bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) { int rIslandId0,lIslandId0; rIslandId0 = btGetConstraintIslandId(rhs); lIslandId0 = btGetConstraintIslandId(lhs); return lIslandId0 < rIslandId0; }
virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) { if (islandId<0) { if (numManifolds + m_numConstraints) { ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); } } else { //also add all non-contact constraints/joints for this island btTypedConstraint** startConstraint = 0; int numCurConstraints = 0; int i; //find the first constraint for this island for (i=0;i<m_numConstraints;i++) { if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) { startConstraint = &m_sortedConstraints[i]; break; } } //count the number of constraints in this island for (;i<m_numConstraints;i++) { if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) { numCurConstraints++; } } if (m_solverInfo.m_minimumSolverBatchSize<=1) { ///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive if (numManifolds + numCurConstraints) { m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); } } else { for (i=0;i<numBodies;i++) m_bodies.push_back(bodies[i]); for (i=0;i<numManifolds;i++) m_manifolds.push_back(manifolds[i]); for (i=0;i<numCurConstraints;i++) m_constraints.push_back(startConstraint[i]); if ((m_constraints.size()+m_manifolds.size())>m_solverInfo.m_minimumSolverBatchSize) { processConstraints(); } else { //printf("deferred\n"); } } } }
void btSimulationIslandManager::addConstraintsToIslands( btAlignedObjectArray<btTypedConstraint*>& constraints ) { // walk constraints for ( int i = 0; i < constraints.size(); i++ ) { // scatter constraints into various islands btTypedConstraint* constraint = constraints[ i ]; if ( constraint->isEnabled() ) { int islandId = btGetConstraintIslandId( constraint ); // if island is not sleeping, if ( Island* island = getIsland( islandId ) ) { island->constraintArray.push_back( constraint ); } } } }