1 files changed, 0 insertions, 215 deletions
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp
deleted file mode 100644
index d7e4cc2b8..000000000
--- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp
+++ /dev/null
@@ -1,215 +0,0 @@
-#include "btReducedDeformableBodyHelpers.h"
-#include "../btSoftBodyHelpers.h"
-#include <iostream>
-#include <string>
-#include <sstream>
-
-btReducedDeformableBody* btReducedDeformableBodyHelpers::createReducedDeformableObject(btSoftBodyWorldInfo& worldInfo, const std::string& file_path, const std::string& vtk_file, const int num_modes, bool rigid_only) {
-	std::string filename = file_path + vtk_file;
-	btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
-	
-	rsb->setReducedModes(num_modes, rsb->m_nodes.size());
-	btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(rsb, file_path.c_str());
-	
-	rsb->disableReducedModes(rigid_only);
-
-	return rsb;
-}
-
-btReducedDeformableBody* btReducedDeformableBodyHelpers::createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file)
-{
-	std::ifstream fs;
-	fs.open(vtk_file);
-	btAssert(fs);
-
-	typedef btAlignedObjectArray<int> Index;
-	std::string line;
-	btAlignedObjectArray<btVector3> X;
-	btVector3 position;
-	btAlignedObjectArray<Index> indices;
-	bool reading_points = false;
-	bool reading_tets = false;
-	size_t n_points = 0;
-	size_t n_tets = 0;
-	size_t x_count = 0;
-	size_t indices_count = 0;
-	while (std::getline(fs, line))
-	{
-		std::stringstream ss(line);
-		if (line.size() == (size_t)(0))
-		{
-		}
-		else if (line.substr(0, 6) == "POINTS")
-		{
-			reading_points = true;
-			reading_tets = false;
-			ss.ignore(128, ' ');  // ignore "POINTS"
-			ss >> n_points;
-			X.resize(n_points);
-		}
-		else if (line.substr(0, 5) == "CELLS")
-		{
-			reading_points = false;
-			reading_tets = true;
-			ss.ignore(128, ' ');  // ignore "CELLS"
-			ss >> n_tets;
-			indices.resize(n_tets);
-		}
-		else if (line.substr(0, 10) == "CELL_TYPES")
-		{
-			reading_points = false;
-			reading_tets = false;
-		}
-		else if (reading_points)
-		{
-			btScalar p;
-			ss >> p;
-			position.setX(p);
-			ss >> p;
-			position.setY(p);
-			ss >> p;
-			position.setZ(p);
-			//printf("v %f %f %f\n", position.getX(), position.getY(), position.getZ());
-			X[x_count++] = position;
-		}
-		else if (reading_tets)
-		{
-			int d;
-			ss >> d;
-			if (d != 4)
-			{
-				printf("Load deformable failed: Only Tetrahedra are supported in VTK file.\n");
-				fs.close();
-				return 0;
-			}
-			ss.ignore(128, ' ');  // ignore "4"
-			Index tet;
-			tet.resize(4);
-			for (size_t i = 0; i < 4; i++)
-			{
-				ss >> tet[i];
-				//printf("%d ", tet[i]);
-			}
-			//printf("\n");
-			indices[indices_count++] = tet;
-		}
-	}
-	btReducedDeformableBody* rsb = new btReducedDeformableBody(&worldInfo, n_points, &X[0], 0);
-
-	for (int i = 0; i < n_tets; ++i)
-	{
-		const Index& ni = indices[i];
-		rsb->appendTetra(ni[0], ni[1], ni[2], ni[3]);
-		{
-			rsb->appendLink(ni[0], ni[1], 0, true);
-			rsb->appendLink(ni[1], ni[2], 0, true);
-			rsb->appendLink(ni[2], ni[0], 0, true);
-			rsb->appendLink(ni[0], ni[3], 0, true);
-			rsb->appendLink(ni[1], ni[3], 0, true);
-			rsb->appendLink(ni[2], ni[3], 0, true);
-		}
-	}
-
-	btSoftBodyHelpers::generateBoundaryFaces(rsb);
-	rsb->initializeDmInverse();
-	rsb->m_tetraScratches.resize(rsb->m_tetras.size());
-	rsb->m_tetraScratchesTn.resize(rsb->m_tetras.size());
-	printf("Nodes:  %u\r\n", rsb->m_nodes.size());
-	printf("Links:  %u\r\n", rsb->m_links.size());
-	printf("Faces:  %u\r\n", rsb->m_faces.size());
