DeformableBodyInplaceSolverIslandCallback.h

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//
//  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 */