get rid of nullptr and std::function

examples/Pinch/Pinch.cpp

@@ -256,7 +256,7 @@ void Pinch::initPhysics()
 	m_dynamicsWorld->setGravity(gravity);
     getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
     
-    getDeformableDynamicsWorld()->m_beforeSolverCallbacks.push_back(dynamics);
+    getDeformableDynamicsWorld()->setSolverCallback(dynamics);
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 
     //create a ground

src/BulletSoftBody/btCGProjection.h

@@ -29,7 +29,7 @@ struct DeformableContactConstraint
     
     DeformableContactConstraint(const btVector3 dir)
     {
-        m_contact.push_back(nullptr);
+        m_contact.push_back(NULL);
         m_direction.push_back(dir);
         m_value.push_back(0);
         m_accumulated_normal_impulse.push_back(0);
@@ -37,7 +37,7 @@ struct DeformableContactConstraint
     
     DeformableContactConstraint()
     {
-        m_contact.push_back(nullptr);
+        m_contact.push_back(NULL);
         m_direction.push_back(btVector3(0,0,0));
         m_value.push_back(0);
         m_accumulated_normal_impulse.push_back(0);

src/BulletSoftBody/btDeformableContactProjection.cpp

@@ -59,7 +59,7 @@ void btDeformableContactProjection::update()
             DeformableFrictionConstraint& friction = frictions[i];
             for (int j = 0; j < constraint.m_contact.size(); ++j)
             {
-                if (constraint.m_contact[j] == nullptr)
+                if (constraint.m_contact[j] == NULL)
                 {
                     // nothing needs to be done for dirichelet constraints
                     continue;

src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp

@@ -58,7 +58,7 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt)
             {
                 const btSoftBody::RContact* c = constraint.m_contact[j];
                 // skip anchor points
-                if (c == nullptr || c->m_node->m_im == 0)
+                if (c == NULL || c->m_node->m_im == 0)
                     continue;
                 const btSoftBody::sCti& cti = c->m_cti;
                 btVector3 va(0, 0, 0);
@@ -206,14 +206,24 @@ void btDeformableRigidDynamicsWorld::beforeSolverCallbacks(btScalar timeStep)
     {
         (*m_internalTickCallback)(this, timeStep);
     }
-    for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i)
+    
-        m_beforeSolverCallbacks[i](m_internalTime, this);
+    if (0 != m_solverCallback)
+    {
+        (*m_solverCallback)(m_internalTime, this);
+    }
+    
+//    for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i)
+//        m_beforeSolverCallbacks[i](m_internalTime, this);
 }
 
 void btDeformableRigidDynamicsWorld::afterSolverCallbacks(btScalar timeStep)
 {
-    for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i)
+    if (0 != m_solverCallback)
-        m_beforeSolverCallbacks[i](m_internalTime, this);
+    {
+        (*m_solverCallback)(m_internalTime, this);
+    }
+//    for (int i = 0; i < m_beforeSolverCallbacks.size(); ++i)
+//        m_beforeSolverCallbacks[i](m_internalTime, this);
 }
 
 void btDeformableRigidDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force)

src/BulletSoftBody/btDeformableRigidDynamicsWorld.h

@@ -75,7 +75,15 @@ public:
         m_sbi.m_sparsesdf.Initialize();
         m_internalTime = 0.0;
     }
-    btAlignedObjectArray<std::function<void(btScalar, btDeformableRigidDynamicsWorld*)> > m_beforeSolverCallbacks;
+//    btAlignedObjectArray<std::function<void(btScalar, btDeformableRigidDynamicsWorld*)> > m_beforeSolverCallbacks;
+    typedef void (*btSolverCallback)(btScalar time, btDeformableRigidDynamicsWorld* world);
+    btSolverCallback m_solverCallback;
+    
+    void setSolverCallback(btSolverCallback cb)
+    {
+        m_solverCallback = cb;
+    }
+    
     virtual ~btDeformableRigidDynamicsWorld()
     {
     }