code clean up + Zlib copyright header

14 files changed, 170 insertions, 103 deletions

diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h
index e11ecf817..667c715c0 100644
--- a/src/BulletSoftBody/btCGProjection.h
+++ b/src/BulletSoftBody/btCGProjection.h
@@ -1,8 +1,15 @@
-//  btCGProjection.h
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/4/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef BT_CG_PROJECTION_H
 #define BT_CG_PROJECTION_H
@@ -20,7 +27,6 @@ struct DeformableContactConstraint
     btAlignedObjectArray<btScalar> m_value;
     // the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve
     btAlignedObjectArray<btScalar> m_accumulated_normal_impulse;
-    btSoftBody::Node* node;
     
     DeformableContactConstraint(const btSoftBody::RContact& rcontact)
     {
@@ -74,7 +80,6 @@ struct DeformableFrictionConstraint
     
     // the total impulse the node applied to the rb in the tangential direction in the cg solve
     btAlignedObjectArray<btVector3> m_accumulated_tangent_impulse;
-    btSoftBody::Node* node;
     
     DeformableFrictionConstraint()
     {
diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h
index fdef6b22d..dfec3dde5 100644
--- a/src/BulletSoftBody/btConjugateGradient.h
+++ b/src/BulletSoftBody/btConjugateGradient.h
@@ -1,9 +1,15 @@
-//
-//  btConjugateGradient.h
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/1/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef BT_CONJUGATE_GRADIENT_H
 #define BT_CONJUGATE_GRADIENT_H
@@ -12,7 +18,7 @@
 #include <LinearMath/btAlignedObjectArray.h>
 #include <LinearMath/btVector3.h>
 
-template <class TM>
+template <class MatrixX>
 class btConjugateGradient
 {
 //    using TVStack = btAlignedObjectArray<btVector3>;
@@ -29,7 +35,7 @@ public:
     virtual ~btConjugateGradient(){}
     
     // return the number of iterations taken
-    int solve(TM& A, TVStack& x, const TVStack& b, btScalar tolerance)
+    int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance)
     {
         btAssert(x.size() == b.size());
         reinitialize(b);
diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
index 50db01ec9..618648b47 100644
--- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
+++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
@@ -1,9 +1,15 @@
-//
-//  btDeformableBackwardEulerObjective.cpp
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/9/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #include "btDeformableBackwardEulerObjective.h"
 
@@ -63,7 +69,6 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
 void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv)
 {
     // only the velocity of the constrained nodes needs to be updated during CG solve
-//    for (auto it : projection.m_constraints)
     for (int i = 0; i < projection.m_constraints.size(); ++i)
     {
         int index = projection.m_constraints.getKeyAtIndex(i).getUid1();
@@ -112,7 +117,9 @@ btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual
 void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force)
 {
     for (int i = 0; i < m_lf.size(); ++i)
+    {
         m_lf[i]->addScaledExplicitForce(m_dt, force);
+    }
     applyForce(force, true);
 }
 
diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h
index 42d85f538..db448ebe9 100644
--- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h
+++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h
@@ -1,9 +1,15 @@
-//
-//  btDeformableBackwardEulerObjective.h
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/1/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef BT_BACKWARD_EULER_OBJECTIVE_H
 #define BT_BACKWARD_EULER_OBJECTIVE_H
diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp
index df12c213a..27cb8e467 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.cpp
+++ b/src/BulletSoftBody/btDeformableBodySolver.cpp
@@ -1,9 +1,15 @@
-//
-//  btDeformableBodySolver.cpp
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/9/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #include <stdio.h>
 #include <limits>
@@ -11,7 +17,7 @@
 
 btDeformableBodySolver::btDeformableBodySolver()
 : m_numNodes(0)
-, cg(10)
+, m_cg(10)
 {
     m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity);
 }
@@ -40,7 +46,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt)
 void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual)
 {
     btScalar tolerance = std::numeric_limits<float>::epsilon()* 1024 * m_objective->computeNorm(residual);
-    cg.solve(*m_objective, dv, residual, tolerance);
+    m_cg.solve(*m_objective, dv, residual, tolerance);
 }
 
 void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies)
diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h
index 9f1216eab..7186f8fb2 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.h
+++ b/src/BulletSoftBody/btDeformableBodySolver.h
@@ -1,9 +1,15 @@
-//
-//  btDeformableBodySolver.h
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/1/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef BT_DEFORMABLE_BODY_SOLVERS_H
 #define BT_DEFORMABLE_BODY_SOLVERS_H
@@ -31,7 +37,7 @@ protected:
    
     btAlignedObjectArray<btVector3> m_backupVelocity;
     btScalar m_dt;
-    btConjugateGradient<btDeformableBackwardEulerObjective> cg;
+    btConjugateGradient<btDeformableBackwardEulerObjective> m_cg;
     
