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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.cpp166
1 files changed, 86 insertions, 80 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 9f8e27a4407..0328d0f738f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -24,7 +24,8 @@ subject to the following restrictions:
//#include <stdio.h>
#include "LinearMath/btQuickprof.h"
-btSimulationIslandManager::btSimulationIslandManager()
+btSimulationIslandManager::btSimulationIslandManager():
+m_splitIslands(true)
{
}
@@ -43,10 +44,10 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl
{
{
- btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
-
+
for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
{
+ btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
const btBroadphasePair& collisionPair = pairPtr[i];
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
@@ -143,11 +144,13 @@ class btPersistentManifoldSortPredicate
};
-void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects)
+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
@@ -183,7 +186,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
// printf("error in island management\n");
}
- assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+ btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
if (colObj0->getActivationState()== ACTIVE_TAG)
@@ -210,7 +213,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
// printf("error in island management\n");
}
- assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+ btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
@@ -231,13 +234,14 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
// printf("error in island management\n");
}
- assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+ btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
if ( colObj0->getActivationState() == ISLAND_SLEEPING)
{
colObj0->setActivationState( WANTS_DEACTIVATION);
+ colObj0->setDeactivationTime(0.f);
}
}
}
@@ -248,11 +252,11 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
int i;
int maxNumManifolds = dispatcher->getNumManifolds();
-#define SPLIT_ISLANDS 1
-#ifdef SPLIT_ISLANDS
+//#define SPLIT_ISLANDS 1
+//#ifdef SPLIT_ISLANDS
-#endif //SPLIT_ISLANDS
+//#endif //SPLIT_ISLANDS
for (i=0;i<maxNumManifolds ;i++)
@@ -262,7 +266,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
- //todo: check sleeping conditions!
+ ///@todo: check sleeping conditions!
if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
{
@@ -276,24 +280,24 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
{
colObj0->activate();
}
-#ifdef SPLIT_ISLANDS
- // //filtering for response
- if (dispatcher->needsResponse(colObj0,colObj1))
- m_islandmanifold.push_back(manifold);
-#endif //SPLIT_ISLANDS
+ 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,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
+///@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,collisionObjects);
+ buildIslands(dispatcher,collisionWorld);
int endIslandIndex=1;
int startIslandIndex;
@@ -301,84 +305,86 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
BT_PROFILE("processIslands");
-#ifndef SPLIT_ISLANDS
- btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
-
- 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);
+ 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());
+ 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());
+ //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)
+ //now process all active islands (sets of manifolds for now)
- int startManifoldIndex = 0;
- int endManifoldIndex = 1;
+ int startManifoldIndex = 0;
+ int endManifoldIndex = 1;
- //int islandId;
+ //int islandId;
-
+
-// printf("Start Islands\n");
+ // 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;
+ //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;
- }
-
+ 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;
+ //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)
+ if (startManifoldIndex<numManifolds)
{
- startManifold = &m_islandmanifold[startManifoldIndex];
-
- for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
+ 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;
}
- /// 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;
+ }
- 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);
}
-
- m_islandBodies.resize(0);
- }
-#endif //SPLIT_ISLANDS
-
+ } // else if(!splitIslands)
}
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