1 files changed, 4 insertions, 477 deletions

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index a7cf6d560..bcd132a79 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -120,10 +120,6 @@
 #include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
 #include "BulletSoftBody/btDeformableBodySolver.h"
 #include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h"
-
-#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
-#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
-#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
 #endif  //SKIP_DEFORMABLE_BODY
 
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
@@ -1669,7 +1665,6 @@ struct PhysicsServerCommandProcessorInternalData
 	btDeformableMousePickingForce* m_mouseForce;
 	btScalar m_maxPickingForce;
 	btDeformableBodySolver* m_deformablebodySolver;
-	btReducedDeformableBodySolver* m_reducedSoftBodySolver;
 	btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
 #endif
 
@@ -2726,26 +2721,16 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
 		m_data->m_broadphase = bv;
 	}
 
-#ifndef SKIP_DEFORMABLE_BODY
 	if (flags & RESET_USE_DEFORMABLE_WORLD)
 	{
-		// deformable
+#ifndef SKIP_DEFORMABLE_BODY
 		m_data->m_deformablebodySolver = new btDeformableBodySolver();
 		btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
 		m_data->m_solver = solver;
 		solver->setDeformableSolver(m_data->m_deformablebodySolver);
 		m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
-	}
-	else if (flags & RESET_USE_REDUCED_DEFORMABLE_WORLD)
-	{
-		// reduced deformable
-		m_data->m_reducedSoftBodySolver = new btReducedDeformableBodySolver();
-		btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
-		m_data->m_solver = solver;
-		solver->setDeformableSolver(m_data->m_reducedSoftBodySolver);
-		m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_reducedSoftBodySolver);
-	}
 #endif
+	}
 
 	
 
@@ -2792,14 +2777,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
 	m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = 0.2;  //need to check if there are artifacts with frictionERP
 	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
 	m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
-	if (flags & RESET_USE_REDUCED_DEFORMABLE_WORLD) 
-	{
-		m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 128;
-	}
-	else
-	{
-		m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0;
-	}
+	m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0;
 	m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = 0.1;
 	gDbvtMargin = btScalar(0);
 	m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
@@ -3673,11 +3651,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 				return false;
 			}
 		}
-		if (!(u2b.getReducedDeformableModel().m_visualFileName.empty()))
-		{
-			bool use_self_collision = false;
-			return processReducedDeformable(u2b.getReducedDeformableModel(), pos, orn, bodyUniqueIdPtr, bufferServerToClient, bufferSizeInBytes, globalScaling, use_self_collision);
-		}
 		bool ok = processImportedObjects(fileName, bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);
 		if (ok)
 		{
@@ -9439,10 +9412,6 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 			psb->setGravityFactor(deformable.m_gravFactor);
 			psb->setCacheBarycenter(deformable.m_cache_barycenter);
 			psb->initializeFaceTree();
-
-			deformWorld->setImplicit(true);
-			deformWorld->setLineSearch(false);
-			deformWorld->setUseProjection(true);
 		}
 #endif  //SKIP_DEFORMABLE_BODY
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -9704,447 +9673,6 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 	return true;
 }
 
-bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDeformable& reduced_deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision)
-{
-#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
-	btReducedDeformableBody* rsb = NULL;
-	CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
