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process contact and non-contact constraints inside the same iteration loop

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added first draft for hingeConstraint motor
This commit is contained in:
ejcoumans
2006-12-12 03:15:11 +00:00
parent a4541d2470
commit 6dff5a218e
15 changed files with 267 additions and 203 deletions
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39
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -268,17 +268,44 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
int startManifoldIndex = 0;
int endManifoldIndex = 1;
for (startManifoldIndex=0;startManifoldIndex<numManifolds;startManifoldIndex = endManifoldIndex)
int islandId;
//update the sleeping state for bodies, if all are sleeping
for (int startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
{
int islandId = getIslandId(islandmanifold[startManifoldIndex]);
for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
int islandId = getUnionFind().getElement(startIslandIndex).m_id;
for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
{
}
/// Process the actual simulation, only if not sleeping/deactivated
int numIslandManifolds = endManifoldIndex-startManifoldIndex;
//find the accompanying contact manifold for this islandId
int numIslandManifolds = 0;
btPersistentManifold** startManifold = 0;
if (startManifoldIndex<numManifolds)
{
int curIslandId = getIslandId(islandmanifold[startManifoldIndex]);
if (curIslandId == islandId)
{
startManifold = &islandmanifold[startManifoldIndex];
for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
{
}
/// Process the actual simulation, only if not sleeping/deactivated
numIslandManifolds = endManifoldIndex-startManifoldIndex;
}
}
callback->ProcessIsland(startManifold,numIslandManifolds, islandId);
if (numIslandManifolds)
{
callback->ProcessIsland(&islandmanifold[startManifoldIndex],numIslandManifolds);
startManifoldIndex = endManifoldIndex;
}
}
}

2
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
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@@ -49,7 +49,7 @@ public:
{
virtual ~IslandCallback() {};
virtual void ProcessIsland(class btPersistentManifold** manifolds,int numManifolds) = 0;
virtual void ProcessIsland(class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
};
void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);