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optimized the island management. It was unoptimized, and becomes a bottleneck for large amounts of objects.

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This commit is contained in:
ejcoumans
2006-09-14 23:43:50 +00:00
parent db2265ce03
commit 0607bfe9de
3 changed files with 236 additions and 132 deletions
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214
Bullet/CollisionDispatch/SimulationIslandManager.cpp
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@@ -5,6 +5,8 @@
#include "CollisionDispatch/CollisionObject.h"
#include "CollisionDispatch/CollisionWorld.h"
#include <stdio.h>
#include <algorithm>
SimulationIslandManager::SimulationIslandManager()
@@ -105,7 +107,23 @@ void SimulationIslandManager::StoreIslandActivationState(CollisionWorld* colWorl
}
}
inline int getIslandId(const PersistentManifold* lhs)
{
int islandId;
const CollisionObject* rcolObj0 = static_cast<const CollisionObject*>(lhs->GetBody0());
const CollisionObject* rcolObj1 = static_cast<const CollisionObject*>(lhs->GetBody1());
islandId= rcolObj0->m_islandTag1>=0?rcolObj0->m_islandTag1:rcolObj1->m_islandTag1;
return islandId;
}
bool PersistentManifoldSortPredicate(const PersistentManifold* lhs, const PersistentManifold* rhs)
{
int rIslandId0,lIslandId0;
rIslandId0 = getIslandId(rhs);
lIslandId0 = getIslandId(lhs);
return lIslandId0 < rIslandId0;
}
//
@@ -114,101 +132,143 @@ void SimulationIslandManager::StoreIslandActivationState(CollisionWorld* colWorl
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
//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
GetUnionFind().sortIslands();
int numElem = GetUnionFind().getNumElements();
const UnionFind& uf = this->GetUnionFind();
int startIslandIndex=0,endIslandIndex=1;
for (int islandId=0;islandId<uf.getNumElements();islandId++)
//update the sleeping state for bodies, if all are sleeping
for (int startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
{
if (uf.isRoot(islandId))
int islandId = GetUnionFind().getElement(startIslandIndex).m_id;
for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (GetUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
{
}
std::vector<PersistentManifold*> islandmanifold;
//int numSleeping = 0;
//int numSleeping = 0;
bool allSleeping = true;
bool allSleeping = true;
int i;
for (i=0;i<numBodies;i++)
int idx;
for (idx=startIslandIndex;idx<endIslandIndex;idx++)
{
int i = GetUnionFind().getElement(idx).m_sz;
CollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->m_islandTag1 != islandId) && (colObj0->m_islandTag1 != -1))
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if (colObj0->GetActivationState()== ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
printf("error in island management\n");
}
if (allSleeping)
assert((colObj0->m_islandTag1 == islandId) || (colObj0->m_islandTag1 == -1));
if (colObj0->m_islandTag1 == islandId)
{
int i;
for (i=0;i<numBodies;i++)
if (colObj0->GetActivationState()== ACTIVE_TAG)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
allSleeping = false;
}
if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
if (allSleeping)
{
int idx;
for (idx=startIslandIndex;idx<endIslandIndex;idx++)
{
int i = GetUnionFind().getElement(idx).m_sz;
CollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->m_islandTag1 != islandId) && (colObj0->m_islandTag1 != -1))
{
printf("error in island management\n");
}
assert((colObj0->m_islandTag1 == islandId) || (colObj0->m_islandTag1 == -1));
if (colObj0->m_islandTag1 == islandId)
{
colObj0->SetActivationState( ISLAND_SLEEPING );
}
}
} else
{
int idx;
for (idx=startIslandIndex;idx<endIslandIndex;idx++)
{
int i = GetUnionFind().getElement(idx).m_sz;
CollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->m_islandTag1 != islandId) && (colObj0->m_islandTag1 != -1))
{
printf("error in island management\n");
}
assert((colObj0->m_islandTag1 == islandId) || (colObj0->m_islandTag1 == -1));
if (colObj0->m_islandTag1 == islandId)
{
if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
{
colObj0->SetActivationState( ISLAND_SLEEPING );
colObj0->SetActivationState( WANTS_DEACTIVATION);
}
}
} 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);
}
}
}
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);
}
}
}
/// Process the actual simulation, only if not sleeping/deactivated
if (islandmanifold.size())
{
callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());
}
}
}
}
std::vector<PersistentManifold*> islandmanifold;
int i;
int numManifolds = dispatcher->GetNumManifolds();
islandmanifold.reserve(numManifolds);
for (i=0;i<numManifolds ;i++)
{
PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
//todo: check sleeping conditions!
if (((colObj0) && colObj0->GetActivationState() != ISLAND_SLEEPING) ||
((colObj1) && colObj1->GetActivationState() != ISLAND_SLEEPING))
{
//filtering for response
if (dispatcher->NeedsResponse(*colObj0,*colObj1))
islandmanifold.push_back(manifold);
}
}
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort
std::sort(islandmanifold.begin(), islandmanifold.end(), PersistentManifoldSortPredicate);
//now process all active islands (sets of manifolds for now)
int startManifoldIndex = 0;
int endManifoldIndex = 1;
for (startManifoldIndex=0;startManifoldIndex<numManifolds;startManifoldIndex = endManifoldIndex)
{
int islandId = getIslandId(islandmanifold[startManifoldIndex]);
for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
{
}
/// Process the actual simulation, only if not sleeping/deactivated
int numIslandManifolds = endManifoldIndex-startManifoldIndex;
if (numIslandManifolds)
{
callback->ProcessIsland(&islandmanifold[startManifoldIndex],numIslandManifolds);
}
}
}