-	char relativeFileName[1024];
-	char pathPrefix[1024];
-	pathPrefix[0] = 0;
-	if (fileIO->findResourcePath(reduced_deformable.m_visualFileName.c_str(), relativeFileName, 1024))
-	{
-		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
-	}
-	const std::string& error_message_prefix = "";
-	std::string out_found_filename, out_found_sim_filename;
-	int out_type(0), out_sim_type(0);
-
-	bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
-	if (!reduced_deformable.m_simFileName.empty())
-	{
-		bool foundSimMesh = UrdfFindMeshFile(fileIO, pathPrefix, reduced_deformable.m_simFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type);
-	}
-	else
-	{
-		out_sim_type = out_type;
-		out_found_sim_filename = out_found_filename;
-	}
-
-	if (out_sim_type == UrdfGeometry::FILE_OBJ)
-	{
-		printf("Obj file is currently unsupported\n");
-		return false;
-	}
-	else if (out_sim_type == UrdfGeometry::FILE_VTK)
-	{
-#ifndef SKIP_DEFORMABLE_BODY
-		btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
-		if (deformWorld)
-		{
-			rsb = btReducedDeformableBodyHelpers::createFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str());
-			if (!rsb)
-			{
-				printf("Load reduced deformable failed\n");
-				return false;
-			}
-
-			// load modes, reduced stiffness matrix
-			rsb->setReducedModes(reduced_deformable.m_numModes, rsb->m_nodes.size());
-			rsb->setStiffnessScale(reduced_deformable.m_stiffnessScale);
-			rsb->setDamping(0, reduced_deformable.m_damping); // damping alpha is set to 0 by default
-			btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(rsb, pathPrefix);
-			// set total mass
-			rsb->setTotalMass(reduced_deformable.m_mass);
-		}
-#endif
-	}
-	b3ImportMeshData meshData;
-
-	if (rsb != NULL)
-	{
-#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
-		// load render mesh
-		if ((out_found_sim_filename != out_found_filename) || ((out_sim_type == UrdfGeometry::FILE_OBJ)))
-		{
-			// load render mesh
-			if (!m_data->m_useAlternativeDeformableIndexing)
-			{
-
-				float rgbaColor[4] = { 1,1,1,1 };
-
-				if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(
-					out_found_filename.c_str(), meshData, fileIO))
-				{
-
-					for (int v = 0; v < meshData.m_gfxShape->m_numvertices; v++)
-					{
-						btSoftBody::RenderNode n;
-						n.m_x.setValue(
-							meshData.m_gfxShape->m_vertices->at(v).xyzw[0],
-							meshData.m_gfxShape->m_vertices->at(v).xyzw[1],
-							meshData.m_gfxShape->m_vertices->at(v).xyzw[2]);
-						n.m_uv1.setValue(meshData.m_gfxShape->m_vertices->at(v).uv[0],
-							meshData.m_gfxShape->m_vertices->at(v).uv[1],
-							0.);
-						n.m_normal.setValue(meshData.m_gfxShape->m_vertices->at(v).normal[0],
-							meshData.m_gfxShape->m_vertices->at(v).normal[1],
-							meshData.m_gfxShape->m_vertices->at(v).normal[2]);
-						rsb->m_renderNodes.push_back(n);
-					}
-					for (int f = 0; f < meshData.m_gfxShape->m_numIndices; f += 3)
-					{
-						btSoftBody::RenderFace ff;
-						ff.m_n[0] = &rsb->m_renderNodes[meshData.m_gfxShape->m_indices->at(f + 0)];
-						ff.m_n[1] = &rsb->m_renderNodes[meshData.m_gfxShape->m_indices->at(f + 1)];
-						ff.m_n[2] = &rsb->m_renderNodes[meshData.m_gfxShape->m_indices->at(f + 2)];
-						rsb->m_renderFaces.push_back(ff);
-					}
-				}
-			}
-			else
-			{
-				bt_tinyobj::attrib_t attribute;
-				std::vector<bt_tinyobj::shape_t> shapes;
-
-				std::string err = bt_tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
-
-				for (int s = 0; s < (int)shapes.size(); s++)
-				{
-					bt_tinyobj::shape_t& shape = shapes[s];
-					int faceCount = shape.mesh.indices.size();
-					int vertexCount = attribute.vertices.size() / 3;
-					for (int v = 0; v < vertexCount; v++)
-					{
-						btSoftBody::RenderNode n;
-						n.m_x = btVector3(attribute.vertices[3 * v], attribute.vertices[3 * v + 1], attribute.vertices[3 * v + 2]);
-						rsb->m_renderNodes.push_back(n);
-					}
