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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp445
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diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
deleted file mode 100644
index 327b3f076a..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ /dev/null
@@ -1,445 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "LinearMath/btScalar.h"
-#include "btSimulationIslandManager.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-
-//#include <stdio.h>
-#include "LinearMath/btQuickprof.h"
-
-btSimulationIslandManager::btSimulationIslandManager() : m_splitIslands(true)
-{
-}
-
-btSimulationIslandManager::~btSimulationIslandManager()
-{
-}
-
-void btSimulationIslandManager::initUnionFind(int n)
-{
- m_unionFind.reset(n);
-}
-
-void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */, btCollisionWorld* colWorld)
-{
- {
- btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
- const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
- if (numOverlappingPairs)
- {
- btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
-
- for (int i = 0; i < numOverlappingPairs; i++)
- {
- const btBroadphasePair& collisionPair = pairPtr[i];
- btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
- btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
-
- if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
- ((colObj1) && ((colObj1)->mergesSimulationIslands())))
- {
- m_unionFind.unite((colObj0)->getIslandTag(),
- (colObj1)->getIslandTag());
- }
- }
- }
- }
-}
-
-#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;
- for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
- {
- btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
- collisionObject->setIslandTag(index);
- collisionObject->setCompanionId(-1);
- collisionObject->setHitFraction(btScalar(1.));
- index++;
- }
- }
- // do the union find
-
- 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));
- collisionObject->setCompanionId(-1);
- }
- else
- {
- collisionObject->setIslandTag(-1);
- collisionObject->setCompanionId(-2);
- }
- index++;
- }
- }
-}
-
-#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
-
-inline int getIslandId(const btPersistentManifold* lhs)
-{
- int islandId;
- const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
- const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
- islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag();
- return islandId;
-}
-
-/// function object that routes calls to operator<
-class btPersistentManifoldSortPredicate
-{
-public:
- SIMD_FORCE_INLINE bool operator()(const btPersistentManifold* lhs, const btPersistentManifold* rhs) const
- {
- return getIslandId(lhs) < getIslandId(rhs);
- }
-};
-
-class btPersistentManifoldSortPredicateDeterministic
-{
-public:
- SIMD_FORCE_INLINE bool operator()(const btPersistentManifold* lhs, const btPersistentManifold* rhs) const
- {
- return (
- (getIslandId(lhs) < getIslandId(rhs)) || ((getIslandId(lhs) == getIslandId(rhs)) && lhs->getBody0()->getBroadphaseHandle()->m_uniqueId < rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) || ((getIslandId(lhs) == getIslandId(rhs)) && (lhs->getBody0()->getBroadphaseHandle()->m_uniqueId == rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) && (lhs->getBody1()->getBroadphaseHandle()->m_uniqueId < rhs->getBody1()->getBroadphaseHandle()->m_uniqueId)));
- }
-};
-
-void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld)
-{
- BT_PROFILE("islandUnionFindAndQuickSort");
-
- btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-
- m_islandmanifold.resize(0);
-
- //we are going to sort the unionfind array, and store the element id in the size
- //afterwards, we clean unionfind, to make sure no-one uses it anymore
-
- getUnionFind().sortIslands();
- int numElem = getUnionFind().getNumElements();
-
- int endIslandIndex = 1;
- int startIslandIndex;
-
- //update the sleeping state for bodies, if all are sleeping
- for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
- {
- int islandId = getUnionFind().getElement(startIslandIndex).m_id;
- for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
- {
- }
-
- //int numSleeping = 0;
-
- bool allSleeping = true;
-
- int idx;
- for (idx = startIslandIndex; idx < endIslandIndex; idx++)
- {
- int i = getUnionFind().getElement(idx).m_sz;
-
- btCollisionObject* colObj0 = collisionObjects[i];
- if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
- {
- // printf("error in island management\n");
- }
-
- btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
- if (colObj0->getIslandTag() == islandId)
- {
- if (colObj0->getActivationState() == ACTIVE_TAG ||
- colObj0->getActivationState() == DISABLE_DEACTIVATION)
- {
- allSleeping = false;
- break;
- }
- }
- }
-
- if (allSleeping)
- {
- int idx;
- for (idx = startIslandIndex; idx < endIslandIndex; idx++)
- {
- int i = getUnionFind().getElement(idx).m_sz;
- btCollisionObject* colObj0 = collisionObjects[i];
- if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
- {
- // printf("error in island management\n");
- }
-
- btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-
- if (colObj0->getIslandTag() == islandId)
- {
- colObj0->setActivationState(ISLAND_SLEEPING);
- }
- }
- }
- else
- {
- int idx;
- for (idx = startIslandIndex; idx < endIslandIndex; idx++)
- {
- int i = getUnionFind().getElement(idx).m_sz;
-
- btCollisionObject* colObj0 = collisionObjects[i];
- if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
- {
- // printf("error in island management\n");
- }
-
- btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
-
-
- if (colObj0->getIslandTag() == islandId)
- {
- if (colObj0->getActivationState() == ISLAND_SLEEPING)
- {
- colObj0->setActivationState(WANTS_DEACTIVATION);
- colObj0->setDeactivationTime(0.f);
- }
- }
- }
- }
- }
-
- int i;
- int maxNumManifolds = dispatcher->getNumManifolds();
-
- //#define SPLIT_ISLANDS 1
- //#ifdef SPLIT_ISLANDS
-
- //#endif //SPLIT_ISLANDS
-
- for (i = 0; i < maxNumManifolds; i++)
- {
- btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
- if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs)
- {
- if (manifold->getNumContacts() == 0)
- continue;
- }
-
- const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
- const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
-
- ///@todo: check sleeping conditions!
