diff options
Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp')
| -rw-r--r-- | extern/bullet2/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp | 392 |
1 files changed, 0 insertions, 392 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp deleted file mode 100644 index 0a41ab9a512..00000000000 --- a/extern/bullet2/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ /dev/null @@ -1,392 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - - -#include "LinearMath/btScalar.h" -#include "btSimulationIslandManager.h" -#include "BulletCollision/BroadphaseCollision/btDispatcher.h" -#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" -#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" - -//#include <stdio.h> -#include "LinearMath/btQuickprof.h" - -btSimulationIslandManager::btSimulationIslandManager(): -m_splitIslands(true) -{ -} - -btSimulationIslandManager::~btSimulationIslandManager() -{ -} - - -void btSimulationIslandManager::initUnionFind(int n) -{ - m_unionFind.reset(n); -} - - -void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btCollisionWorld* colWorld) -{ - - { - btOverlappingPairCache* pairCachePtr = colWorld->getPairCache(); - const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs(); - btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr(); - - for (int i=0;i<numOverlappingPairs;i++) - { - const btBroadphasePair& collisionPair = pairPtr[i]; - btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject; - btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject; - - if (((colObj0) && ((colObj0)->mergesSimulationIslands())) && - ((colObj1) && ((colObj1)->mergesSimulationIslands()))) - { - - m_unionFind.unite((colObj0)->getIslandTag(), - (colObj1)->getIslandTag()); - } - } - } -} - - -void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher) -{ - - initUnionFind( int (colWorld->getCollisionObjectArray().size())); - - // put the index into m_controllers into m_tag - { - - int index = 0; - int i; - for (i=0;i<colWorld->getCollisionObjectArray().size(); i++) - { - btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i]; - collisionObject->setIslandTag(index); - collisionObject->setCompanionId(-1); - collisionObject->setHitFraction(btScalar(1.)); - index++; - - } - } - // do the union find - - findUnions(dispatcher,colWorld); - - - -} - - - - -void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld) -{ - // put the islandId ('find' value) into m_tag - { - - - int index = 0; - int i; - for (i=0;i<colWorld->getCollisionObjectArray().size();i++) - { - btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i]; - if (!collisionObject->isStaticOrKinematicObject()) - { - collisionObject->setIslandTag( m_unionFind.find(index) ); - collisionObject->setCompanionId(-1); - } else - { - collisionObject->setIslandTag(-1); - collisionObject->setCompanionId(-2); - } - index++; - } - } -} - -inline int getIslandId(const btPersistentManifold* lhs) -{ - int islandId; - const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0()); - const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1()); - islandId= rcolObj0->getIslandTag()>=0?rcolObj0->getIslandTag():rcolObj1->getIslandTag(); - return islandId; - -} - - - -/// function object that routes calls to operator< -class btPersistentManifoldSortPredicate -{ - public: - - SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs ) - { - return getIslandId(lhs) < getIslandId(rhs); - } -}; - - -void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld) -{ - - BT_PROFILE("islandUnionFindAndQuickSort"); - - btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); - - m_islandmanifold.resize(0); - - //we are going to sort the unionfind array, and store the element id in the size - //afterwards, we clean unionfind, to make sure no-one uses it anymore - - getUnionFind().sortIslands(); - int numElem = getUnionFind().getNumElements(); - - int endIslandIndex=1; - int startIslandIndex; - - - //update the sleeping state for bodies, if all are sleeping - for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex) - { - int islandId = getUnionFind().getElement(startIslandIndex).m_id; - for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++) - { - } - - //int numSleeping = 0; - - bool allSleeping = true; - - int idx; - for (idx=startIslandIndex;idx<endIslandIndex;idx++) - { - int i = getUnionFind().getElement(idx).m_sz; - - btCollisionObject* colObj0 = collisionObjects[i]; - if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) - { -// printf("error in island management\n"); - } - - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); - if (colObj0->getIslandTag() == islandId) - { - if (colObj0->getActivationState()== ACTIVE_TAG) - { - allSleeping = false; - } - if (colObj0->getActivationState()== DISABLE_DEACTIVATION) - { - allSleeping = false; - } - } - } - - - if (allSleeping) - { - int idx; - for (idx=startIslandIndex;idx<endIslandIndex;idx++) - { - int i = getUnionFind().getElement(idx).m_sz; - btCollisionObject* colObj0 = collisionObjects[i]; - if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) - { -// printf("error in island management\n"); - } - - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); - - if (colObj0->getIslandTag() == islandId) - { - colObj0->setActivationState( ISLAND_SLEEPING ); - } - } - } else - { - - int idx; - for (idx=startIslandIndex;idx<endIslandIndex;idx++) - { - int i = getUnionFind().getElement(idx).m_sz; - - btCollisionObject* colObj0 = collisionObjects[i]; - if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) - { -// printf("error in island management\n"); - } - - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); - - if (colObj0->getIslandTag() == islandId) - { - if ( colObj0->getActivationState() == ISLAND_SLEEPING) - { - colObj0->setActivationState( WANTS_DEACTIVATION); - colObj0->setDeactivationTime(0.f); - } - } - } - } - } - - - int i; - int maxNumManifolds = dispatcher->getNumManifolds(); - -//#define SPLIT_ISLANDS 1 -//#ifdef SPLIT_ISLANDS - - -//#endif //SPLIT_ISLANDS - - - for (i=0;i<maxNumManifolds ;i++) - { - btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i); - - btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0()); - btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1()); - - ///@todo: check sleeping conditions! - if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) || - ((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING)) - { - - //kinematic objects don't merge islands, but wake up all connected objects - if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING) - { - colObj1->activate(); - } - if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING) - { - colObj0->activate(); - } - if(m_splitIslands) - { - //filtering for response - if (dispatcher->needsResponse(colObj0,colObj1)) - m_islandmanifold.push_back(manifold); - } - } - } -} - - - -///@todo: this is random access, it can be walked 'cache friendly'! -void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback) -{ - btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); - - buildIslands(dispatcher,collisionWorld); - - int endIslandIndex=1; - int startIslandIndex; - int numElem = getUnionFind().getNumElements(); - - BT_PROFILE("processIslands"); - - if(!m_splitIslands) - { - btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer(); - int maxNumManifolds = dispatcher->getNumManifolds(); - callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1); - } - else - { - // Sort manifolds, based on islands - // Sort the vector using predicate and std::sort - //std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate); - - int numManifolds = int (m_islandmanifold.size()); - - //we should do radix sort, it it much faster (O(n) instead of O (n log2(n)) - m_islandmanifold.quickSort(btPersistentManifoldSortPredicate()); - - //now process all active islands (sets of manifolds for now) - - int startManifoldIndex = 0; - int endManifoldIndex = 1; - - //int islandId; - - - - // printf("Start Islands\n"); - - //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated - for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex) - { - int islandId = getUnionFind().getElement(startIslandIndex).m_id; - - - bool islandSleeping = false; - - for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++) - { - int i = getUnionFind().getElement(endIslandIndex).m_sz; - btCollisionObject* colObj0 = collisionObjects[i]; - m_islandBodies.push_back(colObj0); - if (!colObj0->isActive()) - islandSleeping = true; - } - - - //find the accompanying contact manifold for this islandId - int numIslandManifolds = 0; - btPersistentManifold** startManifold = 0; - - if (startManifoldIndex<numManifolds) - { - int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]); - if (curIslandId == islandId) - { - startManifold = &m_islandmanifold[startManifoldIndex]; - - for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++) - { - - } - /// Process the actual simulation, only if not sleeping/deactivated - numIslandManifolds = endManifoldIndex-startManifoldIndex; - } - - } - - if (!islandSleeping) - { - callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId); - // printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds); - } - - if (numIslandManifolds) - { - startManifoldIndex = endManifoldIndex; - } - - m_islandBodies.resize(0); - } - } // else if(!splitIslands) - -} |