1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
|
//
// DeformableBodyInplaceSolverIslandCallback.h
// BulletSoftBody
//
// Created by Xuchen Han on 12/16/19.
//
#ifndef DeformableBodyInplaceSolverIslandCallback_h
#define DeformableBodyInplaceSolverIslandCallback_h
struct DeformableBodyInplaceSolverIslandCallback : public MultiBodyInplaceSolverIslandCallback
{
btDeformableMultiBodyConstraintSolver* m_deformableSolver;
DeformableBodyInplaceSolverIslandCallback(btDeformableMultiBodyConstraintSolver* solver,
btDispatcher* dispatcher)
: MultiBodyInplaceSolverIslandCallback(solver, dispatcher), m_deformableSolver(solver)
{
}
virtual void processConstraints(int islandId = -1)
{
btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
btCollisionObject** softBodies = m_softBodies.size() ? &m_softBodies[0] : 0;
btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
//printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
m_deformableSolver->solveDeformableBodyGroup(bodies, m_bodies.size(), softBodies, m_softBodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics & 1))
{
m_deformableSolver->m_analyticsData.m_islandId = islandId;
m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
}
m_bodies.resize(0);
m_softBodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
m_multiBodyConstraints.resize(0);
}
};
#endif /* DeformableBodyInplaceSolverIslandCallback_h */
|
