1 files changed, 5 insertions, 69 deletions

diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h
index 68354f199..ae674d6e8 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.h
+++ b/src/BulletSoftBody/btDeformableBodySolver.h
@@ -24,8 +24,8 @@
 #include "btConjugateResidual.h"
 #include "btConjugateGradient.h"
 struct btCollisionObjectWrapper;
-// class btDeformableBackwardEulerObjective;
-// class btDeformableMultiBodyDynamicsWorld;
+class btDeformableBackwardEulerObjective;
+class btDeformableMultiBodyDynamicsWorld;
 
 class btDeformableBodySolver : public btSoftBodySolver
 {
@@ -46,7 +46,6 @@ protected:
 	int m_maxNewtonIterations;                                     // max number of newton iterations
 	btScalar m_newtonTolerance;                                    // stop newton iterations if f(x) < m_newtonTolerance
 	bool m_lineSearch;                                             // If true, use newton's method with line search under implicit scheme
-	bool m_reducedSolver;																					 // flag for reduced soft body solver
 public:
 	// handles data related to objective function
 	btDeformableBackwardEulerObjective* m_objective;
@@ -69,18 +68,11 @@ public:
 	// solve the momentum equation
 	virtual void solveDeformableConstraints(btScalar solverdt);
 
-	// set gravity (get from deformable world)
-	virtual void setGravity(const btVector3& gravity)
-	{
-		// for full deformable object, we don't store gravity in the solver
-		// this function is overriden in the reduced deformable object
-	}
-
 	// resize/clear data structures
-	virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt);
+	void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt);
 
 	// set up contact constraints
-	virtual void setConstraints(const btContactSolverInfo& infoGlobal);
+	void setConstraints(const btContactSolverInfo& infoGlobal);
 
 	// add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion
 	virtual void predictMotion(btScalar solverdt);
@@ -93,7 +85,7 @@ public:
 	void backupVelocity();
 
 	// set m_dv and m_backupVelocity to desired value to prepare for momentum solve
-	virtual void setupDeformableSolve(bool implicit);
+	void setupDeformableSolve(bool implicit);
 
 	// set the current velocity to that backed up in m_backupVelocity
 	void revertVelocity();
@@ -158,62 +150,6 @@ public:
 	// used in line search
 	btScalar kineticEnergy();
 
-	// add explicit force to the velocity in the objective class
-	virtual void applyExplicitForce();
-
-	// execute position/velocity update and apply anchor constraints in the integrateTransforms from the Dynamics world
-	virtual void applyTransforms(btScalar timeStep);
-
-	virtual void setStrainLimiting(bool opt)
-	{
-		m_objective->m_projection.m_useStrainLimiting = opt;
-	}
-
-	virtual void setPreconditioner(int opt)
-	{
-		switch (opt)
-		{
-			case btDeformableBackwardEulerObjective::Mass_preconditioner:
-				m_objective->m_preconditioner = m_objective->m_massPreconditioner;
-				break;
-
-			case btDeformableBackwardEulerObjective::KKT_preconditioner:
-				m_objective->m_preconditioner = m_objective->m_KKTPreconditioner;
-				break;
-			
-			default:
-				btAssert(false);
-				break;
-		}
-	}
-
-	virtual btAlignedObjectArray<btDeformableLagrangianForce*>* getLagrangianForceArray()
-	{
-		return &(m_objective->m_lf);
-	}
-
-	virtual const btAlignedObjectArray<btSoftBody::Node*>* getIndices()
-	{
-		return m_objective->getIndices();
-	}
-
-	virtual void setProjection()
-	{
-		m_objective->m_projection.setProjection();
-	}
-
-	virtual void setLagrangeMultiplier()
-	{
-		m_objective->m_projection.setLagrangeMultiplier();
-	}
-
-	virtual bool isReducedSolver()
-	{
-		return m_reducedSolver;
-	}
-	
-	virtual void deformableBodyInternalWriteBack() {}
-
 	// unused functions
 	virtual void optimize(btAlignedObjectArray<btSoftBody*>& softBodies, bool forceUpdate = false) {}
 	virtual void solveConstraints(btScalar dt) {}