Exemple #1
0
void StepSW::_populate_island(BodySW* p_body,BodySW** p_island,ConstraintSW **p_constraint_island) {

	p_body->set_island_step(_step);
	p_body->set_island_next(*p_island);
	*p_island=p_body;

	for(Map<ConstraintSW*,int>::Element *E=p_body->get_constraint_map().front();E;E=E->next()) {

		ConstraintSW *c=(ConstraintSW*)E->key();
		if (c->get_island_step()==_step)
			continue; //already processed
		c->set_island_step(_step);
		c->set_island_next(*p_constraint_island);
		*p_constraint_island=c;


		for(int i=0;i<c->get_body_count();i++) {
			if (i==E->get())
				continue;
			BodySW *b = c->get_body_ptr()[i];
			if (b->get_island_step()==_step || b->get_mode()==PhysicsServer::BODY_MODE_STATIC)
				continue; //no go
			_populate_island(c->get_body_ptr()[i],p_island,p_constraint_island);
		}
	}
}
Exemple #2
0
void StepSW::step(SpaceSW* p_space,float p_delta,int p_iterations) {

	p_space->lock(); // can't access space during this

	p_space->setup(); //update inertias, etc

	const SelfList<BodySW>::List * body_list = &p_space->get_active_body_list();

	/* INTEGRATE FORCES */
	int active_count=0;

	const SelfList<BodySW>*b = body_list->first();
	while(b) {

		b->self()->integrate_forces(p_delta);
		b=b->next();
		active_count++;
	}



	/* GENERATE CONSTRAINT ISLANDS */

	BodySW *island_list=NULL;
	ConstraintSW *constraint_island_list=NULL;
	b = body_list->first();

	int island_count=0;

	while(b) {
		BodySW *body = b->self();


		if (body->get_island_step()!=_step) {

			BodySW *island=NULL;
			ConstraintSW *constraint_island=NULL;
			_populate_island(body,&island,&constraint_island);

			island->set_island_list_next(island_list);
			island_list=island;

			if (constraint_island) {
				constraint_island->set_island_list_next(constraint_island_list);
				constraint_island_list=constraint_island;
				island_count++;
			}

		}
		b=b->next();
	}

	const SelfList<AreaSW>::List &aml = p_space->get_moved_area_list();

	while(aml.first()) {
		for(const Set<ConstraintSW*>::Element *E=aml.first()->self()->get_constraints().front();E;E=E->next()) {

			ConstraintSW*c=E->get();
			if (c->get_island_step()==_step)
				continue;
			c->set_island_step(_step);
			c->set_island_next(NULL);
			c->set_island_list_next(constraint_island_list);
			constraint_island_list=c;
		}
		p_space->area_remove_from_moved_list((SelfList<AreaSW>*)aml.first()); //faster to remove here
	}

//	print_line("island count: "+itos(island_count)+" active count: "+itos(active_count));
	/* SETUP CONSTRAINT ISLANDS */

	{
		ConstraintSW *ci=constraint_island_list;
		while(ci) {

			_setup_island(ci,p_delta);
			ci=ci->get_island_list_next();
		}
	}

	/* SOLVE CONSTRAINT ISLANDS */

	{
		ConstraintSW *ci=constraint_island_list;
		while(ci) {
			//iterating each island separatedly improves cache efficiency
			_solve_island(ci,p_iterations,p_delta);
			ci=ci->get_island_list_next();
		}
	}

	/* INTEGRATE VELOCITIES */

	b = body_list->first();
	while(b) {

		b->self()->integrate_velocities(p_delta);
		b=b->next();
	}

	/* SLEEP / WAKE UP ISLANDS */

	{
		BodySW *bi=island_list;
		while(bi) {

			_check_suspend(bi,p_delta);
			bi=bi->get_island_list_next();
		}
	}

	p_space->update();
	p_space->unlock();
	_step++;



}