- if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
- ((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
- {
- //kinematic objects don't merge islands, but wake up all connected objects
- if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
- {
- if (colObj0->hasContactResponse())
- colObj1->activate();
- }
- if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
- {
- if (colObj1->hasContactResponse())
- colObj0->activate();
- }
- if (m_splitIslands)
- {
- //filtering for response
- if (dispatcher->needsResponse(colObj0, colObj1))
- m_islandmanifold.push_back(manifold);
- }
- }
- }
-}
-
-
-///@todo: this is random access, it can be walked 'cache friendly'!
-void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
-{
- buildIslands(dispatcher, collisionWorld);
- processIslands(dispatcher, collisionWorld, callback);
-}
-
-void btSimulationIslandManager::processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
-{
- btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
- int endIslandIndex = 1;
- int startIslandIndex;
- int numElem = getUnionFind().getNumElements();
-
- BT_PROFILE("processIslands");
-
- if (!m_splitIslands)
- {
- btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
- int maxNumManifolds = dispatcher->getNumManifolds();
- callback->processIsland(&collisionObjects[0], collisionObjects.size(), manifold, maxNumManifolds, -1);
- }
- else
- {
- // Sort manifolds, based on islands
- // Sort the vector using predicate and std::sort
- //std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
-
- int numManifolds = int(m_islandmanifold.size());
-
- //tried a radix sort, but quicksort/heapsort seems still faster
- //@todo rewrite island management
- //btPersistentManifoldSortPredicateDeterministic sorts contact manifolds based on islandid,
- //but also based on object0 unique id and object1 unique id
- if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs)
- {
- m_islandmanifold.quickSort(btPersistentManifoldSortPredicateDeterministic());
- }
- else
- {
- m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
- }
-
- //m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
-
- //now process all active islands (sets of manifolds for now)
-
- int startManifoldIndex = 0;
- int endManifoldIndex = 1;
-
- //int islandId;
-
- // printf("Start Islands\n");
-
- //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
- for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
- {
- int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-
- bool islandSleeping = true;
-
- for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
- {
- int i = getUnionFind().getElement(endIslandIndex).m_sz;
- btCollisionObject* colObj0 = collisionObjects[i];
- m_islandBodies.push_back(colObj0);
- if (colObj0->isActive())
- islandSleeping = false;
- }
-
- //find the accompanying contact manifold for this islandId
- int numIslandManifolds = 0;
- btPersistentManifold** startManifold = 0;
-
- if (startManifoldIndex < numManifolds)
- {
- int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
- if (curIslandId == islandId)
- {
- startManifold = &m_islandmanifold[startManifoldIndex];
-
- for (endManifoldIndex = startManifoldIndex + 1; (endManifoldIndex < numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex])); endManifoldIndex++)
- {
- }
- /// Process the actual simulation, only if not sleeping/deactivated
- numIslandManifolds = endManifoldIndex - startManifoldIndex;
- }
- }
-
- if (!islandSleeping)
- {
- callback->processIsland(&m_islandBodies[0], m_islandBodies.size(), startManifold, numIslandManifolds, islandId);
- // printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
- }
-
- if (numIslandManifolds)
- {
- startManifoldIndex = endManifoldIndex;
- }
-
- m_islandBodies.resize(0);
- }
- } // else if(!splitIslands)
-}
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