47 lines
1.8 KiB
C++
47 lines
1.8 KiB
C++
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//
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// DeformableBodyInplaceSolverIslandCallback.h
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// BulletSoftBody
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//
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// Created by Xuchen Han on 12/16/19.
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//
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#ifndef DeformableBodyInplaceSolverIslandCallback_h
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#define DeformableBodyInplaceSolverIslandCallback_h
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struct DeformableBodyInplaceSolverIslandCallback : public MultiBodyInplaceSolverIslandCallback
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{
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btDeformableMultiBodyConstraintSolver* m_deformableSolver;
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DeformableBodyInplaceSolverIslandCallback(btDeformableMultiBodyConstraintSolver* solver,
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btDispatcher* dispatcher)
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: MultiBodyInplaceSolverIslandCallback(solver, dispatcher), m_deformableSolver(solver)
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{
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}
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virtual void processConstraints(int islandId=-1)
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{
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btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
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btCollisionObject** softBodies = m_softBodies.size() ? &m_softBodies[0] : 0;
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btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
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btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
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btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
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//printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
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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);
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if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1))
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{
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m_deformableSolver->m_analyticsData.m_islandId = islandId;
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m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
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}
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m_bodies.resize(0);
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m_softBodies.resize(0);
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m_manifolds.resize(0);
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m_constraints.resize(0);
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m_multiBodyConstraints.resize(0);
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}
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};
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#endif /* DeformableBodyInplaceSolverIslandCallback_h */
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