First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.
Made all buildsystems to work again (jam, msvc, cmake)
This commit is contained in:
ejcoumans
@@ -0,0 +1,276 @@
|
||||
|
||||
#include "btSimulationIslandManager.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <algorithm>
|
||||
|
||||
|
||||
SimulationIslandManager::SimulationIslandManager()
|
||||
{
|
||||
}
|
||||
|
||||
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++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
//
|
||||
// todo: this is random access, it can be walked 'cache friendly'!
|
||||
//
|
||||
void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback)
|
||||
{
|
||||
//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();
|
||||
|
||||
int endIslandIndex=1;
|
||||
|
||||
//update the sleeping state for bodies, if all are sleeping
|
||||
for (int startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
|
||||
{
|
||||
int islandId = GetUnionFind().getElement(startIslandIndex).m_id;
|
||||
for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (GetUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
|
||||
{
|
||||
}
|
||||
|
||||
//int numSleeping = 0;
|
||||
|
||||
bool allSleeping = true;
|
||||
|
||||
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()== ACTIVE_TAG)
|
||||
{
|
||||
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( WANTS_DEACTIVATION);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<PersistentManifold*> islandmanifold;
|
||||
int i;
|
||||
int maxNumManifolds = dispatcher->GetNumManifolds();
|
||||
islandmanifold.reserve(maxNumManifolds);
|
||||
|
||||
for (i=0;i<maxNumManifolds ;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);
|
||||
}
|
||||
}
|
||||
|
||||
int numManifolds = islandmanifold.size();
|
||||
|
||||
// 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);
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user