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++;
}
