示例#1
0
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
}
示例#2
0
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);
	}
}