Bullet Collision Detection & Physics Library
DeformableBodyInplaceSolverIslandCallback.h
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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
12{
14
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 */
btCollisionObject can be used to manage collision detection objects.
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
TypedConstraint is the baseclass for Bullet constraints and vehicles.
DeformableBodyInplaceSolverIslandCallback(btDeformableMultiBodyConstraintSolver *solver, btDispatcher *dispatcher)
btAlignedObjectArray< btTypedConstraint * > m_constraints
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
btAlignedObjectArray< btPersistentManifold * > m_manifolds
btAlignedObjectArray< btCollisionObject * > m_bodies
btAlignedObjectArray< btSolverAnalyticsData > m_islandAnalyticsData
btAlignedObjectArray< btCollisionObject * > m_softBodies
MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver *solver, btDispatcher *dispatcher)