re-compute all the modes using the new python preprocessor. clean up initialization

examples/ReducedDeformableDemo/ModeVisualizer.cpp

@@ -136,7 +136,7 @@ void ModeVisualizer::initPhysics()
 
     // create volumetric soft body
     {
-      btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
+      btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
 
       getDeformableDynamicsWorld()->addSoftBody(rsb);
       rsb->getCollisionShape()->setMargin(0.1);

src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp

@@ -75,18 +75,10 @@ void btReducedSoftBody::setMassProps(const tDenseArray& mass_array)
   m_inverseMass = total_mass > 0 ? 1.0 / total_mass : 0;
 }
 
-void btReducedSoftBody::setInertiaProps(const btVector3& inertia)
+void btReducedSoftBody::setInertiaProps()
 {
-  // TODO: only support box shape now
-  // set local inertia
-  // m_invInertiaLocal.setValue(
-  //               inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x() : btScalar(0.0),
-	// 						  inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y() : btScalar(0.0),
-	// 						  inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z() : btScalar(0.0));
-  
   updateLocalInertiaTensorFromNodes();
 
-
   // update world inertia tensor
   btMatrix3x3 rotation;
   rotation.setIdentity();

src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h

@@ -110,7 +110,7 @@ class btReducedSoftBody : public btSoftBody
 
   void setMassProps(const tDenseArray& mass_array);
 
-  void setInertiaProps(const btVector3& inertia);
+  void setInertiaProps();
 
   void setRigidVelocity(const btVector3& v);
 

src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.cpp

@@ -173,11 +173,7 @@ void btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(btReducedSoftB
 	rsb->setMassProps(mass_array);
 	
 	// calculate the inertia tensor in the local frame 
-  btVector3 inertia(0, 0, 0);
-	calculateLocalInertia(inertia, rsb->getTotalMass(), half_extents, btVector3(0, 0, 0));
-	// calculateLocalInertia(inertia, rsb->getTotalMass(), btVector3(0.5, 0.25, 2), btVector3(0, 0, 0));
-	// calculateLocalInertia(inertia, rsb->getTotalMass(), btVector3(0.5, 0.5, 0.5), btVector3(0, 0, 0));
-	rsb->setInertiaProps(inertia);
+ 	rsb->setInertiaProps();
 
 	// other internal initialization
 	rsb->internalInitialization();