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added VoronoiFractureDemo, thanks to RBD

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fix in infinite recursion in quickSort, exclude the pivot in each sub partition
disabled constraints don't merge simulation islands, and they don't disable collision between linked rigid bodies either.
This commit is contained in:
erwin.coumans
2012-03-05 21:47:05 +00:00
parent 03e1603a2f
commit b5b31ce52b
14 changed files with 1066 additions and 38 deletions
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22
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -746,18 +746,20 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
for (i=0;i< numConstraints ; i++ )
{
btTypedConstraint* constraint = m_constraints[i];
const btRigidBody* colObj0 = &constraint->getRigidBodyA();
const btRigidBody* colObj1 = &constraint->getRigidBodyB();
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
if (constraint->isEnabled())
{
if (colObj0->isActive() || colObj1->isActive())
{
const btRigidBody* colObj0 = &constraint->getRigidBodyA();
const btRigidBody* colObj1 = &constraint->getRigidBodyB();
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
if (colObj0->isActive() || colObj1->isActive())
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
}
}
}
}

5
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -309,8 +309,9 @@ bool btRigidBody::checkCollideWithOverride(btCollisionObject* co)
for (int i = 0; i < m_constraintRefs.size(); ++i)
{
btTypedConstraint* c = m_constraintRefs[i];
if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
return false;
if (c->isEnabled())
if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
return false;
}
return true;

61
src/LinearMath/btAlignedObjectArray.h
View File

@@ -313,33 +313,46 @@ protected:
}
};
template <typename L>
int partition (const L& CompareFunc, int lo, int hi, int pivotIndex)
{
if (pivotIndex != lo)
swap (lo, pivotIndex);
pivotIndex = lo;
lo++;
while (lo <= hi)
{
//if (m_data[low] <= m_data[pivotIndex]) -> we don't have a <= so we use !(b<a) as a<=b
if (!CompareFunc(m_data[pivotIndex],m_data[lo]))
lo++;
else if (CompareFunc(m_data[pivotIndex],m_data[hi]))
hi--;
else
swap(lo,hi);
}
if (hi != pivotIndex)
swap(pivotIndex, hi);
return hi;
}
template <typename L>
void quickSortInternal(const L& CompareFunc,int lo, int hi)
{
// lo is the lower index, hi is the upper index
// of the region of array a that is to be sorted
int i=lo, j=hi;
T x=m_data[(lo+hi)/2];
// partition
do
{
while (CompareFunc(m_data[i],x))
i++;
while (CompareFunc(x,m_data[j]))
j--;
if (i<=j)
{
swap(i,j);
i++; j--;
}
} while (i<=j);
// recursion
if (lo<j)
quickSortInternal( CompareFunc, lo, j);
if (i<hi)
quickSortInternal( CompareFunc, i, hi);
if (lo>=hi)
return;
int pivotIndex = (lo+hi)/2;
pivotIndex = partition(CompareFunc,lo,hi,pivotIndex);
// recursion, exclude the pivot
if (lo<pivotIndex)
{
quickSortInternal( CompareFunc, lo, pivotIndex-1);
}
if (pivotIndex<hi)
{
quickSortInternal( CompareFunc, pivotIndex+1, hi);
}
}