dali-physics/third-party/bullet3/src/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h

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