From 817e64a769219621de0debc4979630953dbee60b Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan@xuchenhan-macbookpro.roam.corp.google.com>
Date: Thu, 8 Aug 2019 17:26:19 -0700
Subject: remove one softbody array copy

---
 .../ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a   | Bin 1641184 -> 0 bytes
 src/BulletSoftBody/btCGProjection.h                   |   8 +-------
 .../btDeformableBackwardEulerObjective.cpp            |   4 ++--
 .../btDeformableBackwardEulerObjective.h              |   4 ++--
 src/BulletSoftBody/btDeformableBodySolver.cpp         |   3 +--
 5 files changed, 6 insertions(+), 13 deletions(-)
 delete mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a

diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a b/examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a
deleted file mode 100644
index 377e345f2..000000000
Binary files a/examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a and /dev/null differ
diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h
index 430327ea0..6b5caf581 100644
--- a/src/BulletSoftBody/btCGProjection.h
+++ b/src/BulletSoftBody/btCGProjection.h
@@ -111,7 +111,7 @@ public:
     typedef btAlignedObjectArray<btVector3> TVStack;
     typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
     typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
-    btAlignedObjectArray<btSoftBody *> m_softBodies;
+    btAlignedObjectArray<btSoftBody *>& m_softBodies;
     btDeformableRigidDynamicsWorld* m_world;
 //    const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
     const btScalar& m_dt;
@@ -119,7 +119,6 @@ public:
     btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
     : m_softBodies(softBodies)
     , m_dt(dt)
-//    , m_nodes(nodes)
     {
     }
     
@@ -139,11 +138,6 @@ public:
     {
     }
     
-    void setSoftBodies(btAlignedObjectArray<btSoftBody* > softBodies)
-    {
-        m_softBodies.copyFromArray(softBodies);
-    }
-    
     virtual void setWorld(btDeformableRigidDynamicsWorld* world)
     {
         m_world = world;
diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
index 3e6656c0d..fbc663f35 100644
--- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
+++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
@@ -22,13 +22,13 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
     m_preconditioner = new DefaultPreconditioner();
 }
 
-void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated)
+void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt)
 {
     BT_PROFILE("reinitialize");
+    setDt(dt);
     if(nodeUpdated)
     {
         updateId();
-        projection.setSoftBodies(m_softBodies);
     }
     for (int i = 0; i < m_lf.size(); ++i)
     {
diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h
index 30c2d995e..c681300a7 100644
--- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h
+++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h
@@ -62,8 +62,8 @@ public:
     // set initial guess for CG solve
     void initialGuess(TVStack& dv, const TVStack& residual);
     
-    // reset data structure
-    void reinitialize(bool nodeUpdated);
+    // reset data structure and reset dt
+    void reinitialize(bool nodeUpdated, btScalar dt);
     
     void setDt(btScalar dt);
     
diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp
index 4dd45edc8..b77ba9da3 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.cpp
+++ b/src/BulletSoftBody/btDeformableBodySolver.cpp
@@ -51,7 +51,6 @@ void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual)
 
 void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt)
 {
-    m_objective->setDt(dt);
     m_softBodySet.copyFromArray(softBodies);
     bool nodeUpdated = updateNodes();
     
@@ -69,7 +68,7 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody
         m_residual[i].setZero();
     }
     
-    m_objective->reinitialize(nodeUpdated);
+    m_objective->reinitialize(nodeUpdated, dt);
 }
 
 void btDeformableBodySolver::setConstraints()
-- 
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