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code clean up + check in examples

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This commit is contained in:
Xuchen Han
2019-07-18 11:34:06 -07:00
parent 3430192db7
commit dc10336d45
18 changed files with 1552 additions and 412 deletions
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69
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -51,17 +51,7 @@ public:
return true;
}
virtual void updateSoftBodies()
{
for (int i = 0; i < m_softBodySet.size(); i++)
{
btSoftBody *psb = (btSoftBody *)m_softBodySet[i];
if (psb->isActive())
{
psb->integrateMotion(); // normal is updated here
}
}
}
virtual void updateSoftBodies();
virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false)
{
@@ -76,64 +66,17 @@ public:
void reinitialize(bool nodeUpdated);
void setConstraintDirections();
void setConstraints();
void advect(btScalar dt)
{
size_t counter = 0;
for (int i = 0; i < m_softBodySet.size(); ++i)
{
btSoftBody* psb = m_softBodySet[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
auto& node = psb->m_nodes[j];
node.m_x = node.m_q + dt * node.m_v;
}
}
}
void advect(btScalar dt);
void backupVelocity()
{
// serial implementation
int counter = 0;
for (int i = 0; i < m_softBodySet.size(); ++i)
{
btSoftBody* psb = m_softBodySet[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
m_backupVelocity[counter++] = psb->m_nodes[j].m_v;
}
}
}
void backupVelocity();
void updateVelocity();
bool updateNodes()
{
int numNodes = 0;
for (int i = 0; i < m_softBodySet.size(); ++i)
numNodes += m_softBodySet[i]->m_nodes.size();
if (numNodes != m_numNodes)
{
m_numNodes = numNodes;
m_backupVelocity.resize(numNodes);
return true;
}
return false;
}
bool updateNodes();
virtual void predictMotion(float solverdt)
{
for (int i = 0; i < m_softBodySet.size(); ++i)
{
btSoftBody *psb = m_softBodySet[i];
if (psb->isActive())
{
psb->predictMotion(solverdt);
}
}
}
virtual void predictMotion(float solverdt);
virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {}