358 lines
9.9 KiB
C++
358 lines
9.9 KiB
C++
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#include "LinearMath/btScalar.h"
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#include "btSimulationIslandManager.h"
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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#include <stdio.h>
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#include "LinearMath/btQuickprof.h"
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btSimulationIslandManager::btSimulationIslandManager()
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{
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}
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btSimulationIslandManager::~btSimulationIslandManager()
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{
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}
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void btSimulationIslandManager::initUnionFind(int n)
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{
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m_unionFind.reset(n);
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}
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void btSimulationIslandManager::findUnions(btDispatcher* dispatcher)
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{
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{
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for (int i=0;i<dispatcher->getNumManifolds();i++)
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{
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const btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
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//static objects (invmass btScalar(0.)) don't merge !
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const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
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const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
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if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
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((colObj1) && ((colObj1)->mergesSimulationIslands())))
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{
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m_unionFind.unite((colObj0)->getIslandTag(),
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(colObj1)->getIslandTag());
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}
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}
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}
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}
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void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
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{
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initUnionFind( int (colWorld->getCollisionObjectArray().size()));
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// put the index into m_controllers into m_tag
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{
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int index = 0;
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int i;
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for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
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{
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btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
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collisionObject->setIslandTag(index);
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collisionObject->setCompanionId(-1);
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collisionObject->setHitFraction(btScalar(1.));
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index++;
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}
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}
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// do the union find
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findUnions(dispatcher);
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}
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void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
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{
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// put the islandId ('find' value) into m_tag
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{
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int index = 0;
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int i;
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for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
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{
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btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
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if (collisionObject->mergesSimulationIslands())
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{
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collisionObject->setIslandTag( m_unionFind.find(index) );
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collisionObject->setCompanionId(-1);
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} else
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{
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collisionObject->setIslandTag(-1);
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collisionObject->setCompanionId(-2);
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}
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index++;
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}
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}
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}
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inline int getIslandId(const btPersistentManifold* lhs)
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{
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int islandId;
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const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
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const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
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islandId= rcolObj0->getIslandTag()>=0?rcolObj0->getIslandTag():rcolObj1->getIslandTag();
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return islandId;
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}
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/// function object that routes calls to operator<
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class btPersistentManifoldSortPredicate
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{
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public:
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SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs )
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{
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return getIslandId(lhs) < getIslandId(rhs);
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}
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};
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//
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// todo: this is random access, it can be walked 'cache friendly'!
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//
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void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
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{
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/*if (0)
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{
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int maxNumManifolds = dispatcher->getNumManifolds();
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btCollisionDispatcher* colDis = (btCollisionDispatcher*)dispatcher;
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btPersistentManifold** manifold = colDis->getInternalManifoldPointer();
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callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, 0);
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return;
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}
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*/
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BEGIN_PROFILE("islandUnionFindAndHeapSort");
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//we are going to sort the unionfind array, and store the element id in the size
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//afterwards, we clean unionfind, to make sure no-one uses it anymore
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getUnionFind().sortIslands();
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int numElem = getUnionFind().getNumElements();
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int endIslandIndex=1;
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int startIslandIndex;
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//update the sleeping state for bodies, if all are sleeping
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for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
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{
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int islandId = getUnionFind().getElement(startIslandIndex).m_id;
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for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
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{
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}
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//int numSleeping = 0;
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bool allSleeping = true;
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int idx;
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for (idx=startIslandIndex;idx<endIslandIndex;idx++)
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{
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int i = getUnionFind().getElement(idx).m_sz;
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btCollisionObject* colObj0 = collisionObjects[i];
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if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
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{
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printf("error in island management\n");
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}
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assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
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if (colObj0->getIslandTag() == islandId)
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{
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if (colObj0->getActivationState()== ACTIVE_TAG)
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{
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allSleeping = false;
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}
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if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
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{
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allSleeping = false;
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}
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}
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}
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if (allSleeping)
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{
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int idx;
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for (idx=startIslandIndex;idx<endIslandIndex;idx++)
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{
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int i = getUnionFind().getElement(idx).m_sz;
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btCollisionObject* colObj0 = collisionObjects[i];
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if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
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{
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printf("error in island management\n");
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}
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assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
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if (colObj0->getIslandTag() == islandId)
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{
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colObj0->setActivationState( ISLAND_SLEEPING );
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}
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}
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} else
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{
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int idx;
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for (idx=startIslandIndex;idx<endIslandIndex;idx++)
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{
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int i = getUnionFind().getElement(idx).m_sz;
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btCollisionObject* colObj0 = collisionObjects[i];
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if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
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{
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printf("error in island management\n");
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}
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assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
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if (colObj0->getIslandTag() == islandId)
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{
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if ( colObj0->getActivationState() == ISLAND_SLEEPING)
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{
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colObj0->setActivationState( WANTS_DEACTIVATION);
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}
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}
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}
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}
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}
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btAlignedObjectArray<btPersistentManifold*> islandmanifold;
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int i;
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int maxNumManifolds = dispatcher->getNumManifolds();
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islandmanifold.reserve(maxNumManifolds);
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for (i=0;i<maxNumManifolds ;i++)
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{
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btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
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btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
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btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
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//todo: check sleeping conditions!
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if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
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((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
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{
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//kinematic objects don't merge islands, but wake up all connected objects
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if (colObj0->isStaticOrKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
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{
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colObj1->activate();
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}
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if (colObj1->isStaticOrKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
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{
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colObj0->activate();
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}
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//filtering for response
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if (dispatcher->needsResponse(colObj0,colObj1))
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islandmanifold.push_back(manifold);
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}
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}
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int numManifolds = int (islandmanifold.size());
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// Sort manifolds, based on islands
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// Sort the vector using predicate and std::sort
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//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
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//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
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islandmanifold.heapSort(btPersistentManifoldSortPredicate());
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//now process all active islands (sets of manifolds for now)
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int startManifoldIndex = 0;
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int endManifoldIndex = 1;
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//int islandId;
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END_PROFILE("islandUnionFindAndHeapSort");
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btAlignedObjectArray<btCollisionObject*> islandBodies;
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//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
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for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
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{
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int islandId = getUnionFind().getElement(startIslandIndex).m_id;
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bool islandSleeping = false;
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for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
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{
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int i = getUnionFind().getElement(endIslandIndex).m_sz;
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btCollisionObject* colObj0 = collisionObjects[i];
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islandBodies.push_back(colObj0);
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if (!colObj0->isActive())
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islandSleeping = true;
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}
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//find the accompanying contact manifold for this islandId
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int numIslandManifolds = 0;
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btPersistentManifold** startManifold = 0;
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if (startManifoldIndex<numManifolds)
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{
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int curIslandId = getIslandId(islandmanifold[startManifoldIndex]);
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if (curIslandId == islandId)
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{
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startManifold = &islandmanifold[startManifoldIndex];
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for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++)
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{
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}
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/// Process the actual simulation, only if not sleeping/deactivated
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numIslandManifolds = endManifoldIndex-startManifoldIndex;
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}
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}
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if (!islandSleeping)
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{
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callback->ProcessIsland(&islandBodies[0],islandBodies.size(),startManifold,numIslandManifolds, islandId);
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}
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if (numIslandManifolds)
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{
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startManifoldIndex = endManifoldIndex;
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}
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islandBodies.resize(0);
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}
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}
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