diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp | 89 |
1 files changed, 71 insertions, 18 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index 0328d0f738f..bb2a7f23985 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -1,3 +1,4 @@ + /* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ @@ -44,10 +45,12 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl { { + btOverlappingPairCache* pairCachePtr = colWorld->getPairCache(); + const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs(); + btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr(); - for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++) + for (int i=0;i<numOverlappingPairs;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; @@ -63,15 +66,69 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl } } +#ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION +void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher) +{ + + // 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]; + //Adding filtering here + if (!collisionObject->isStaticOrKinematicObject()) + { + collisionObject->setIslandTag(index++); + } + collisionObject->setCompanionId(-1); + collisionObject->setHitFraction(btScalar(1.)); + } + } + // do the union find + + initUnionFind( index ); + + 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) ); + //Set the correct object offset in Collision Object Array + m_unionFind.getElement(index).m_sz = i; + collisionObject->setCompanionId(-1); + index++; + } else + { + collisionObject->setIslandTag(-1); + collisionObject->setCompanionId(-2); + } + } + } +} + +#else //STATIC_SIMULATION_ISLAND_OPTIMIZATION 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++) @@ -81,26 +138,20 @@ void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld collisionObject->setCompanionId(-1); collisionObject->setHitFraction(btScalar(1.)); index++; - + } } // do the union find - - findUnions(dispatcher,colWorld); - - + 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++) @@ -120,6 +171,8 @@ void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col } } +#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION + inline int getIslandId(const btPersistentManifold* lhs) { int islandId; @@ -339,15 +392,15 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, int islandId = getUnionFind().getElement(startIslandIndex).m_id; - bool islandSleeping = false; + bool islandSleeping = true; 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; + if (colObj0->isActive()) + islandSleeping = false; } |