-					for (int f = 0; f < faceCount; f += 3)
-					{
-						if (f < 0 && f >= int(shape.mesh.indices.size()))
-						{
-							continue;
-						}
-						bt_tinyobj::index_t v_0 = shape.mesh.indices[f];
-						bt_tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
-						bt_tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
-						btSoftBody::RenderFace ff;
-						ff.m_n[0] = &rsb->m_renderNodes[v_0.vertex_index];
-						ff.m_n[1] = &rsb->m_renderNodes[v_1.vertex_index];
-						ff.m_n[2] = &rsb->m_renderNodes[v_2.vertex_index];
-						rsb->m_renderFaces.push_back(ff);
-					}
-				}
-			}
-			if (out_sim_type == UrdfGeometry::FILE_VTK)
-			{
-				btSoftBodyHelpers::interpolateBarycentricWeights(rsb);
-			}
-			else if (out_sim_type == UrdfGeometry::FILE_OBJ)
-			{
-				btSoftBodyHelpers::extrapolateBarycentricWeights(rsb);
-			}
-		}
-		else
-		{
-			rsb->m_renderNodes.resize(0);
-		}
-#endif
-#ifndef SKIP_DEFORMABLE_BODY
-		btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
-		if (deformWorld)
-		{
-			btScalar collision_hardness = 1;
-			rsb->m_cfg.kKHR = collision_hardness;
-			rsb->m_cfg.kCHR = collision_hardness;
-
-			rsb->m_cfg.kDF = reduced_deformable.m_friction;
-			btSoftBody::Material* pm = rsb->appendMaterial();
-			pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
-
-			// turn on the collision flag for deformable
-			// collision between deformable and rigid
-			rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
-			/// turn on node contact for rigid body
-			rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
-			// turn on face contact for multibodies
-			// rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
-			// collion between deformable and deformable and self-collision
-			// rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
-			rsb->setCollisionFlags(0);
-			rsb->setSelfCollision(useSelfCollision);
-			rsb->initializeFaceTree();
-		}
-#endif  //SKIP_DEFORMABLE_BODY
-// #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
-// 		btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
-// 		if (softWorld)
-// 		{
-// 			btSoftBody::Material* pm = rsb->appendMaterial();
-// 			pm->m_kLST = 0.5;
-// 			pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
-// 			rsb->generateBendingConstraints(2, pm);
-// 			rsb->m_cfg.piterations = 20;
-// 			rsb->m_cfg.kDF = 0.5;
-// 			//turn on softbody vs softbody collision
-// 			rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
-// 			rsb->randomizeConstraints();
-// 			rsb->setTotalMass(reduced_deformable.m_mass, true);
-// 		}
-// #endif  //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
-		rsb->scale(btVector3(scale, scale, scale));
-		btTransform init_transform;
-		init_transform.setOrigin(pos);
-		init_transform.setRotation(orn);
-		rsb->transform(init_transform);
-
-		rsb->getCollisionShape()->setMargin(reduced_deformable.m_collisionMargin);
-		rsb->getCollisionShape()->setUserPointer(rsb);
-#ifndef SKIP_DEFORMABLE_BODY
-		if (deformWorld)
-		{
-			deformWorld->addSoftBody(rsb);
-			deformWorld->getSolverInfo().m_deformable_erp = reduced_deformable.m_erp;
-			deformWorld->getSolverInfo().m_deformable_cfm = reduced_deformable.m_cfm;
-			deformWorld->getSolverInfo().m_friction = reduced_deformable.m_friction;
-			deformWorld->getSolverInfo().m_splitImpulse = false;
-			deformWorld->setImplicit(false);
-			deformWorld->setLineSearch(false);
-			deformWorld->setUseProjection(false);
-		}
-		else
-#endif  //SKIP_DEFORMABLE_BODY
-		{
-			btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
-			if (softWorld)
-			{
-				softWorld->addSoftBody(rsb);
-			}
-		}
-		
-		*bodyUniqueId = m_data->m_bodyHandles.allocHandle();
-		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(*bodyUniqueId);
-		bodyHandle->m_softBody = rsb;
-		rsb->setUserIndex2(*bodyUniqueId);
-
-		b3VisualShapeData visualShape;
-
-		visualShape.m_objectUniqueId = *bodyUniqueId;
