reverted 'getActiveObjects', island management will be improved for Bullet 2.74 release.

The implementation was error-prone and could lead to crashes.

See http://code.google.com/p/bullet/issues/detail?id=128

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -117,28 +117,15 @@ void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
 }
 
 
-void	btCollisionWorld::findActiveObjects()
-{
-	m_activeObjects.resize(0);
-
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->isActive())
-		{
-			m_activeObjects.push_back(colObj);
-		}
-	}
-}
 
 void	btCollisionWorld::updateAabbs()
 {
 	BT_PROFILE("updateAabbs");
 
 	btTransform predictedTrans;
-	for ( int i=0;i<m_activeObjects.size();i++)
+	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
-		btCollisionObject* colObj = m_activeObjects[i];
+		btCollisionObject* colObj = m_collisionObjects[i];
 
 		//only update aabb of active objects
 		if (colObj->isActive())

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -84,10 +84,6 @@ protected:
 
 	btAlignedObjectArray<btCollisionObject*>	m_collisionObjects;
 	
-	///temporarily solution to keep track of active objects. This work-in-progress will improve when we refactor island management.
-	btAlignedObjectArray<btCollisionObject*>	m_activeObjects;
-
-
 	btDispatcher*	m_dispatcher1;
 
 	btDispatcherInfo	m_dispatchInfo;
@@ -98,9 +94,6 @@ protected:
 
 	btIDebugDraw*	m_debugDrawer;
 
-protected:
-
-	void	findActiveObjects();
 	
 public:
 
@@ -142,15 +135,6 @@ public:
 
 	virtual void	updateAabbs();
 
-	btCollisionObjectArray& getActiveObjects()
-	{
-		return m_activeObjects;
-	}
-
-	const btCollisionObjectArray& getActiveObjects() const
-	{
-		return m_activeObjects;
-	}
 	
 	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
 	{

src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ -273,18 +273,10 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 			//kinematic objects don't merge islands, but wake up all connected objects
 			if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
 			{
-				if (!colObj1->isActive())
-				{
-					collisionWorld->getActiveObjects().push_back(colObj1);
-				}
 				colObj1->activate();
 			}
 			if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
 			{
-				if (!colObj0->isActive())
-				{
-					collisionWorld->getActiveObjects().push_back(colObj0);
-				}
 				colObj0->activate();
 			}
 #ifdef SPLIT_ISLANDS

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -107,9 +107,9 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
 void	btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
 {
 
-	for (int i=0;i<m_activeObjects.size();i++)
+	for (int i=0;i<m_collisionObjects.size();i++)
 	{
-		btCollisionObject* colObj = m_activeObjects[i];
+		btCollisionObject* colObj = m_collisionObjects[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
@@ -224,9 +224,9 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 void	btDiscreteDynamicsWorld::clearForces()
 {
 	///@todo: iterate over awake simulation islands!
-	for ( int i=0;i<m_activeObjects.size();i++)
+	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
-		btCollisionObject* colObj = m_activeObjects[i];
+		btCollisionObject* colObj = m_collisionObjects[i];
 		
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
@@ -240,9 +240,9 @@ void	btDiscreteDynamicsWorld::clearForces()
 void	btDiscreteDynamicsWorld::applyGravity()
 {
 	///@todo: iterate over awake simulation islands!
-	for ( int i=0;i<m_activeObjects.size();i++)
+	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
-		btCollisionObject* colObj = m_activeObjects[i];
+		btCollisionObject* colObj = m_collisionObjects[i];
 		
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body && body->isActive())
@@ -278,9 +278,9 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 	BT_PROFILE("synchronizeMotionStates");
 	{
 		//todo: iterate over awake simulation islands!
-		for ( int i=0;i<m_activeObjects.size();i++)
+		for ( int i=0;i<m_collisionObjects.size();i++)
 		{
-			btCollisionObject* colObj = m_activeObjects[i];
+			btCollisionObject* colObj = m_collisionObjects[i];
 			
 			btRigidBody* body = btRigidBody::upcast(colObj);
 			if (body)
@@ -344,8 +344,6 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 	if (numSimulationSubSteps)
 	{
 
-		findActiveObjects();
-
 		saveKinematicState(fixedTimeStep);
 
 		applyGravity();
@@ -377,8 +375,6 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 	
 	BT_PROFILE("internalSingleStepSimulation");
 
-	findActiveObjects();
-	
 	///apply gravity, predict motion
 	predictUnconstraintMotion(timeStep);
 
@@ -421,9 +417,9 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 void	btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
 {
 	m_gravity = gravity;
-	for ( int i=0;i<m_activeObjects.size();i++)
+	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
-		btCollisionObject* colObj = m_activeObjects[i];
+		btCollisionObject* colObj = m_collisionObjects[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
@@ -830,9 +826,9 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 {
 	BT_PROFILE("integrateTransforms");
 	btTransform predictedTrans;
-	for ( int i=0;i<m_activeObjects.size();i++)
+	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
-		btCollisionObject* colObj = m_activeObjects[i];
+		btCollisionObject* colObj = m_collisionObjects[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
@@ -881,9 +877,9 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 {
 	BT_PROFILE("predictUnconstraintMotion");
-	for ( int i=0;i<m_activeObjects.size();i++)
+	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
-		btCollisionObject* colObj = m_activeObjects[i];
+		btCollisionObject* colObj = m_collisionObjects[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{