void Collision_detector::update_all(Uint32 time,Uint32 time_step)
{
//update_mpfa();
update_mpfa_opt();
//update_mafa(); useless at the moment
update_mcfa();
update_mffa();
update_active(time,time_step);
}
void separate_obstacles (vector<Mesh*> &obs_meshes,
const vector<Mesh*> &meshes) {
SO::xold.clear();
SO::nold.clear();
build_node_lookup(SO::xold, obs_meshes);
build_face_normal_lookup(SO::nold, obs_meshes);
vector<AccelStruct*> obs_accs = create_accel_structs(obs_meshes, false),
accs = create_accel_structs(meshes, false);
vector<Ixn> ixns;
int iter;
for (iter = 0; iter < max_iter; iter++) {
if (!ixns.empty())
update_active(accs, ixns);
vector<Ixn> new_ixns = find_intersections(accs, obs_accs);
if (new_ixns.empty())
break;
append(ixns, new_ixns);
solve_ixns(ixns);
for (int m = 0; m < (int)obs_meshes.size(); m++) {
compute_ws_data(*obs_meshes[m]);
update_accel_struct(*obs_accs[m]);
}
}
if (iter == max_iter) {
cerr << "Initial separation failed to converge!" << endl;
exit(1);
}
for (int m = 0; m < (int)obs_meshes.size(); m++) {
compute_ws_data(*obs_meshes[m]);
update_x0(*obs_meshes[m]);
}
destroy_accel_structs(accs);
destroy_accel_structs(obs_accs);
}
