Exemple #1
0
	void	processConstraints()
	{

		btCollisionObject** bodies = m_bodies.size()? &m_bodies[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;
	
		m_solver->solveMultiBodyGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo,m_debugDrawer,m_dispatcher);
		m_bodies.resize(0);
		m_manifolds.resize(0);
		m_constraints.resize(0);
		m_multiBodyConstraints.resize(0);
	}
	virtual	void	processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold**	manifolds,int numManifolds, int islandId)
	{
		if (islandId<0)
		{
			///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
			m_solver->solveMultiBodyGroup( bodies,numBodies,manifolds, numManifolds,m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
		} else
		{
				//also add all non-contact constraints/joints for this island
			btTypedConstraint** startConstraint = 0;
			btMultiBodyConstraint** startMultiBodyConstraint = 0;

			int numCurConstraints = 0;
			int numCurMultiBodyConstraints = 0;

			int i;
			
			//find the first constraint for this island

			for (i=0;i<m_numConstraints;i++)
			{
				if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
				{
					startConstraint = &m_sortedConstraints[i];
					break;
				}
			}
			//count the number of constraints in this island
			for (;i<m_numConstraints;i++)
			{
				if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
				{
					numCurConstraints++;
				}
			}

			for (i=0;i<m_numMultiBodyConstraints;i++)
			{
				if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
				{
					
					startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
					break;
				}
			}
			//count the number of multi body constraints in this island
			for (;i<m_numMultiBodyConstraints;i++)
			{
				if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
				{
					numCurMultiBodyConstraints++;
				}
			}

			//if (m_solverInfo->m_minimumSolverBatchSize<=1)
			//{
			//	m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
			//} else
			{
				
				for (i=0;i<numBodies;i++)
					m_bodies.push_back(bodies[i]);
				for (i=0;i<numManifolds;i++)
					m_manifolds.push_back(manifolds[i]);
				for (i=0;i<numCurConstraints;i++)
					m_constraints.push_back(startConstraint[i]);
				
				for (i=0;i<numCurMultiBodyConstraints;i++)
					m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
				
				if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize)
				{
					processConstraints();
				} else
				{
					//printf("deferred\n");
				}
			}
		}
	}