-		visualShape.m_linkIndex = -1;
-		visualShape.m_visualGeometryType = URDF_GEOM_MESH;
-		//dimensions just contains the scale
-		visualShape.m_dimensions[0] = 1;
-		visualShape.m_dimensions[1] = 1;
-		visualShape.m_dimensions[2] = 1;
-		//filename
-		strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN);
-		visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0;
-		//position and orientation
-		visualShape.m_localVisualFrame[0] = 0;
-		visualShape.m_localVisualFrame[1] = 0;
-		visualShape.m_localVisualFrame[2] = 0;
-		visualShape.m_localVisualFrame[3] = 0;
-		visualShape.m_localVisualFrame[4] = 0;
-		visualShape.m_localVisualFrame[5] = 0;
-		visualShape.m_localVisualFrame[6] = 1;
-		//color and ids to be set by the renderer
-		visualShape.m_rgbaColor[0] = 1;
-		visualShape.m_rgbaColor[1] = 1;
-		visualShape.m_rgbaColor[2] = 1;
-		visualShape.m_rgbaColor[3] = 1;
-		visualShape.m_tinyRendererTextureId = -1;
-		visualShape.m_textureUniqueId = -1;
-		visualShape.m_openglTextureId = -1;
-
-		if (meshData.m_gfxShape)
-		{
-			int texUid1 = -1;
-			if (meshData.m_textureHeight > 0 && meshData.m_textureWidth > 0 && meshData.m_textureImage1)
-			{
-				texUid1 = m_data->m_guiHelper->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
-			}
-			visualShape.m_openglTextureId = texUid1;
-			int shapeUid1 = m_data->m_guiHelper->registerGraphicsShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], meshData.m_gfxShape->m_numvertices, &meshData.m_gfxShape->m_indices->at(0), meshData.m_gfxShape->m_numIndices, B3_GL_TRIANGLES, texUid1);
-			rsb->getCollisionShape()->setUserIndex(shapeUid1);
-			float position[4] = { 0,0,0,1 };
-			float orientation[4] = { 0,0,0,1 };
-			float color[4] = { 1,1,1,1 };
-			float scaling[4] = { 1,1,1,1 };
- 			int instanceUid = m_data->m_guiHelper->registerGraphicsInstance(shapeUid1, position, orientation, color, scaling);
-			rsb->setUserIndex(instanceUid);
-			
-			if (m_data->m_enableTinyRenderer)
-			{
-				int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
-				visualShape.m_tinyRendererTextureId = texUid2;
-				int linkIndex = -1;
-				int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance(
-					visualShape,
-					&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
-					meshData.m_gfxShape->m_numvertices,
-					&meshData.m_gfxShape->m_indices->at(0),
-					meshData.m_gfxShape->m_numIndices,
-					B3_GL_TRIANGLES,
-					texUid2,
-					rsb->getBroadphaseHandle()->getUid(),
-					*bodyUniqueId,
-					linkIndex);
-
-				rsb->setUserIndex3(softBodyGraphicsShapeUid);
-			}
-			delete meshData.m_gfxShape;
-			meshData.m_gfxShape = 0;
-		}
-		else
-		{
-			//m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape());
-
-			btAlignedObjectArray<GLInstanceVertex> gfxVertices;
-			btAlignedObjectArray<int> indices;
-			int strideInBytes = 9 * sizeof(float);
-			gfxVertices.resize(rsb->m_faces.size() * 3);
-			for (int i = 0; i < rsb->m_faces.size(); i++)  // Foreach face
-			{
-				for (int k = 0; k < 3; k++)  // Foreach vertex on a face
-				{
-					int currentIndex = i * 3 + k;
-					for (int j = 0; j < 3; j++)
-					{
-						gfxVertices[currentIndex].xyzw[j] = rsb->m_faces[i].m_n[k]->m_x[j];
-					}
-					for (int j = 0; j < 3; j++)
-					{
-						gfxVertices[currentIndex].normal[j] = rsb->m_faces[i].m_n[k]->m_n[j];
-					}
-					for (int j = 0; j < 2; j++)
-					{
-						gfxVertices[currentIndex].uv[j] = btFabs(btFabs(10. * rsb->m_faces[i].m_n[k]->m_x[j]));
-					}
-					indices.push_back(currentIndex);
-				}
-			}
-			if (gfxVertices.size() && indices.size())
-			{
-				int red = 173;
-				int green = 199;
-				int blue = 255;
-
-				int texWidth = 256;
-				int texHeight = 256;
-				btAlignedObjectArray<unsigned char> texels;
-				texels.resize(texWidth* texHeight * 3);
-				for (int i = 0; i < texWidth * texHeight * 3; i++)
-					texels[i] = 255;
-				for (int i = 0; i < texWidth; i++)
-				{
