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path: root/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp')
-rw-r--r--extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp150
1 files changed, 92 insertions, 58 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 06a5f95143e..ac2e8554c3a 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -8,8 +8,7 @@
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include <stdio.h>
-#include <algorithm>
-
+#include "LinearMath/btQuickprof.h"
btSimulationIslandManager::btSimulationIslandManager()
{
@@ -33,7 +32,7 @@ void btSimulationIslandManager::findUnions(btDispatcher* dispatcher)
for (int i=0;i<dispatcher->getNumManifolds();i++)
{
const btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
- //static objects (invmass 0.f) don't merge !
+ //static objects (invmass btScalar(0.)) don't merge !
const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
@@ -57,16 +56,15 @@ void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld
// put the index into m_controllers into m_tag
{
- std::vector<btCollisionObject*>::iterator i;
int index = 0;
- for (i=colWorld->getCollisionObjectArray().begin();
- !(i==colWorld->getCollisionObjectArray().end()); i++)
+ int i;
+ for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
{
-
- btCollisionObject* collisionObject= (*i);
+ btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
collisionObject->setIslandTag(index);
- collisionObject->setHitFraction(1.f);
+ collisionObject->setCompanionId(-1);
+ collisionObject->setHitFraction(btScalar(1.));
index++;
}
@@ -88,20 +86,19 @@ void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col
{
- std::vector<btCollisionObject*>::iterator i;
-
int index = 0;
- for (i=colWorld->getCollisionObjectArray().begin();
- !(i==colWorld->getCollisionObjectArray().end()); i++)
+ int i;
+ for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
{
- btCollisionObject* collisionObject= (*i);
-
+ btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
if (collisionObject->mergesSimulationIslands())
{
collisionObject->setIslandTag( m_unionFind.find(index) );
+ collisionObject->setCompanionId(-1);
} else
{
collisionObject->setIslandTag(-1);
+ collisionObject->setCompanionId(-2);
}
index++;
}
@@ -118,13 +115,21 @@ inline int getIslandId(const btPersistentManifold* lhs)
}
-bool btPersistentManifoldSortPredicate(const btPersistentManifold* lhs, const btPersistentManifold* rhs)
+
+
+/// function object that routes calls to operator<
+class btPersistentManifoldSortPredicate
{
- int rIslandId0,lIslandId0;
- rIslandId0 = getIslandId(rhs);
- lIslandId0 = getIslandId(lhs);
- return lIslandId0 < rIslandId0;
-}
+ public:
+
+ SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs )
+ {
+ return getIslandId(lhs) < getIslandId(rhs);
+ }
+};
+
+
+
//
@@ -132,6 +137,22 @@ bool btPersistentManifoldSortPredicate(const btPersistentManifold* lhs, const bt
//
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
{
+
+
+
+ /*if (0)
+ {
+ int maxNumManifolds = dispatcher->getNumManifolds();
+ btCollisionDispatcher* colDis = (btCollisionDispatcher*)dispatcher;
+ btPersistentManifold** manifold = colDis->getInternalManifoldPointer();
+ callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, 0);
+ return;
+ }
+ */
+
+
+ BEGIN_PROFILE("islandUnionFindAndHeapSort");
+
//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
@@ -139,9 +160,11 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
int numElem = getUnionFind().getNumElements();
int endIslandIndex=1;
+ int startIslandIndex;
+
//update the sleeping state for bodies, if all are sleeping
- for (int startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
+ 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++)
@@ -224,7 +247,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
}
}
- std::vector<btPersistentManifold*> islandmanifold;
+ btAlignedObjectArray<btPersistentManifold*> islandmanifold;
int i;
int maxNumManifolds = dispatcher->getNumManifolds();
islandmanifold.reserve(maxNumManifolds);
@@ -261,63 +284,74 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort
- std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
+ //std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
+
+ //we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
+ islandmanifold.heapSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)
int startManifoldIndex = 0;
int endManifoldIndex = 1;
- int islandId;
+ //int islandId;
+
+ END_PROFILE("islandUnionFindAndHeapSort");
+
+ btAlignedObjectArray<btCollisionObject*> islandBodies;
- //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
- for (int startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
- {
- int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-
-
- bool islandSleeping = false;
+ //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];
+ islandBodies.push_back(colObj0);
if (!colObj0->isActive())
islandSleeping = true;
}
- //find the accompanying contact manifold for this islandId
- int numIslandManifolds = 0;
- btPersistentManifold** startManifold = 0;
+ //find the accompanying contact manifold for this islandId
+ int numIslandManifolds = 0;
+ btPersistentManifold** startManifold = 0;
- if (startManifoldIndex<numManifolds)
- {
- int curIslandId = getIslandId(islandmanifold[startManifoldIndex]);
- if (curIslandId == islandId)
- {
- startManifold = &islandmanifold[startManifoldIndex];
-
- for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
- {
+ if (startManifoldIndex<numManifolds)
+ {
+ int curIslandId = getIslandId(islandmanifold[startManifoldIndex]);
+ if (curIslandId == islandId)
+ {
+ startManifold = &islandmanifold[startManifoldIndex];
+
+ for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
+ {
- }
- /// Process the actual simulation, only if not sleeping/deactivated
- numIslandManifolds = endManifoldIndex-startManifoldIndex;
- }
+ }
+ /// Process the actual simulation, only if not sleeping/deactivated
+ numIslandManifolds = endManifoldIndex-startManifoldIndex;
+ }
- }
+ }
- if (!islandSleeping)
- {
- callback->ProcessIsland(startManifold,numIslandManifolds, islandId);
- }
+ if (!islandSleeping)
+ {
+ callback->ProcessIsland(&islandBodies[0],islandBodies.size(),startManifold,numIslandManifolds, islandId);
+ }
+
+ if (numIslandManifolds)
+ {
+ startManifoldIndex = endManifoldIndex;
+ }
- if (numIslandManifolds)
- {
- startManifoldIndex = endManifoldIndex;
- }
- }
+ islandBodies.resize(0);
+ }
+
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-09 04:28:52 +0300