1 files changed, 1 insertions, 88 deletions

diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp
index 4e9df5f83..27f10a92f 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.cpp
+++ b/src/BulletSoftBody/btDeformableBodySolver.cpp
@@ -23,7 +23,6 @@ btDeformableBodySolver::btDeformableBodySolver()
 	: m_numNodes(0), m_cg(kMaxConjugateGradientIterations), m_cr(kMaxConjugateGradientIterations), m_maxNewtonIterations(1), m_newtonTolerance(1e-4), m_lineSearch(false), m_useProjection(false)
 {
 	m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity);
-	m_reducedSolver = false;
 }
 
 btDeformableBodySolver::~btDeformableBodySolver()
@@ -402,7 +401,7 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt)
 			}
 		}
 	}
-	applyExplicitForce();
+	m_objective->applyExplicitForce(m_residual);
 	for (int i = 0; i < m_softBodies.size(); ++i)
 	{
 		btSoftBody* psb = m_softBodies[i];
@@ -505,89 +504,3 @@ void btDeformableBodySolver::setLineSearch(bool lineSearch)
 {
 	m_lineSearch = lineSearch;
 }
-
-void btDeformableBodySolver::applyExplicitForce()
-{
-	m_objective->applyExplicitForce(m_residual);
-}
-
-void btDeformableBodySolver::applyTransforms(btScalar timeStep)
-{
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			btSoftBody::Node& node = psb->m_nodes[j];
-			btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement;
-			btScalar clampDeltaV = maxDisplacement / timeStep;
-			for (int c = 0; c < 3; c++)
-			{
-				if (node.m_v[c] > clampDeltaV)
-				{
-					node.m_v[c] = clampDeltaV;
-				}
-				if (node.m_v[c] < -clampDeltaV)
-				{
-					node.m_v[c] = -clampDeltaV;
-				}
-			}
-			node.m_x = node.m_x + timeStep * (node.m_v + node.m_splitv);
-			node.m_q = node.m_x;
-			node.m_vn = node.m_v;
-		}
-		// enforce anchor constraints
-		for (int j = 0; j < psb->m_deformableAnchors.size(); ++j)
-		{
-			btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j];
-			btSoftBody::Node* n = a.m_node;
-			n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local;
-
-			// update multibody anchor info
-			if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-			{
-				btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj);
-				if (multibodyLinkCol)
-				{
-					btVector3 nrm;
-					const btCollisionShape* shp = multibodyLinkCol->getCollisionShape();
-					const btTransform& wtr = multibodyLinkCol->getWorldTransform();
-					psb->m_worldInfo->m_sparsesdf.Evaluate(
-						wtr.invXform(n->m_x),
-						shp,
-						nrm,
-						0);
-					a.m_cti.m_normal = wtr.getBasis() * nrm;
-					btVector3 normal = a.m_cti.m_normal;
-					btVector3 t1 = generateUnitOrthogonalVector(normal);
-					btVector3 t2 = btCross(normal, t1);
-					btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
-					findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal);
-					findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1);
-					findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2);
-
-					btScalar* J_n = &jacobianData_normal.m_jacobians[0];
-					btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];
-					btScalar* J_t2 = &jacobianData_t2.m_jacobians[0];
-
-					btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
-					btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
-					btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
-
-					btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(),
-									t1.getX(), t1.getY(), t1.getZ(),
-									t2.getX(), t2.getY(), t2.getZ());  // world frame to local frame
-					const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-					btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();
-					a.m_c0 = rot.transpose() * local_impulse_matrix * rot;
-					a.jacobianData_normal = jacobianData_normal;
-					a.jacobianData_t1 = jacobianData_t1;
-					a.jacobianData_t2 = jacobianData_t2;
-					a.t1 = t1;
-					a.t2 = t2;
-				}
-			}
-		}
-		psb->interpolateRenderMesh();
-	}
-}
\ No newline at end of file