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const int M_PATCH = 50, N_PATCH = 50;

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startTransform.setIdentity();startTransform.setOrigin(btVector3(0, 10.6, Z_LOCATION));btRigidBody* body3 = pdemo->localCreateRigidBody(50,startTransform,new btSphereShape(1.5));body3->getCollisionShape()->setMargin(COLLISION_MARGIN);body3->setRestitution(1.0);body3->setCcdMotionThreshold(0.001);btHingeConstraint *hingeC3 = new btHingeConstraint(*body3,  btVector3(0, 1.5, 0),btVector3(0, 0, 1));hingeC3->setLimit(btScalar(-M_PI_4/2), btScalar(M_PI_4/2));pdemo->getDynamicsWorld()->addConstraint(hingeC3, false);

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numSimSteps = m_dynamicsWorld->stepSimulation(dt,10,1./420.f);

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static btScalar SleeveTriMesh_GetX(const int m, const int M, const btVector3& origin, const btScalar r){return origin.x() + r*cos(2*M_PI/(M + 0.0)*m);}static btScalar SleeveTriMesh_GetZ(const int m, const int M, const btVector3& origin, const btScalar r){return origin.z() + r*sin(2*M_PI/(M + 0.0)*m);}static btScalar SleeveTriMesh_GetY(const int n, const int N, const btVector3& origin, const btScalar h){return origin.y() + h*n/(N - 1.0);}static void Init_SleevedJoint_GetSleeveTriMesh(btScalar*vertices,int* triangles,const int M, const int N, const btVector3& origin, const btScalar radius, const btScalar height){for(int n = 0; n < N-1; n++)for(int m = 0; m < M; m++){int p = n*M + m;vertices[p*3 + 0] = SleeveTriMesh_GetX(m, M, origin, radius);vertices[p*3 + 1] = SleeveTriMesh_GetY(n, N, origin, height);vertices[p*3 + 2] = SleeveTriMesh_GetZ(m, M, origin, radius);triangles[6*p + 0] = p;triangles[6*p + 1] = p + M;triangles[6*p + 2] = (m == M - 1)?p - M + 1:p + 1;triangles[6*p + 3] = triangles[6*p + 2];triangles[6*p + 4] = p + M;triangles[6*p + 5] = triangles[6*p + 2] + M;}for(int m = 0; m < M; m++){int n = N - 1;int p = n*M + m;vertices[p*3 + 0] = SleeveTriMesh_GetX(m, M, origin, radius);vertices[p*3 + 1] = SleeveTriMesh_GetY(n, N, origin, height);vertices[p*3 + 2] = SleeveTriMesh_GetZ(m, M, origin, radius);}}//// Joint with sleeve.//static voidInit_SleevedJoint(SoftDemo* pdemo){const int COLLISION_MARGIN = 0.001;const btScalar Z_LOCATION = 2.0;const int M_PATCH = 30, N_PATCH = 30;btScalar vertices[M_PATCH*N_PATCH*3];const int ntriangles = M_PATCH*(N_PATCH - 1)*2;int triangles[ntriangles*3];Init_SleevedJoint_GetSleeveTriMesh(vertices, triangles,M_PATCH, N_PATCH, btVector3(0, 1.5, Z_LOCATION), 2.1, 19);//#define SLEEVE_DEBUG 1#ifdef SLEEVE_DEBUGfor(int nv = 0; nv < M_PATCH*N_PATCH*3; nv++)printf("vertices(%d) = %g\n", nv, vertices[nv]);#endif//btTransform startTransform;startTransform.setIdentity();startTransform.setOrigin(btVector3(0, 4, Z_LOCATION));btRigidBody* body1 = pdemo->localCreateRigidBody(50,startTransform,new btCapsuleShape(2,6));body1->getCollisionShape()->setMargin(COLLISION_MARGIN);body1->setRestitution(1.0);body1->setDamping(0.9, 0.9);body1->setCcdMotionThreshold(0.001);startTransform.setIdentity();startTransform.setOrigin(btVector3(0, 10.6, Z_LOCATION));btRigidBody* body3 = pdemo->localCreateRigidBody(00,startTransform,new btSphereShape(1.5));body3->getCollisionShape()->setMargin(COLLISION_MARGIN);body3->setRestitution(1.0);body3->setCcdMotionThreshold(0.001);startTransform.setIdentity();startTransform.setOrigin(btVector3(0, 17.2, Z_LOCATION));btRigidBody* body2 = pdemo->localCreateRigidBody(00,startTransform,new btCapsuleShape(2,6));body2->getCollisionShape()->setMargin(COLLISION_MARGIN);btHingeConstraint *hingeC = new btHingeConstraint(*body1,  btVector3(0, 5.5, 0),btVector3(0, 0, 1));hingeC->setLimit(btScalar(-M_PI_4), btScalar(M_PI_4));pdemo->getDynamicsWorld()->addConstraint(hingeC, false);btSoftBody*psb = btSoftBodyHelpers::CreateFromTriMesh( pdemo->m_softBodyWorldInfo,vertices, triangles, ntriangles, false);psb->getCollisionShape()->setMargin(COLLISION_MARGIN);btSoftBody::Material* pm=psb->appendMaterial();pm->m_kLST=0.1;//pm->m_flags-=btSoftBody::fMaterial::DebugDraw;psb->generateBendingConstraints(3,pm);psb->setTotalMass(10);//psb->setFriction(500.0);psb->m_cfg.kDF = 0.5;psb->m_cfg.kDP = 0.2;psb->m_cfg.kKHR = 1.0;psb->m_cfg.kPR = 0.5;//psb->m_cfg.piterations = 1;psb->m_cfg.timescale = 0.1;psb->setContactProcessingThreshold(0);psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS +btSoftBody::fCollision::CL_SS +btSoftBody::fCollision::CL_SELF;//psb->generateClusters(64);psb->setPose(true, false);pdemo->getSoftDynamicsWorld()->addSoftBody(psb);for (int m = 0; m < M_PATCH; m++) {psb->appendAnchor(m, body1, false, 1.0);psb->appendAnchor(M_PATCH*N_PATCH - m - 1, body2, false, 1.0);}pdemo->getDynamicsWorld()->getSolverInfo().m_splitImpulse = true;pdemo->m_cutting=true;}

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/* Init*/ void (*demofncs[])(SoftDemo*)={Init_Cloth,Init_Pressure,Init_Volume,Init_Ropes,Init_RopeAttach,Init_ClothAttach,Init_Sticks,Init_Collide,Init_Collide2,Init_Collide3,Init_Impact,Init_Aero,Init_Aero2,Init_Friction,Init_Torus,Init_TorusMatch,Init_Bunny,Init_BunnyMatch,Init_Cutting1,Init_ClusterDeform,Init_ClusterCollide1,Init_ClusterCollide2,Init_ClusterSocket,Init_ClusterHinge,Init_ClusterCombine,Init_ClusterCar,Init_ClusterRobot,Init_ClusterStackSoft,Init_ClusterStackMixed,Init_TetraCube,Init_TetraBunny,Init_SleevedJoint};

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MACRO_SOFT_DEMO(30)//Init_SleevedJointDemo