-	printf("Tetras: %u\r\n", rsb->m_tetras.size());
-
-	fs.close();
-
-	return rsb;
-}
-
-void btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(btReducedDeformableBody* rsb, const char* file_path)
-{
-	// read in eigenmodes, stiffness and mass matrices
-	std::string eigenvalues_file = std::string(file_path) + "eigenvalues.bin";
-	btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_eigenvalues, rsb->m_nReduced, eigenvalues_file.c_str());
-
-	std::string Kr_file = std::string(file_path) + "K_r_diag_mat.bin";
-	btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_Kr,  rsb->m_nReduced, Kr_file.c_str());
-
-	// std::string Mr_file = std::string(file_path) + "M_r_diag_mat.bin";
-	// btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_Mr, rsb->m_nReduced, Mr_file.c_str());
-
-	std::string modes_file = std::string(file_path) + "modes.bin";
-	btReducedDeformableBodyHelpers::readBinaryMat(rsb->m_modes, rsb->m_nReduced, 3 * rsb->m_nFull, modes_file.c_str());
-	
-	// read in full nodal mass
-	std::string M_file = std::string(file_path) + "M_diag_mat.bin";
-	btAlignedObjectArray<btScalar> mass_array;
-	btReducedDeformableBodyHelpers::readBinaryVec(mass_array, rsb->m_nFull, M_file.c_str());
-	rsb->setMassProps(mass_array);
-	
-	// calculate the inertia tensor in the local frame 
- 	rsb->setInertiaProps();
-
-	// other internal initialization
-	rsb->internalInitialization();
-}
-
-// read in a vector from the binary file
-void btReducedDeformableBodyHelpers::readBinaryVec(btReducedDeformableBody::tDenseArray& vec, 
-																				  	 const unsigned int n_size, 				// #entries read
-																						 const char* file)
-{
-	std::ifstream f_in(file, std::ios::in | std::ios::binary);
-	// first get size
-	unsigned int size;
-	f_in.read((char*)&size, sizeof(uint32_t));
-	btAssert(size >= n_size); 	// make sure the #requested mode is smaller than the #available modes
-
-	// read data
-	vec.resize(n_size);
-	double temp;
-	for (unsigned int i = 0; i < n_size; ++i)
-	{
-		f_in.read((char*)&temp, sizeof(double));
-		vec[i] = btScalar(temp);
-	}
-  f_in.close();
-}
-
-// read in a matrix from the binary file
-void btReducedDeformableBodyHelpers::readBinaryMat(btReducedDeformableBody::tDenseMatrix& mat, 
-																						 const unsigned int n_modes, 		// #modes, outer array size
-																						 const unsigned int n_full, 		// inner array size
-																						 const char* file)
-{
-	std::ifstream f_in(file, std::ios::in | std::ios::binary);
-	// first get size
-	unsigned int v_size;
-	f_in.read((char*)&v_size, sizeof(uint32_t));
-	btAssert(v_size >= n_modes * n_full); 	// make sure the #requested mode is smaller than the #available modes
-
-	// read data
-	mat.resize(n_modes);
-	for (int i = 0; i < n_modes; ++i) 
-	{
-		for (int j = 0; j < n_full; ++j)
-		{
-			double temp;
-			f_in.read((char*)&temp, sizeof(double));
-
-			if (mat[i].size() != n_modes)
-				mat[i].resize(n_full);
-			mat[i][j] = btScalar(temp);
-		}
-	}
-  f_in.close();
-}
-
-void btReducedDeformableBodyHelpers::calculateLocalInertia(btVector3& inertia, const btScalar mass, const btVector3& half_extents, const btVector3& margin)
-{
-	btScalar lx = btScalar(2.) * (half_extents[0] + margin[0]);
-	btScalar ly = btScalar(2.) * (half_extents[1] + margin[1]);
-	btScalar lz = btScalar(2.) * (half_extents[2] + margin[2]);
-
-	inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
-								   mass / (btScalar(12.0)) * (lx * lx + lz * lz),
-								   mass / (btScalar(12.0)) * (lx * lx + ly * ly));
-}