Add the option for the btSimulationIslandManager to avoid splitting islands (for constraint solving)
Move the convertContact inside constraint solver to its own method
This commit is contained in:
erwin.coumans
@@ -24,7 +24,8 @@ subject to the following restrictions:
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//#include <stdio.h>
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#include "LinearMath/btQuickprof.h"
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btSimulationIslandManager::btSimulationIslandManager()
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btSimulationIslandManager::btSimulationIslandManager():
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m_splitIslands(true)
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{
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}
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@@ -251,11 +252,11 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
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int i;
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int maxNumManifolds = dispatcher->getNumManifolds();
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#define SPLIT_ISLANDS 1
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#ifdef SPLIT_ISLANDS
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//#define SPLIT_ISLANDS 1
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//#ifdef SPLIT_ISLANDS
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#endif //SPLIT_ISLANDS
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//#endif //SPLIT_ISLANDS
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for (i=0;i<maxNumManifolds ;i++)
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@@ -279,11 +280,12 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
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{
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colObj0->activate();
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}
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#ifdef SPLIT_ISLANDS
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// //filtering for response
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if (dispatcher->needsResponse(colObj0,colObj1))
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m_islandmanifold.push_back(manifold);
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#endif //SPLIT_ISLANDS
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if(m_splitIslands)
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{
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//filtering for response
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if (dispatcher->needsResponse(colObj0,colObj1))
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m_islandmanifold.push_back(manifold);
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}
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}
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}
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}
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@@ -303,84 +305,86 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
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BT_PROFILE("processIslands");
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#ifndef SPLIT_ISLANDS
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btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
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callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
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#else
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// Sort manifolds, based on islands
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// Sort the vector using predicate and std::sort
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//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
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int numManifolds = int (m_islandmanifold.size());
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//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
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m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
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//now process all active islands (sets of manifolds for now)
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int startManifoldIndex = 0;
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int endManifoldIndex = 1;
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//int islandId;
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// printf("Start Islands\n");
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//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
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for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
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if(!m_splitIslands)
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{
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int islandId = getUnionFind().getElement(startIslandIndex).m_id;
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btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
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int maxNumManifolds = dispatcher->getNumManifolds();
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callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
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}
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else
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{
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// Sort manifolds, based on islands
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// Sort the vector using predicate and std::sort
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//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
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int numManifolds = int (m_islandmanifold.size());
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bool islandSleeping = false;
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for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
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{
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int i = getUnionFind().getElement(endIslandIndex).m_sz;
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btCollisionObject* colObj0 = collisionObjects[i];
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m_islandBodies.push_back(colObj0);
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if (!colObj0->isActive())
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islandSleeping = true;
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}
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//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
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m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
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//find the accompanying contact manifold for this islandId
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int numIslandManifolds = 0;
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btPersistentManifold** startManifold = 0;
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//now process all active islands (sets of manifolds for now)
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if (startManifoldIndex<numManifolds)
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int startManifoldIndex = 0;
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int endManifoldIndex = 1;
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//int islandId;
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// printf("Start Islands\n");
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//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
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for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
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{
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int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
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if (curIslandId == islandId)
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{
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startManifold = &m_islandmanifold[startManifoldIndex];
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for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
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{
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int islandId = getUnionFind().getElement(startIslandIndex).m_id;
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bool islandSleeping = false;
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for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
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{
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int i = getUnionFind().getElement(endIslandIndex).m_sz;
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btCollisionObject* colObj0 = collisionObjects[i];
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m_islandBodies.push_back(colObj0);
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if (!colObj0->isActive())
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islandSleeping = true;
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}
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//find the accompanying contact manifold for this islandId
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int numIslandManifolds = 0;
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btPersistentManifold** startManifold = 0;
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if (startManifoldIndex<numManifolds)
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{
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int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
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if (curIslandId == islandId)
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{
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startManifold = &m_islandmanifold[startManifoldIndex];
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for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
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{
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}
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/// Process the actual simulation, only if not sleeping/deactivated
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numIslandManifolds = endManifoldIndex-startManifoldIndex;
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}
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/// Process the actual simulation, only if not sleeping/deactivated
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numIslandManifolds = endManifoldIndex-startManifoldIndex;
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}
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}
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if (!islandSleeping)
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{
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callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
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// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
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}
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if (numIslandManifolds)
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{
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startManifoldIndex = endManifoldIndex;
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}
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if (!islandSleeping)
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{
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callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
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// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
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m_islandBodies.resize(0);
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}
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if (numIslandManifolds)
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{
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startManifoldIndex = endManifoldIndex;
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}
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m_islandBodies.resize(0);
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}
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#endif //SPLIT_ISLANDS
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} // else if(!splitIslands)
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}
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