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- removed STL from the Bullet library: replace std::vector by btAlignedObjectArray. Also removed the std::set for overlapping pair set, and turned it into an overlapping pair array. The SAP only adds objects, never removed. Removal is postponed for during traversal of overlapping pairs (duplicates and non-overlapping pairs are removed during that traversal).

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- added heap sort and binary search/linear search to btAlignedObjectArray
- fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
This commit is contained in:
ejcoumans
2007-03-06 09:59:17 +00:00
parent f8b714cd42
commit 054d672592
54 changed files with 512 additions and 246 deletions
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43
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -8,7 +8,6 @@
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include <stdio.h>
#include <algorithm>
btSimulationIslandManager::btSimulationIslandManager()
@@ -57,14 +56,12 @@ 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(btScalar(1.));
index++;
@@ -88,14 +85,11 @@ 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) );
@@ -127,6 +121,24 @@ bool btPersistentManifoldSortPredicate(const btPersistentManifold* lhs, const bt
}
/// function object that routes calls to operator<
class btPersistentManifoldSortPredicate
{
public:
bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs )
{
int rIslandId0,lIslandId0;
rIslandId0 = getIslandId(rhs);
lIslandId0 = getIslandId(lhs);
return lIslandId0 < rIslandId0;
}
};
//
// todo: this is random access, it can be walked 'cache friendly'!
//
@@ -224,7 +236,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
}
}
std::vector<btPersistentManifold*> islandmanifold;
btAlignedObjectArray<btPersistentManifold*> islandmanifold;
int i;
int maxNumManifolds = dispatcher->getNumManifolds();
islandmanifold.reserve(maxNumManifolds);
@@ -261,7 +273,10 @@ 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)