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clean up: rename the *ReducedSoftBody* as *ReducedDeformableBody* for clarity

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jingyuc
2022-01-30 21:12:05 -08:00
parent bfef75f871
commit 6a78b4bb07
21 changed files with 218 additions and 219 deletions
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examples/ReducedDeformableDemo/ModeVisualizer.cpp
+8 -8
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@@ -15,9 +15,9 @@
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedDeformableBody.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedDeformableBodyHelpers.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedDeformableBodySolver.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
@@ -36,14 +36,14 @@ class ModeVisualizer : public CommonDeformableBodyBase
btScalar sim_time;
// get deformed shape
void getDeformedShape(btReducedSoftBody* rsb, const int mode_n, const btScalar time_term = 1)
void getDeformedShape(btReducedDeformableBody* rsb, const int mode_n, const btScalar time_term = 1)
{
for (int i = 0; i < rsb->m_nodes.size(); ++i)
for (int k = 0; k < 3; ++k)
rsb->m_nodes[i].m_x[k] = rsb->m_x0[i][k] + rsb->m_modes[mode_n][3 * i + k] * time_term;
}
btVector3 computeMassWeightedColumnSum(btReducedSoftBody* rsb, const int mode_n)
btVector3 computeMassWeightedColumnSum(btReducedDeformableBody* rsb, const int mode_n)
{
btVector3 sum(0, 0, 0);
for (int i = 0; i < rsb->m_nodes.size(); ++i)
@@ -85,7 +85,7 @@ public:
void stepSimulation(float deltaTime)
{
btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
sim_time += deltaTime;
int n_mode = floor(visualize_mode);
@@ -124,7 +124,7 @@ void ModeVisualizer::initPhysics()
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(reducedSoftBodySolver);
@@ -135,7 +135,7 @@ void ModeVisualizer::initPhysics()
// create volumetric soft body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);