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build islands once and process islands arbitrary number of times in update constraints

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This commit is contained in:
Xuchen Han
2019-08-13 14:37:45 -07:00
parent 9e6e571732
commit 07bf736aeb
7 changed files with 29 additions and 9 deletions
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8
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -338,13 +338,17 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi
}
}
///@todo: this is random access, it can be walked 'cache friendly'!
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
{
btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
buildIslands(dispatcher, collisionWorld);
processIslands(dispatcher, collisionWorld, callback);
}
void btSimulationIslandManager::processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
{
btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
int endIslandIndex = 1;
int startIslandIndex;
int numElem = getUnionFind().getNumElements();

2
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
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@@ -57,7 +57,7 @@ public:
};
void buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback);
void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback);
void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld);
bool getSplitIslands()