-					for (int j = 0; j < texHeight; j++)
-					{
-						int a = i < texWidth / 2 ? 1 : 0;
-						int b = j < texWidth / 2 ? 1 : 0;
-
-						if (a == b)
-						{
-							texels[(i + j * texWidth) * 3 + 0] = red;
-							texels[(i + j * texWidth) * 3 + 1] = green;
-							texels[(i + j * texWidth) * 3 + 2] = blue;
-						}
-					}
-				}
-
-				int texId = m_data->m_guiHelper->registerTexture(&texels[0], texWidth, texHeight);
-				visualShape.m_openglTextureId = texId;
-				int shapeId = m_data->m_guiHelper->registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texId);
-				b3Assert(shapeId >= 0);
-				rsb->getCollisionShape()->setUserIndex(shapeId);
-				if (m_data->m_enableTinyRenderer)
-				{
-
-					int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(&texels[0], texWidth, texHeight);
-					visualShape.m_tinyRendererTextureId = texUid2;
-					int linkIndex = -1;
-					int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance(
-						visualShape,
-						&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texUid2,
-						rsb->getBroadphaseHandle()->getUid(),
-						*bodyUniqueId,
-						linkIndex);
-					rsb->setUserIndex3(softBodyGraphicsShapeUid);
-				}
-			}
-		}
-		
-
-
-		btAlignedObjectArray<btVector3> vertices;
-		btAlignedObjectArray<btVector3> normals;
-		if (rsb->m_renderNodes.size() == 0)
-		{
-			rsb->m_renderNodes.resize(rsb->m_faces.size()*3);
-			vertices.resize(rsb->m_faces.size() * 3);
-			normals.resize(rsb->m_faces.size() * 3);
-
-			for (int i = 0; i < rsb->m_faces.size(); i++)  // Foreach face
-			{
-				
-				for (int k = 0; k < 3; k++)  // Foreach vertex on a face
-				{
-					int currentIndex = i * 3 + k;
-					for (int j = 0; j < 3; j++)
-					{
-						rsb->m_renderNodes[currentIndex].m_x[j] = rsb->m_faces[i].m_n[k]->m_x[j];
-					}
-					for (int j = 0; j < 3; j++)
-					{
-						rsb->m_renderNodes[currentIndex].m_normal[j] = rsb->m_faces[i].m_n[k]->m_n[j];
-					}
-					for (int j = 0; j < 2; j++)
-					{
-						rsb->m_renderNodes[currentIndex].m_uv1[j] = btFabs(10*rsb->m_faces[i].m_n[k]->m_x[j]);
-					}
-					rsb->m_renderNodes[currentIndex].m_uv1[2] = 0;
-					vertices[currentIndex] = rsb->m_faces[i].m_n[k]->m_x;
-					normals[currentIndex] = rsb->m_faces[i].m_n[k]->m_n;
-				}
-			}
-			btSoftBodyHelpers::extrapolateBarycentricWeights(rsb);
-		}
-		else
-		{
-			vertices.resize(rsb->m_renderNodes.size());
-			normals.resize(rsb->m_renderNodes.size());
-			for (int i = 0; i < rsb->m_renderNodes.size(); i++)  // Foreach face
-			{
-				vertices[i] = rsb->m_renderNodes[i].m_x;
-				normals[i] = rsb->m_renderNodes[i].m_normal;
-			}
-		}
-		m_data->m_pluginManager.getRenderInterface()->updateShape(rsb->getUserIndex3(), &vertices[0], vertices.size(), &normals[0], normals.size());
-
-		if (!reduced_deformable.m_name.empty())
-		{
-			bodyHandle->m_bodyName = reduced_deformable.m_name;
-		}
-		else
-		{
-			int pos = strlen(relativeFileName) - 1;
-			while (pos >= 0 && relativeFileName[pos] != '/')
-			{
-				pos--;
-			}
-			btAssert(strlen(relativeFileName) - pos - 5 > 0);
-			std::string object_name(std::string(relativeFileName).substr(pos + 1, strlen(relativeFileName) - 5 - pos));
-			bodyHandle->m_bodyName = object_name;
-		}
-		b3Notification notification;
-		notification.m_notificationType = BODY_ADDED;
-		notification.m_bodyArgs.m_bodyUniqueId = *bodyUniqueId;
-		m_data->m_pluginManager.addNotification(notification);
-	}
-#endif
-	return true;
-}
-
 bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_FAILED;
@@ -11378,8 +10906,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 		btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
 		if (deformWorld)
 		{
-			// deformWorld->getWorldInfo().m_gravity = grav;
-			deformWorld->setGravity(grav);
+			deformWorld->getWorldInfo().m_gravity = grav;
 			for (int i = 0; i < m_data->m_lf.size(); ++i)
 			{
 				btDeformableLagrangianForce* force = m_data->m_lf[i];