Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

Timestamp:

Apr 21, 2011, 6:58:23 PM (13 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp (modified) (6 diffs)

code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ +1 @@
+
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -45 +46 @@
         
         {
+                btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
+                const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
+                btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
                 
-                for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
-                {
-                        btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
+                for (int i=0;i<numOverlappingPairs;i++)
+                {
                         const btBroadphasePair& collisionPair = pairPtr[i];
                         btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
@@ -64 +67 @@
 }
 
-
+#ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION
+void   btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
+{
+
+        // put the index into m_controllers into m_tag   
+        int index = 0;
+        {
+
+                int i;
+                for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
+                {
+                        btCollisionObject*   collisionObject= colWorld->getCollisionObjectArray()[i];
+                        //Adding filtering here
+                        if (!collisionObject->isStaticOrKinematicObject())
+                        {
+                                collisionObject->setIslandTag(index++);
+                        }
+                        collisionObject->setCompanionId(-1);
+                        collisionObject->setHitFraction(btScalar(1.));
+                }
+        }
+        // do the union find
+
+        initUnionFind( index );
+
+        findUnions(dispatcher,colWorld);
+}
+
+void   btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
+{
+        // put the islandId ('find' value) into m_tag   
+        {
+                int index = 0;
+                int i;
+                for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
+                {
+                        btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
+                        if (!collisionObject->isStaticOrKinematicObject())
+                        {
+                                collisionObject->setIslandTag( m_unionFind.find(index) );
+                                //Set the correct object offset in Collision Object Array
+                                m_unionFind.getElement(index).m_sz = i;
+                                collisionObject->setCompanionId(-1);
+                                index++;
+                        } else
+                        {
+                                collisionObject->setIslandTag(-1);
+                                collisionObject->setCompanionId(-2);
+                        }
+                }
+        }
+}
+
+
+#else //STATIC_SIMULATION_ISLAND_OPTIMIZATION
 void    btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
 {
-        
+
         initUnionFind( int (colWorld->getCollisionObjectArray().size()));
-        
+
         // put the index into m_controllers into m_tag  
         {
-                
+
                 int index = 0;
                 int i;
@@ -82 +139 @@
                         collisionObject->setHitFraction(btScalar(1.));
                         index++;
-                        
+
                 }
         }
         // do the union find
-        
+
         findUnions(dispatcher,colWorld);
-        
-
-        
-}
-
-
-
+}
 
 void    btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
@@ -100 +151 @@
         // put the islandId ('find' value) into m_tag   
         {
-                
-                
+
+
                 int index = 0;
                 int i;
@@ -120 +171 @@
         }
 }
+
+#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
 
 inline  int     getIslandId(const btPersistentManifold* lhs)