROFILE("solveConstraints");
// save v_{n+1}^* velocity after explicit forces
// backupVelocity();
// add constraints to the solver
// setConstraints();
m_objective->computeResidual(solverdt, m_residual);
m_objective->applyDynamicFriction(m_residual);
computeStep(m_dv, m_residual);
@@ -147,7 +142,7 @@ bool btDeformableBodySolver::updateNodes()
}
void btDeformableBodySolver::predictMotion(float solverdt)
void btDeformableBodySolver::predictMotion(btScalar solverdt)
{
for (int i = 0; i < m_softBodySet.size(); ++i)
{