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constraints between bodies merge constraint simulations (this fixes problems with deactivation/sleeping)

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This commit is contained in:
ejcoumans
2006-06-17 15:22:06 +00:00
parent f73244b36a
commit 51a645bb4a
5 changed files with 90 additions and 54 deletions
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83
Bullet/CollisionDispatch/CollisionDispatcher.cpp
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@@ -122,8 +122,10 @@ void CollisionDispatcher::ReleaseManifold(PersistentManifold* manifold)
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void CollisionDispatcher::BuildAndProcessIslands(int numBodies, IslandCallback* callback)
void CollisionDispatcher::BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback)
{
int numBodies = collisionObjects.size();
for (int islandId=0;islandId<numBodies;islandId++)
{
@@ -133,7 +135,25 @@ void CollisionDispatcher::BuildAndProcessIslands(int numBodies, IslandCallback*
bool allSleeping = true;
for (int i=0;i<GetNumManifolds();i++)
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if (colObj0->GetActivationState()== ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
for (i=0;i<GetNumManifolds();i++)
{
PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
@@ -141,25 +161,11 @@ void CollisionDispatcher::BuildAndProcessIslands(int numBodies, IslandCallback*
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
{
if (((colObj0) && (colObj0)->m_islandTag1 == (islandId)) ||
((colObj1) && (colObj1)->m_islandTag1 == (islandId)))
{
if (((colObj0) && (colObj0)->GetActivationState()== ACTIVE_TAG) ||
((colObj1) && (colObj1)->GetActivationState() == ACTIVE_TAG))
{
allSleeping = false;
}
if (((colObj0) && (colObj0)->GetActivationState()== DISABLE_DEACTIVATION) ||
((colObj1) && (colObj1)->GetActivationState() == DISABLE_DEACTIVATION))
{
allSleeping = false;
}
if (NeedsResponse(*colObj0,*colObj1))
islandmanifold.push_back(manifold);
}
@@ -167,51 +173,34 @@ void CollisionDispatcher::BuildAndProcessIslands(int numBodies, IslandCallback*
}
if (allSleeping)
{
//tag all as 'ISLAND_SLEEPING'
for (size_t i=0;i<islandmanifold.size();i++)
int i;
for (i=0;i<numBodies;i++)
{
PersistentManifold* manifold = islandmanifold[i];
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
if ((colObj0))
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
(colObj0)->SetActivationState( ISLAND_SLEEPING );
colObj0->SetActivationState( ISLAND_SLEEPING );
}
if ((colObj1))
{
(colObj1)->SetActivationState( ISLAND_SLEEPING);
}
}
} else
{
//tag all as 'ISLAND_SLEEPING'
for (size_t i=0;i<islandmanifold.size();i++)
int i;
for (i=0;i<numBodies;i++)
{
PersistentManifold* manifold = islandmanifold[i];
CollisionObject* body0 = (CollisionObject*)manifold->GetBody0();
CollisionObject* body1 = (CollisionObject*)manifold->GetBody1();
if (body0)
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if ( body0->GetActivationState() == ISLAND_SLEEPING)
if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
{
body0->SetActivationState( WANTS_DEACTIVATION);
colObj0->SetActivationState( WANTS_DEACTIVATION);
}
}
if (body1)
{
if ( body1->GetActivationState() == ISLAND_SLEEPING)
{
body1->SetActivationState(WANTS_DEACTIVATION);
}
}
}
/// Process the actual simulation, only if not sleeping/deactivated
if (islandmanifold.size())
{
callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());