예제 #1
0
void	btDiscreteDynamicsWorld::calculateSimulationIslands()
{
	BT_PROFILE("calculateSimulationIslands");

	getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());

	{
		int i;
		int numConstraints = int(m_constraints.size());
		for (i=0;i< numConstraints ; i++ )
		{
			btTypedConstraint* constraint = m_constraints[i];

			const btRigidBody* colObj0 = &constraint->getRigidBodyA();
			const btRigidBody* colObj1 = &constraint->getRigidBodyB();

			if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
				((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
			{
				if (colObj0->isActive() || colObj1->isActive())
				{

					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
						(colObj1)->getIslandTag());
				}
			}
		}
	}

	//Store the island id in each body
	getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());

	
}
예제 #2
0
void	btDiscreteDynamicsWorld::calculateSimulationIslands()
{
	BT_PROFILE("calculateSimulationIslands");

	getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());

    {
        //merge islands based on speculative contact manifolds too
        for (int i=0;i<this->m_predictiveManifolds.size();i++)
        {
            btPersistentManifold* manifold = m_predictiveManifolds[i];
            
            const btCollisionObject* colObj0 = manifold->getBody0();
            const btCollisionObject* colObj1 = manifold->getBody1();
            
            if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
                ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
            {
                if (colObj0->isActive() || colObj1->isActive())
                {
                    
                    getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
                                                                       (colObj1)->getIslandTag());
                }
            }
        }
    }
    
	{
		int i;
		int numConstraints = int(m_constraints.size());
		for (i=0;i< numConstraints ; i++ )
		{
			btTypedConstraint* constraint = m_constraints[i];
			if (constraint->isEnabled())
			{
				const btRigidBody* colObj0 = &constraint->getRigidBodyA();
				const btRigidBody* colObj1 = &constraint->getRigidBodyB();

				if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
					((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
				{
					if (colObj0->isActive() || colObj1->isActive())
					{

						getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
							(colObj1)->getIslandTag());
					}
				}
			}
		}
	}

	//Store the island id in each body
	getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());

	
}
예제 #3
0
void	btMultiBodyDynamicsWorld::calculateSimulationIslands()
{
	BT_PROFILE("calculateSimulationIslands");

	getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());

    {
        //merge islands based on speculative contact manifolds too
        for (int i=0;i<this->m_predictiveManifolds.size();i++)
        {
            btPersistentManifold* manifold = m_predictiveManifolds[i];
            
            const btCollisionObject* colObj0 = manifold->getBody0();
            const btCollisionObject* colObj1 = manifold->getBody1();
            
            if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
                ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
            {
				getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
            }
        }
    }
    
	{
		int i;
		int numConstraints = int(m_constraints.size());
		for (i=0;i< numConstraints ; i++ )
		{
			btTypedConstraint* constraint = m_constraints[i];
			if (constraint->isEnabled())
			{
				const btRigidBody* colObj0 = &constraint->getRigidBodyA();
				const btRigidBody* colObj1 = &constraint->getRigidBodyB();

				if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
					((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
				{
					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
				}
			}
		}
	}

	//merge islands linked by Featherstone link colliders
	for (int i=0;i<m_multiBodies.size();i++)
	{
		btMultiBody* body = m_multiBodies[i];
		{
			btMultiBodyLinkCollider* prev = body->getBaseCollider();

			for (int b=0;b<body->getNumLinks();b++)
			{
				btMultiBodyLinkCollider* cur = body->getLink(b).m_collider;
				
				if (((cur) && (!(cur)->isStaticOrKinematicObject())) &&
					((prev) && (!(prev)->isStaticOrKinematicObject())))
				{
					int tagPrev = prev->getIslandTag();
					int tagCur = cur->getIslandTag();
					getSimulationIslandManager()->getUnionFind().unite(tagPrev, tagCur);
				}
				if (cur && !cur->isStaticOrKinematicObject())
					prev = cur;
				
			}
		}
	}

	//merge islands linked by multibody constraints
	{
		for (int i=0;i<this->m_multiBodyConstraints.size();i++)
		{
			btMultiBodyConstraint* c = m_multiBodyConstraints[i];
			int tagA = c->getIslandIdA();
			int tagB = c->getIslandIdB();
			if (tagA>=0 && tagB>=0)
				getSimulationIslandManager()->getUnionFind().unite(tagA, tagB);
		}
	}

	//Store the island id in each body
	getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());

}