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factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody

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This commit is contained in:
Xuchen Han
2019-07-25 13:51:44 -07:00
parent 233a381e7c
commit ec403f790d
18 changed files with 150 additions and 204 deletions
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21
src/BulletSoftBody/btCGProjection.h
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@@ -109,12 +109,13 @@ public:
using TArrayStack = btAlignedObjectArray<btAlignedObjectArray<btScalar> >;
btAlignedObjectArray<btSoftBody *> m_softBodies;
btDeformableRigidDynamicsWorld* m_world;
std::unordered_map<btSoftBody::Node *, size_t> m_indices;
const std::unordered_map<btSoftBody::Node *, size_t>* m_indices;
const btScalar& m_dt;
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt, const std::unordered_map<btSoftBody::Node *, size_t>* indices)
: m_softBodies(softBodies)
, m_dt(dt)
, m_indices(indices)
{
}
@@ -132,22 +133,6 @@ public:
virtual void reinitialize(bool nodeUpdated)
{
if (nodeUpdated)
updateId();
}
void updateId()
{
size_t index = 0;
m_indices.clear();
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
m_indices[&(psb->m_nodes[j])] = index++;
}
}
}
void setSoftBodies(btAlignedObjectArray<btSoftBody* > softBodies)