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#include "SimulationIslandManager.h"
#include "BroadphaseCollision/Dispatcher.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "CollisionDispatch/CollisionObject.h"
#include "CollisionDispatch/CollisionWorld.h"
SimulationIslandManager::SimulationIslandManager()
{
}
void SimulationIslandManager::InitUnionFind(int n)
{
m_unionFind.reset(n);
}
void SimulationIslandManager::FindUnions(Dispatcher* dispatcher)
{
{
for (int i=0;i<dispatcher->GetNumManifolds();i++)
{
const PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
//static objects (invmass 0.f) don't merge !
const CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
const CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
if (colObj0 && colObj1 && dispatcher->NeedsResponse(*colObj0,*colObj1))
{
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
m_unionFind.unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
}
void SimulationIslandManager::UpdateActivationState(CollisionWorld* colWorld,Dispatcher* dispatcher)
{
InitUnionFind(colWorld->GetCollisionObjectArray().size());
// put the index into m_controllers into m_tag
{
std::vector<CollisionObject*>::iterator i;
int index = 0;
for (i=colWorld->GetCollisionObjectArray().begin();
!(i==colWorld->GetCollisionObjectArray().end()); i++)
{
CollisionObject* collisionObject= (*i);
collisionObject->m_islandTag1 = index;
collisionObject->m_hitFraction = 1.f;
index++;
}
}
// do the union find
FindUnions(dispatcher);
}
void SimulationIslandManager::StoreIslandActivationState(CollisionWorld* colWorld)
{
// put the islandId ('find' value) into m_tag
{
std::vector<CollisionObject*>::iterator i;
int index = 0;
for (i=colWorld->GetCollisionObjectArray().begin();
!(i==colWorld->GetCollisionObjectArray().end()); i++)
{
CollisionObject* collisionObject= (*i);
if (collisionObject->mergesSimulationIslands())
{
collisionObject->m_islandTag1 = m_unionFind.find(index);
} else
{
collisionObject->m_islandTag1 = -1;
}
index++;
}
}
}
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback)
{
int numBodies = collisionObjects.size();
//first calculate the number of islands, and iterate over the islands id's
const UnionFind& uf = this->GetUnionFind();
for (int islandId=0;islandId<uf.getNumElements();islandId++)
{
if (uf.isRoot(islandId))
{
std::vector<PersistentManifold*> islandmanifold;
//int numSleeping = 0;
bool allSleeping = true;
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if (colObj0->GetActivationState()== ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
for (i=0;i<dispatcher->GetNumManifolds();i++)
{
PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
//filtering for response
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
assert(colObj0);
assert(colObj1);
{
if (((colObj0)->m_islandTag1 == (islandId)) ||
((colObj1)->m_islandTag1 == (islandId)))
{
if (dispatcher->NeedsResponse(*colObj0,*colObj1))
islandmanifold.push_back(manifold);
}
}
}
if (allSleeping)
{
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
colObj0->SetActivationState( ISLAND_SLEEPING );
}
}
} else
{
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
{
colObj0->SetActivationState( WANTS_DEACTIVATION);
}
}
}
/// Process the actual simulation, only if not sleeping/deactivated
if (islandmanifold.size())
{
callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());
}
}
}
}
}
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