virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId)
{
if (islandId<0)
{
if (numManifolds + m_numConstraints)
{
///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
}
} else
{
//also add all non-contact constraints/joints for this island
btTypedConstraint** startConstraint = 0;
int numCurConstraints = 0;
int i;
//find the first constraint for this island
for (i=0;i<m_numConstraints;i++)
{
if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
{
startConstraint = &m_sortedConstraints[i];
break;
}
}
//count the number of constraints in this island
for (;i<m_numConstraints;i++)
{
if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
{
numCurConstraints++;
}
}
if (m_solverInfo.m_minimumSolverBatchSize<=1)
{
///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive
if (numManifolds + numCurConstraints)
{
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,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]);
if ((m_constraints.size()+m_manifolds.size())>m_solverInfo.m_minimumSolverBatchSize)
{
processConstraints();
} else
{
//printf("deferred\n");
}
}
}
}
void sqlimport::processConstraints(QString tablename,QString sqlStatement,int startPos)
{
int posStart;
int posEnd;
QString constraintStr;
posStart = sqlStatement.indexOf("CONSTRAINT ",startPos); //
if (posStart >= 0)
{
posEnd = sqlStatement.indexOf("CONSTRAINT ",posStart+1);
if (posEnd >= 0)
{
constraintStr = sqlStatement.mid(posStart,posEnd-posStart-1);
//Store the constraint
storeConstraint(tablename,constraintStr.simplified());
//Maybe there are more constraints so
processConstraints(tablename,sqlStatement,posEnd);
}
else
{
posEnd = sqlStatement.lastIndexOf(")",-1);
constraintStr = sqlStatement.mid(posStart,posEnd-posStart);
storeConstraint(tablename,constraintStr.simplified());
}
}
}
void processConstraintsAt(KMat::GenMatrix<T,S,1>& x )
{
setX(x);
processConstraints();
};
void setX(KMat::GenMatrix<T,S,1> const& ax)
{
f.setX(ax);
IPenaltyFunction<T,S>::setX(ax);
processConstraints();
};
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");
}
}
}
}
void sqlimport::processSQL(QStringList sqlLines)
{
QString sqlStatement;
int nlines;
QString tablename;
int temp,temp2;
for (nlines = 0; nlines <= sqlLines.count()-1;nlines++)
{
sqlStatement = sqlStatement + sqlLines[nlines].simplified() + " ";
}
//qDebug() << sqlStatement;
if ((sqlStatement.toUpper().contains("CREATE TABLE ")) ||
(sqlStatement.toUpper().contains("CREATE TABLE ")))
{
//qDebug() << "CREATE:" << sqlStatement;
sqlStatement = cleanSQL(sqlStatement);
temp = sqlStatement.indexOf(" TABLE ");
temp2 = sqlStatement.indexOf("(");
tablename = sqlStatement.mid(temp+7,temp2-temp-8);
processKeyIndexes(tablename,sqlStatement,0);
processIndexes(tablename,sqlStatement,0);
if (translateConstraints)
{
processConstraints(tablename,sqlStatement,0);
}
if (translateConstraints)
{
setNULLToForeignKeys(tablename,sqlStatement);
}
sqlStatement = sqlStatement.replace(" unsigned "," ",Qt::CaseInsensitive);
sqlStatement = removeIndexes(sqlStatement);
if (translateConstraints)
{
sqlStatement = removeConstraints(sqlStatement);
}
sqlStatement = sqlStatement + "\n";
//outfile.write(sqlStatement.toAscii());
writeToFile(sqlStatement.toAscii());
}
else
{
if (processInserts == true)
{
//qDebug() << "INSERT:" << sqlStatement;
//processInsert(sqlStatement,0,"");
processInsert(sqlStatement);
}
}
}
