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prepare and added constraint solver optimizations, not activated yet.

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This commit is contained in:
ejcoumans
2007-03-17 00:09:12 +00:00
parent ea97ed3e30
commit 151cd4b9da
21 changed files with 897 additions and 56 deletions
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21
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -8,7 +8,7 @@
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include <stdio.h>
#include "LinearMath/btQuickprof.h"
btSimulationIslandManager::btSimulationIslandManager()
{
@@ -63,6 +63,7 @@ void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld
{
btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
collisionObject->setIslandTag(index);
collisionObject->setCompanionId(-1);
collisionObject->setHitFraction(btScalar(1.));
index++;
@@ -93,9 +94,11 @@ void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col
if (collisionObject->mergesSimulationIslands())
{
collisionObject->setIslandTag( m_unionFind.find(index) );
collisionObject->setCompanionId(-1);
} else
{
collisionObject->setIslandTag(-1);
collisionObject->setCompanionId(-2);
}
index++;
}
@@ -137,6 +140,11 @@ class btPersistentManifoldSortPredicate
//
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
{
BEGIN_PROFILE("islandUnionFindAndHeapSort");
//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
@@ -278,6 +286,10 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
//int islandId;
END_PROFILE("islandUnionFindAndHeapSort");
btAlignedObjectArray<btCollisionObject*> islandBodies;
//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
for (int startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
@@ -291,6 +303,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
{
int i = getUnionFind().getElement(endIslandIndex).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
islandBodies.push_back(colObj0);
if (!colObj0->isActive())
islandSleeping = true;
}
@@ -319,12 +332,16 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
if (!islandSleeping)
{
callback->ProcessIsland(startManifold,numIslandManifolds, islandId);
callback->ProcessIsland(&islandBodies[0],islandBodies.size(),startManifold,numIslandManifolds, islandId);
}
if (numIslandManifolds)
{
startManifoldIndex = endManifoldIndex;
}
islandBodies.resize(0);
}
}