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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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55
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -9,32 +9,32 @@
#include <algorithm>
SimulationIslandManager::SimulationIslandManager()
btSimulationIslandManager::btSimulationIslandManager()
{
}
SimulationIslandManager::~SimulationIslandManager()
btSimulationIslandManager::~btSimulationIslandManager()
{
}
void SimulationIslandManager::InitUnionFind(int n)
void btSimulationIslandManager::InitUnionFind(int n)
{
m_unionFind.reset(n);
}
void SimulationIslandManager::FindUnions(Dispatcher* dispatcher)
void btSimulationIslandManager::FindUnions(btDispatcher* dispatcher)
{
{
for (int i=0;i<dispatcher->GetNumManifolds();i++)
{
const PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
const btPersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
//static objects (invmass 0.f) don't merge !
const CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
const CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->GetBody0());
const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->GetBody1());
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
@@ -43,29 +43,26 @@ void SimulationIslandManager::FindUnions(Dispatcher* dispatcher)
m_unionFind.unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
void SimulationIslandManager::UpdateActivationState(CollisionWorld* colWorld,Dispatcher* dispatcher)
void btSimulationIslandManager::UpdateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
{
InitUnionFind(colWorld->GetCollisionObjectArray().size());
// put the index into m_controllers into m_tag
{
std::vector<CollisionObject*>::iterator i;
std::vector<btCollisionObject*>::iterator i;
int index = 0;
for (i=colWorld->GetCollisionObjectArray().begin();
!(i==colWorld->GetCollisionObjectArray().end()); i++)
{
CollisionObject* collisionObject= (*i);
btCollisionObject* collisionObject= (*i);
collisionObject->m_islandTag1 = index;
collisionObject->m_hitFraction = 1.f;
index++;
@@ -83,19 +80,19 @@ void SimulationIslandManager::UpdateActivationState(CollisionWorld* colWorld,Dis
void SimulationIslandManager::StoreIslandActivationState(CollisionWorld* colWorld)
void btSimulationIslandManager::StoreIslandActivationState(btCollisionWorld* colWorld)
{
// put the islandId ('find' value) into m_tag
{
std::vector<CollisionObject*>::iterator i;
std::vector<btCollisionObject*>::iterator i;
int index = 0;
for (i=colWorld->GetCollisionObjectArray().begin();
!(i==colWorld->GetCollisionObjectArray().end()); i++)
{
CollisionObject* collisionObject= (*i);
btCollisionObject* collisionObject= (*i);
if (collisionObject->mergesSimulationIslands())
{
@@ -109,17 +106,17 @@ void SimulationIslandManager::StoreIslandActivationState(CollisionWorld* colWorl
}
}
inline int getIslandId(const PersistentManifold* lhs)
inline int getIslandId(const btPersistentManifold* lhs)
{
int islandId;
const CollisionObject* rcolObj0 = static_cast<const CollisionObject*>(lhs->GetBody0());
const CollisionObject* rcolObj1 = static_cast<const CollisionObject*>(lhs->GetBody1());
const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->GetBody0());
const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->GetBody1());
islandId= rcolObj0->m_islandTag1>=0?rcolObj0->m_islandTag1:rcolObj1->m_islandTag1;
return islandId;
}
bool PersistentManifoldSortPredicate(const PersistentManifold* lhs, const PersistentManifold* rhs)
bool btPersistentManifoldSortPredicate(const btPersistentManifold* lhs, const btPersistentManifold* rhs)
{
int rIslandId0,lIslandId0;
rIslandId0 = getIslandId(rhs);
@@ -131,7 +128,7 @@ bool PersistentManifoldSortPredicate(const PersistentManifold* lhs, const Persis
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback)
void btSimulationIslandManager::BuildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
{
//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
@@ -158,7 +155,7 @@ void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,Coll
{
int i = GetUnionFind().getElement(idx).m_sz;
CollisionObject* colObj0 = collisionObjects[i];
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->m_islandTag1 != islandId) && (colObj0->m_islandTag1 != -1))
{
printf("error in island management\n");
@@ -184,7 +181,7 @@ void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,Coll
for (idx=startIslandIndex;idx<endIslandIndex;idx++)
{
int i = GetUnionFind().getElement(idx).m_sz;
CollisionObject* colObj0 = collisionObjects[i];
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->m_islandTag1 != islandId) && (colObj0->m_islandTag1 != -1))
{
printf("error in island management\n");
@@ -205,7 +202,7 @@ void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,Coll
{
int i = GetUnionFind().getElement(idx).m_sz;
CollisionObject* colObj0 = collisionObjects[i];
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->m_islandTag1 != islandId) && (colObj0->m_islandTag1 != -1))
{
printf("error in island management\n");
@@ -224,17 +221,17 @@ void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,Coll
}
}
std::vector<PersistentManifold*> islandmanifold;
std::vector<btPersistentManifold*> islandmanifold;
int i;
int maxNumManifolds = dispatcher->GetNumManifolds();
islandmanifold.reserve(maxNumManifolds);
for (i=0;i<maxNumManifolds ;i++)
{
PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
btPersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->GetBody0());
btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->GetBody1());
//todo: check sleeping conditions!
if (((colObj0) && colObj0->GetActivationState() != ISLAND_SLEEPING) ||
@@ -250,7 +247,7 @@ void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,Coll
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort
std::sort(islandmanifold.begin(), islandmanifold.end(), PersistentManifoldSortPredicate);
std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
//now process all active islands (sets of manifolds for now)