Welcome to mirror list, hosted at ThFree Co, Russian Federation.

git.blender.org/blender.git - Unnamed repository; edit this file 'description' to name the repository.
summaryrefslogtreecommitdiff
path: root/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp')
-rw-r--r--extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp129
1 files changed, 78 insertions, 51 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index ac2e8554c3a..1cc78f76acd 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -1,3 +1,17 @@
+/*
+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"
@@ -7,7 +21,7 @@
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-#include <stdio.h>
+//#include <stdio.h>
#include "LinearMath/btQuickprof.h"
btSimulationIslandManager::btSimulationIslandManager()
@@ -25,17 +39,17 @@ void btSimulationIslandManager::initUnionFind(int n)
}
-void btSimulationIslandManager::findUnions(btDispatcher* dispatcher)
+void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btCollisionWorld* colWorld)
{
{
- for (int i=0;i<dispatcher->getNumManifolds();i++)
- {
- const btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
- //static objects (invmass btScalar(0.)) don't merge !
+ btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
- const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
- const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
+ for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();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())))
@@ -71,7 +85,7 @@ void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld
}
// do the union find
- findUnions(dispatcher);
+ findUnions(dispatcher,colWorld);
@@ -129,30 +143,13 @@ class btPersistentManifoldSortPredicate
};
-
-
-
-//
-// todo: this is random access, it can be walked 'cache friendly'!
-//
-void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
+void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects)
{
+ BT_PROFILE("islandUnionFindAndQuickSort");
-
- /*if (0)
- {
- int maxNumManifolds = dispatcher->getNumManifolds();
- btCollisionDispatcher* colDis = (btCollisionDispatcher*)dispatcher;
- btPersistentManifold** manifold = colDis->getInternalManifoldPointer();
- callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, 0);
- return;
- }
- */
+ m_islandmanifold.resize(0);
-
- 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
@@ -183,7 +180,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
- printf("error in island management\n");
+// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
@@ -210,7 +207,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
- printf("error in island management\n");
+// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
@@ -231,7 +228,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
- printf("error in island management\n");
+// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
@@ -247,11 +244,17 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
}
}
- btAlignedObjectArray<btPersistentManifold*> islandmanifold;
+
int i;
int maxNumManifolds = dispatcher->getNumManifolds();
- islandmanifold.reserve(maxNumManifolds);
+#define SPLIT_ISLANDS 1
+#ifdef SPLIT_ISLANDS
+
+
+#endif //SPLIT_ISLANDS
+
+
for (i=0;i<maxNumManifolds ;i++)
{
btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
@@ -265,29 +268,52 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
{
//kinematic objects don't merge islands, but wake up all connected objects
- if (colObj0->isStaticOrKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
+ if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
{
colObj1->activate();
}
- if (colObj1->isStaticOrKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
+ if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
{
colObj0->activate();
}
-
- //filtering for response
+#ifdef SPLIT_ISLANDS
+ // //filtering for response
if (dispatcher->needsResponse(colObj0,colObj1))
- islandmanifold.push_back(manifold);
+ m_islandmanifold.push_back(manifold);
+#endif //SPLIT_ISLANDS
}
}
+}
+
- int numManifolds = int (islandmanifold.size());
+//
+// todo: this is random access, it can be walked 'cache friendly'!
+//
+void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
+{
+
+ buildIslands(dispatcher,collisionObjects);
+
+ int endIslandIndex=1;
+ int startIslandIndex;
+ int numElem = getUnionFind().getNumElements();
+
+ 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);
+ int numManifolds = int (m_islandmanifold.size());
+
//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
- islandmanifold.heapSort(btPersistentManifoldSortPredicate());
+ m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)
@@ -296,10 +322,9 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
//int islandId;
- END_PROFILE("islandUnionFindAndHeapSort");
-
- btAlignedObjectArray<btCollisionObject*> islandBodies;
+
+// 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)
@@ -313,7 +338,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
{
int i = getUnionFind().getElement(endIslandIndex).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
- islandBodies.push_back(colObj0);
+ m_islandBodies.push_back(colObj0);
if (!colObj0->isActive())
islandSleeping = true;
}
@@ -325,12 +350,12 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
if (startManifoldIndex<numManifolds)
{
- int curIslandId = getIslandId(islandmanifold[startManifoldIndex]);
+ int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
if (curIslandId == islandId)
{
- startManifold = &islandmanifold[startManifoldIndex];
+ startManifold = &m_islandmanifold[startManifoldIndex];
- for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
+ for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
{
}
@@ -342,7 +367,8 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
if (!islandSleeping)
{
- callback->ProcessIsland(&islandBodies[0],islandBodies.size(),startManifold,numIslandManifolds, islandId);
+ 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)
@@ -350,8 +376,9 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
startManifoldIndex = endManifoldIndex;
}
- islandBodies.resize(0);
+ m_islandBodies.resize(0);
}
+#endif //SPLIT_ISLANDS
+
-
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-19 00:16:57 +0300