     
 public:
diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp
index edee3126e..dff5398c9 100644
--- a/src/BulletSoftBody/btDeformableContactProjection.cpp
+++ b/src/BulletSoftBody/btDeformableContactProjection.cpp
@@ -1,9 +1,15 @@
-//
-//  btDeformableContactProjection.cpp
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/4/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #include "btDeformableContactProjection.h"
 #include "btDeformableRigidDynamicsWorld.h"
diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h
index 9e61fed34..51ea92689 100644
--- a/src/BulletSoftBody/btDeformableContactProjection.h
+++ b/src/BulletSoftBody/btDeformableContactProjection.h
@@ -1,9 +1,15 @@
-//
-//  btDeformableContactProjection.h
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/4/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef BT_CONTACT_PROJECTION_H
 #define BT_CONTACT_PROJECTION_H
@@ -15,9 +21,6 @@
 class btDeformableContactProjection : public btCGProjection
 {
 public:
-//    std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<DeformableContactConstraint> > m_constraints;
-//    std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<DeformableFrictionConstraint> > m_frictions;
-    
     // map from node index to constraints
     btHashMap<btHashInt, btAlignedObjectArray<DeformableContactConstraint> > m_constraints;
     btHashMap<btHashInt, btAlignedObjectArray<DeformableFrictionConstraint> >m_frictions;
diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h
index 0c2ae535d..d18eac57d 100644
--- a/src/BulletSoftBody/btDeformableGravityForce.h
+++ b/src/BulletSoftBody/btDeformableGravityForce.h
@@ -1,9 +1,15 @@
-//
-//  btDeformableGravityForce.h
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/21/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef BT_DEFORMABLE_GRAVITY_FORCE_H
 #define BT_DEFORMABLE_GRAVITY_FORCE_H
@@ -13,18 +19,15 @@
 class btDeformableGravityForce : public btDeformableLagrangianForce
 {
 public:
-//    using TVStack = btDeformableLagrangianForce::TVStack;
     typedef btAlignedObjectArray<btVector3> TVStack;
     btVector3 m_gravity;
     
     btDeformableGravityForce(const btVector3& g) : m_gravity(g)
     {
-        
     }
     
     virtual void addScaledImplicitForce(btScalar scale, TVStack& force)
     {
-//        addScaledGravityForce(scale, force);
     }
     
     virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h
index 6e1c54352..d2bbcef40 100644
--- a/src/BulletSoftBody/btDeformableLagrangianForce.h
+++ b/src/BulletSoftBody/btDeformableLagrangianForce.h
@@ -1,9 +1,15 @@
-//
-//  btDeformableLagrangianForce.h
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/1/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef BT_DEFORMABLE_LAGRANGIAN_FORCE_H
 #define BT_DEFORMABLE_LAGRANGIAN_FORCE_H
diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h
index 841101c8f..2d70ef0ae 100644
--- a/src/BulletSoftBody/btDeformableMassSpringForce.h
+++ b/src/BulletSoftBody/btDeformableMassSpringForce.h
@@ -1,9 +1,15 @@
-//
-//  btDeformableMassSpringForce.h
-//  BulletSoftBody
-//
-//  Created by Xuchen Gan on 7/1/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef BT_MASS_SPRING_H
 #define BT_MASS_SPRING_H
diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
index de39778ad..ef48f97b1 100644
--- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
@@ -1,9 +1,15 @@
-//
-//  btDeformableRigidDynamicsWorld.cpp
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/1/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #include <stdio.h>
 #include "btDeformableRigidDynamicsWorld.h"
@@ -13,7 +19,6 @@
 void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 {
     reinitialize(timeStep);
-//    beforeSolverCallbacks(timeStep);
     // add gravity to velocity of rigid and multi bodys
     applyRigidBodyGravity(timeStep);
     
@@ -165,7 +170,7 @@ void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collision
 void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 {
     btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep);
-    m_deformableBodySolver->predictMotion(float(timeStep));
+    m_deformableBodySolver->predictMotion(timeStep);
 }
 
 void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep)
@@ -181,8 +186,7 @@ void btDeformableRigidDynamicsWorld::reinitialize(btScalar timeStep)
 
 void btDeformableRigidDynamicsWorld::applyRigidBodyGravity(btScalar timeStep)
 {
-    // TODO: This is an ugly hack to get the desired gravity behavior.
-    // gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again
+    // Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again
     // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep
     // when there are multiple substeps
     clearForces();
@@ -211,9 +215,6 @@ void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep)
     {
         (*m_solverCallback)(m_internalTime, this);
     }
-    
-//    for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i)
-//        m_beforeSolverCallbacks[i](m_internalTime, this);
 }
 
 void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep)
@@ -222,8 +223,6 @@ void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep)
     {
         (*m_solverCallback)(m_internalTime, this);
     }
-//    for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i)
-//        m_beforeSolverCallbacks[i](m_internalTime, this);
 }
 
 void btDeformableRigidDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force)
diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
index 47284e7fb..7d771d455 100644
--- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
+++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
@@ -43,6 +43,9 @@ class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld
     bool m_ownsSolver;
     btScalar m_internalTime;
     
+    typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world);
+    btSolverCallback m_solverCallback;
+    
 protected:
     virtual void internalSingleStepSimulation(btScalar timeStep);
     
@@ -55,7 +58,7 @@ protected:
 public:
     btDeformableRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0)
     : btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
-    m_deformableBodySolver(deformableBodySolver)
+    m_deformableBodySolver(deformableBodySolver), m_solverCallback(0)
     {
         m_drawFlags = fDrawFlags::Std;
         m_drawNodeTree = true;
@@ -76,8 +79,7 @@ public:
         m_internalTime = 0.0;
     }
 //    btAlignedObjectArray<std::function<void(btScalar, btDeformableRigidDynamicsWorld*)> > m_beforeSolverCallbacks;
-    typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world);
-    btSolverCallback m_solverCallback;
+    
     
     void setSolverCallback(btSolverCallback cb)
     {
diff --git a/src/BulletSoftBody/btPreconditioner.h b/src/BulletSoftBody/btPreconditioner.h
index 97cec43c5..8860a8cfe 100644
--- a/src/BulletSoftBody/btPreconditioner.h
+++ b/src/BulletSoftBody/btPreconditioner.h
@@ -1,9 +1,15 @@
-//
-//  btPreconditioner.h
-//  BulletSoftBody
-//
-//  Created by Xuchen Han on 7/18/19.
-//
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2016 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
 
 #ifndef BT_PRECONDITIONER_H
 #define BT_PRECONDITIONER_H