void Step2DSW::step(Space2DSW* 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<Body2DSW>::List * body_list = &p_space->get_active_body_list(); /* INTEGRATE FORCES */ int active_count=0; const SelfList<Body2DSW>*b = body_list->first(); while(b) { b->self()->integrate_forces(p_delta); b=b->next(); active_count++; } /* GENERATE CONSTRAINT ISLANDS */ Body2DSW *island_list=NULL; Constraint2DSW *constraint_island_list=NULL; b = body_list->first(); int island_count=0; while(b) { Body2DSW *body = b->self(); if (body->get_island_step()!=_step) { Body2DSW *island=NULL; Constraint2DSW *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<Area2DSW>::List &aml = p_space->get_moved_area_list(); while(aml.first()) { for(const Set<Constraint2DSW*>::Element *E=aml.first()->self()->get_constraints().front();E;E=E->next()) { Constraint2DSW*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<Area2DSW>*)aml.first()); //faster to remove here } // print_line("island count: "+itos(island_count)+" active count: "+itos(active_count)); /* SETUP CONSTRAINT ISLANDS */ { Constraint2DSW *ci=constraint_island_list; while(ci) { _setup_island(ci,p_delta); ci=ci->get_island_list_next(); } } /* SOLVE CONSTRAINT ISLANDS */ { Constraint2DSW *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 */ { Body2DSW *bi=island_list; while(bi) { _check_suspend(bi,p_delta); bi=bi->get_island_list_next(); } } p_space->update(); p_space->unlock(); _step++; }
void Step2DSW::step(Space2DSW* 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<Body2DSW>::List * body_list = &p_space->get_active_body_list(); /* INTEGRATE FORCES */ uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec(); uint64_t profile_endtime=0; int active_count=0; const SelfList<Body2DSW>*b = body_list->first(); while(b) { b->self()->integrate_forces(p_delta); b=b->next(); active_count++; } p_space->set_active_objects(active_count); { //profile profile_endtime=OS::get_singleton()->get_ticks_usec(); p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_FORCES,profile_endtime-profile_begtime); profile_begtime=profile_endtime; } /* GENERATE CONSTRAINT ISLANDS */ Body2DSW *island_list=NULL; Constraint2DSW *constraint_island_list=NULL; b = body_list->first(); int island_count=0; while(b) { Body2DSW *body = b->self(); if (body->get_island_step()!=_step) { Body2DSW *island=NULL; Constraint2DSW *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(); } p_space->set_island_count(island_count); const SelfList<Area2DSW>::List &aml = p_space->get_moved_area_list(); while(aml.first()) { for(const Set<Constraint2DSW*>::Element *E=aml.first()->self()->get_constraints().front();E;E=E->next()) { Constraint2DSW*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<Area2DSW>*)aml.first()); //faster to remove here } // print_line("island count: "+itos(island_count)+" active count: "+itos(active_count)); { //profile profile_endtime=OS::get_singleton()->get_ticks_usec(); p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_GENERATE_ISLANDS,profile_endtime-profile_begtime); profile_begtime=profile_endtime; } /* SETUP CONSTRAINT ISLANDS */ { Constraint2DSW *ci=constraint_island_list; Constraint2DSW *prev_ci=NULL; while(ci) { if (_setup_island(ci,p_delta)==true) { //removed the root from the island graph because it is not to be processed Constraint2DSW *next = ci->get_island_next(); if (next) { //root from list being deleted no longer exists, replace by next next->set_island_list_next(ci->get_island_list_next()); if (prev_ci) { prev_ci->set_island_list_next(next); } else { constraint_island_list=next; } prev_ci=next; } else { //list is empty, just skip if (prev_ci) { prev_ci->set_island_list_next(ci->get_island_list_next()); } else { constraint_island_list=ci->get_island_list_next(); } } } else { prev_ci=ci; } ci=ci->get_island_list_next(); } } { //profile profile_endtime=OS::get_singleton()->get_ticks_usec(); p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SETUP_CONSTRAINTS,profile_endtime-profile_begtime); profile_begtime=profile_endtime; } /* SOLVE CONSTRAINT ISLANDS */ { Constraint2DSW *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(); } } { //profile profile_endtime=OS::get_singleton()->get_ticks_usec(); p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS,profile_endtime-profile_begtime); profile_begtime=profile_endtime; } /* INTEGRATE VELOCITIES */ b = body_list->first(); while(b) { const SelfList<Body2DSW>*n=b->next(); b->self()->integrate_velocities(p_delta); b=n; // in case it shuts itself down } /* SLEEP / WAKE UP ISLANDS */ { Body2DSW *bi=island_list; while(bi) { _check_suspend(bi,p_delta); bi=bi->get_island_list_next(); } } { //profile profile_endtime=OS::get_singleton()->get_ticks_usec(); p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES,profile_endtime-profile_begtime); //profile_begtime=profile_endtime; } p_space->update(); p_space->unlock(); _step++; }