///@todo: this is random access, it can be walked 'cache friendly'!
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback)
{
btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
buildIslands(dispatcher,collisionWorld);
int endIslandIndex=1;
int startIslandIndex;
int numElem = getUnionFind().getNumElements();
BT_PROFILE("processIslands");
if(!m_splitIslands)
{
btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
int maxNumManifolds = dispatcher->getNumManifolds();
callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
}
else
{
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort
//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
int numManifolds = int (m_islandmanifold.size());
//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)
int startManifoldIndex = 0;
int endManifoldIndex = 1;
//int islandId;
// printf("Start Islands\n");
//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
{
int islandId = getUnionFind().getElement(startIslandIndex).m_id;
bool islandSleeping = false;
for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
{
int i = getUnionFind().getElement(endIslandIndex).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
m_islandBodies.push_back(colObj0);
if (!colObj0->isActive())
islandSleeping = true;
}
//find the accompanying contact manifold for this islandId
int numIslandManifolds = 0;
btPersistentManifold** startManifold = 0;
if (startManifoldIndex<numManifolds)
{
int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
if (curIslandId == islandId)
{
startManifold = &m_islandmanifold[startManifoldIndex];
for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
{
}
/// Process the actual simulation, only if not sleeping/deactivated
numIslandManifolds = endManifoldIndex-startManifoldIndex;
}
}
if (!islandSleeping)
{
callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
}
if (numIslandManifolds)
{
startManifoldIndex = endManifoldIndex;
}
m_islandBodies.resize(0);
}
} // else if(!splitIslands)
}
///@todo: this is random access, it can be walked 'cache friendly'!
void btSimulationIslandManager::buildAndProcessIslands( btDispatcher* dispatcher,
btCollisionWorld* collisionWorld,
btAlignedObjectArray<btTypedConstraint*>& constraints,
IslandCallback* callback
)
{
btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
buildIslands(dispatcher,collisionWorld);
BT_PROFILE("processIslands");
if(!m_splitIslands)
{
btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer();
int maxNumManifolds = dispatcher->getNumManifolds();
for ( int i = 0; i < maxNumManifolds; i++ )
{
btPersistentManifold* manifold = manifolds[ i ];
const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>( manifold->getBody0() );
const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>( manifold->getBody1() );
///@todo: check sleeping conditions!
if ( ( ( colObj0 ) && colObj0->getActivationState() != ISLAND_SLEEPING ) ||
( ( colObj1 ) && colObj1->getActivationState() != ISLAND_SLEEPING ) )
{
//kinematic objects don't merge islands, but wake up all connected objects
if ( colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING )
{
if ( colObj0->hasContactResponse() )
colObj1->activate();
}
if ( colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING )
{
if ( colObj1->hasContactResponse() )
colObj0->activate();
}
}
}
btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[ 0 ] : NULL;
callback->processIsland(&collisionObjects[0],
collisionObjects.size(),
manifolds,
maxNumManifolds,
constraintsPtr,
constraints.size(),
-1
);
}
else
{
initIslandPools();
//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
addBodiesToIslands( collisionWorld );
addManifoldsToIslands( dispatcher );
addConstraintsToIslands( constraints );
// m_activeIslands array should now contain all non-sleeping Islands, and each Island should
// have all the necessary bodies, manifolds and constraints.
// if we want to merge islands with small batch counts,
if ( m_minimumSolverBatchSize > 1 )
{
mergeIslands();
}
// dispatch islands to solver
m_islandDispatch( &m_activeIslands, callback );
}
}