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get rid of auto

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This commit is contained in:
Xuchen Han
2019-08-02 15:19:37 -07:00
parent 753b2d9f15
commit f624b60c19
5 changed files with 14 additions and 12 deletions
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2
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -47,7 +47,7 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
btSoftBody* psb = m_softBodies[i]; btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j) for (int j = 0; j < psb->m_nodes.size(); ++j)
{ {
const auto& node = psb->m_nodes[j]; const btSoftBody::Node& node = psb->m_nodes[j];
b[counter] += (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im; b[counter] += (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im;
++counter; ++counter;
} }

1
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -8,6 +8,7 @@
#include "btDeformableContactProjection.h" #include "btDeformableContactProjection.h"
#include "btDeformableRigidDynamicsWorld.h" #include "btDeformableRigidDynamicsWorld.h"
#include <algorithm> #include <algorithm>
#include <math.h>
static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
btMultiBodyJacobianData& jacobianData, btMultiBodyJacobianData& jacobianData,
const btVector3& contact_point, const btVector3& contact_point,

18
src/BulletSoftBody/btDeformableMassSpringForce.h
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@@ -37,9 +37,9 @@ public:
const btSoftBody* psb = m_softBodies[i]; const btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_links.size(); ++j) for (int j = 0; j < psb->m_links.size(); ++j)
{ {
const auto& link = psb->m_links[j]; const btSoftBody::Link& link = psb->m_links[j];
const auto node1 = link.m_n[0]; btSoftBody::Node* node1 = link.m_n[0];
const auto node2 = link.m_n[1]; btSoftBody::Node* node2 = link.m_n[1];
size_t id1 = m_indices->at(node1); size_t id1 = m_indices->at(node1);
size_t id2 = m_indices->at(node2); size_t id2 = m_indices->at(node2);
@@ -62,9 +62,9 @@ public:
const btSoftBody* psb = m_softBodies[i]; const btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_links.size(); ++j) for (int j = 0; j < psb->m_links.size(); ++j)
{ {
const auto& link = psb->m_links[j]; const btSoftBody::Link& link = psb->m_links[j];
const auto node1 = link.m_n[0]; btSoftBody::Node* node1 = link.m_n[0];
const auto node2 = link.m_n[1]; btSoftBody::Node* node2 = link.m_n[1];
btScalar kLST = link.Feature::m_material->m_kLST; btScalar kLST = link.Feature::m_material->m_kLST;
btScalar r = link.m_rl; btScalar r = link.m_rl;
size_t id1 = m_indices->at(node1); size_t id1 = m_indices->at(node1);
@@ -89,9 +89,9 @@ public:
const btSoftBody* psb = m_softBodies[i]; const btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_links.size(); ++j) for (int j = 0; j < psb->m_links.size(); ++j)
{ {
const auto& link = psb->m_links[j]; const btSoftBody::Link& link = psb->m_links[j];
const auto node1 = link.m_n[0]; btSoftBody::Node* node1 = link.m_n[0];
const auto node2 = link.m_n[1]; btSoftBody::Node* node2 = link.m_n[1];
btScalar k_damp = psb->m_dampingCoefficient; btScalar k_damp = psb->m_dampingCoefficient;
size_t id1 = m_indices->at(node1); size_t id1 = m_indices->at(node1);
size_t id2 = m_indices->at(node2); size_t id2 = m_indices->at(node2);

2
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -136,7 +136,7 @@ void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar dt)
btSoftBody* psb = m_softBodies[i]; btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j) for (int j = 0; j < psb->m_nodes.size(); ++j)
{ {
auto& node = psb->m_nodes[j]; btSoftBody::Node& node = psb->m_nodes[j];
node.m_x = node.m_q + dt * node.m_v; node.m_x = node.m_q + dt * node.m_v;
} }
} }

3
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -28,6 +28,7 @@ subject to the following restrictions:
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include <string.h> //for memset #include <string.h> //for memset
#include <math.h>
static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
btMultiBodyJacobianData& jacobianData, btMultiBodyJacobianData& jacobianData,
const btVector3& contact_point, const btVector3& contact_point,
@@ -954,7 +955,7 @@ struct btSoftColliders
{ {
// resolve contact at x_n // resolve contact at x_n
psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false); psb->checkContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predicted = */ false);
auto& cti = c.m_cti; btSoftBody::sCti& cti = c.m_cti;
c.m_node = &n; c.m_node = &n;
const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
c.m_c2 = ima * psb->m_sst.sdt; c.m_c2 = ima * psb->m_sst.sdt;