void DynamicsWorld::fractureCallback()
{
#if (BT_BULLET_VERSION < 281)
m_activeConnections.resize(0);
int numManifolds = getDispatcher()->getNumManifolds();
for (int i = 0; i < numManifolds; ++i)
{
btPersistentManifold* manifold = getDispatcher()->getManifoldByIndexInternal(i);
if (!manifold->getNumContacts()) continue;
FractureBody* body = static_cast<FractureBody*>(manifold->getBody0());
if (body->getInternalType() & CO_FRACTURE_TYPE)
{
for (int k = 0; k < manifold->getNumContacts(); ++k)
{
btManifoldPoint& point = manifold->getContactPoint(k);
int con_id = body->getConnectionId(point.m_index0);
if (point.m_appliedImpulse > 1E-3 &&
body->applyImpulse(con_id, point.m_appliedImpulse))
{
m_activeConnections.push_back(ActiveCon(body, con_id));
}
}
}
body = static_cast<FractureBody*>(manifold->getBody1());
if (body->getInternalType() & CO_FRACTURE_TYPE)
{
for (int k = 0; k < manifold->getNumContacts(); ++k)
{
btManifoldPoint& point = manifold->getContactPoint(k);
int con_id = body->getConnectionId(point.m_index1);
if (point.m_appliedImpulse > 1E-3 &&
body->applyImpulse(con_id, point.m_appliedImpulse))
{
m_activeConnections.push_back(ActiveCon(body, con_id));
}
}
}
}
// Update active connections.
for (int i = 0; i < m_activeConnections.size(); ++i)
{
int con_id = m_activeConnections[i].id;
FractureBody* body = m_activeConnections[i].body;
btRigidBody* child = body->updateConnection(con_id);
if (child) addRigidBody(child);
}
#endif
}
void DynamicsWorld::fractureCallback()
{
m_activeConnections.resize(0);
int numManifolds = getDispatcher()->getNumManifolds();
for (int i = 0; i < numManifolds; ++i)
{
btPersistentManifold* manifold = getDispatcher()->getManifoldByIndexInternal(i);
if (!manifold->getNumContacts()) continue;
if (((btCollisionObject*)manifold->getBody0())->getInternalType() & CUSTOM_FRACTURE_TYPE)
{
FractureBody* body = (FractureBody*)manifold->getBody0();
btCompoundShape* shape = (btCompoundShape*)body->getCollisionShape();
for (int k = 0; k < manifold->getNumContacts(); ++k)
{
btManifoldPoint& point = manifold->getContactPoint(k);
int shape_id = point.m_index0;
btCollisionShape* child_shape = shape->getChildShape(shape_id);
int con_id = cast<int>(child_shape->getUserPointer());
if (con_id >= 0 && point.m_appliedImpulse > 1E-3)
{
btAssert(con_id < body->numConnections());
FractureBody::Connection & connection = body->m_connections[con_id];
if (connection.m_accImpulse < 1E-3)
{
m_activeConnections.push_back(ActiveCon(body, shape_id));
}
connection.m_accImpulse += point.m_appliedImpulse;
}
}
}
if (((btCollisionObject*)manifold->getBody1())->getInternalType() & CUSTOM_FRACTURE_TYPE)
{
FractureBody* body = (FractureBody*)manifold->getBody1();
btCompoundShape* shape = (btCompoundShape*)body->getCollisionShape();
for (int k = 0; k < manifold->getNumContacts(); ++k)
{
btManifoldPoint& point = manifold->getContactPoint(k);
int shape_id = point.m_index1;
btCollisionShape* child_shape = shape->getChildShape(shape_id);
int con_id = cast<int>(child_shape->getUserPointer());
if (con_id >= 0 && point.m_appliedImpulse > 1E-3)
{
btAssert(con_id < body->numConnections());
FractureBody::Connection & connection = body->m_connections[con_id];
if (connection.m_accImpulse < 1E-3)
{
m_activeConnections.push_back(ActiveCon(body, shape_id));
}
connection.m_accImpulse += point.m_appliedImpulse;
}
}
}
}
// Update active connections.
for (int i = 0; i < m_activeConnections.size(); ++i)
{
FractureBody* body = m_activeConnections[i].body;
int shape_id = m_activeConnections[i].id;
btRigidBody* child = body->updateConnection(shape_id);
if (child) addRigidBody(child);
}
}