1 files changed, 0 insertions, 696 deletions

diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
deleted file mode 100644
index 772b774202..0000000000
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
+++ /dev/null
@@ -1,696 +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 "LinearMath/btThreads.h"
-#include "btSimulationIslandManagerMt.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h"  // for s_minimumContactManifoldsForBatching
-
-//#include <stdio.h>
-#include "LinearMath/btQuickprof.h"
-
-SIMD_FORCE_INLINE int calcBatchCost(int bodies, int manifolds, int constraints)
-{
-	// rough estimate of the cost of a batch, used for merging
-	int batchCost = bodies + 8 * manifolds + 4 * constraints;
-	return batchCost;
-}
-
-SIMD_FORCE_INLINE int calcBatchCost(const btSimulationIslandManagerMt::Island* island)
-{
-	return calcBatchCost(island->bodyArray.size(), island->manifoldArray.size(), island->constraintArray.size());
-}
-
-btSimulationIslandManagerMt::btSimulationIslandManagerMt()
-{
-	m_minimumSolverBatchSize = calcBatchCost(0, 128, 0);
-	m_batchIslandMinBodyCount = 32;
-	m_islandDispatch = parallelIslandDispatch;
-	m_batchIsland = NULL;
-}
-
-btSimulationIslandManagerMt::~btSimulationIslandManagerMt()
-{
-	for (int i = 0; i < m_allocatedIslands.size(); ++i)
-	{
-		delete m_allocatedIslands[i];
-	}
-	m_allocatedIslands.resize(0);
-	m_activeIslands.resize(0);
-	m_freeIslands.resize(0);
-}
-
-inline int getIslandId(const btPersistentManifold* lhs)
-{
-	const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
-	const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
-	int islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag();
-	return islandId;
-}
-
-SIMD_FORCE_INLINE int btGetConstraintIslandId1(const btTypedConstraint* lhs)
-{
-	const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
-	const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
-	int islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
-	return islandId;
-}
-
-/// function object that routes calls to operator<
-class IslandBatchSizeSortPredicate
-{
-public:
-	bool operator()(const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs) const
-	{
-		int lCost = calcBatchCost(lhs);
-		int rCost = calcBatchCost(rhs);
-		return lCost > rCost;
-	}
-};
-
-class IslandBodyCapacitySortPredicate
-{
-public:
-	bool operator()(const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs) const
-	{
-		return lhs->bodyArray.capacity() > rhs->bodyArray.capacity();
-	}
-};
-
-void btSimulationIslandManagerMt::Island::append(const Island& other)
-{
-	// append bodies
-	for (int i = 0; i < other.bodyArray.size(); ++i)
-	{
-		bodyArray.push_back(other.bodyArray[i]);
-	}
-	// append manifolds
-	for (int i = 0; i < other.manifoldArray.size(); ++i)
-	{
-		manifoldArray.push_back(other.manifoldArray[i]);
-	}
-	// append constraints
-	for (int i = 0; i < other.constraintArray.size(); ++i)
-	{
-		constraintArray.push_back(other.constraintArray[i]);
-	}
-}
-
-bool btIsBodyInIsland(const btSimulationIslandManagerMt::Island& island, const btCollisionObject* obj)
-{
-	for (int i = 0; i < island.bodyArray.size(); ++i)
-	{
-		if (island.bodyArray[i] == obj)
-		{
-			return true;
-		}
-	}
-	return false;
-}
-
-void btSimulationIslandManagerMt::initIslandPools()
-{
-	// reset island pools
-	int numElem = getUnionFind().getNumElements();
-	m_lookupIslandFromId.resize(numElem);
-	for (int i = 0; i < m_lookupIslandFromId.size(); ++i)
-	{
-		m_lookupIslandFromId[i] = NULL;
-	}
-	m_activeIslands.resize(0);
-	m_freeIslands.resize(0);
-	// check whether allocated islands are sorted by body capacity (largest to smallest)
-	int lastCapacity = 0;
-	bool isSorted = true;
-	for (int i = 0; i < m_allocatedIslands.size(); ++i)
-	{
-		Island* island = m_allocatedIslands[i];
-		int cap = island->bodyArray.capacity();
-		if (cap > lastCapacity)
-		{
-			isSorted = false;
-			break;
-		}
-		lastCapacity = cap;
-	}
-	if (!isSorted)
-	{
-		m_allocatedIslands.quickSort(IslandBodyCapacitySortPredicate());
-	}
-
-	m_batchIsland = NULL;
-	// mark all islands free (but avoid deallocation)
-	for (int i = 0; i < m_allocatedIslands.size(); ++i)
-	{
-		Island* island = m_allocatedIslands[i];
-		island->bodyArray.resize(0);
-		island->manifoldArray.resize(0);
-		island->constraintArray.resize(0);
-		island->id = -1;
-		island->isSleeping = true;
-		m_freeIslands.push_back(island);
-	}
-}
-
-btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::getIsland(int id)
-{
-	btAssert(id >= 0);
-	btAssert(id < m_lookupIslandFromId.size());
-	Island* island = m_lookupIslandFromId[id];
-	if (island == NULL)
-	{
-		// search for existing island
-		for (int i = 0; i < m_activeIslands.size(); ++i)
-		{
-			if (m_activeIslands[i]->id == id)
-			{
-				island = m_activeIslands[i];
-				break;
-			}
-		}
-		m_lookupIslandFromId[id] = island;
-	}
-	return island;
-}
-
-btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::allocateIsland(int id, int numBodies)
-{
-	Island* island = NULL;
-	int allocSize = numBodies;
-	if (numBodies < m_batchIslandMinBodyCount)
-	{
-		if (m_batchIsland)
-		{
-			island = m_batchIsland;
-			m_lookupIslandFromId[id] = island;
-			// if we've made a large enough batch,
-			if (island->bodyArray.size() + numBodies >= m_batchIslandMinBodyCount)
-			{
-				// next time start a new batch
-				m_batchIsland = NULL;
-			}
-			return island;
-		}
-		else
-		{
-			// need to allocate a batch island
-			allocSize = m_batchIslandMinBodyCount * 2;
-		}
-	}
-	btAlignedObjectArray<Island*>& freeIslands = m_freeIslands;
-
-	// search for free island
-	if (freeIslands.size() > 0)
-	{
-		// try to reuse a previously allocated island
-		int iFound = freeIslands.size();
-		// linear search for smallest island that can hold our bodies
-		for (int i = freeIslands.size() - 1; i >= 0; --i)
-		{
-			if (freeIslands[i]->bodyArray.capacity() >= allocSize)
-			{
-				iFound = i;
-				island = freeIslands[i];
-				island->id = id;
-				break;
-			}
-		}
-		// if found, shrink array while maintaining ordering
-		if (island)
-		{
-			int iDest = iFound;
-			int iSrc = iDest + 1;
-			while (iSrc < freeIslands.size())
-			{
-				freeIslands[iDest++] = freeIslands[iSrc++];
-			}
-			freeIslands.pop_back();
-		}
-	}
-	if (island == NULL)
-	{
-		// no free island found, allocate
-		island = new Island();  // TODO: change this to use the pool allocator
-		island->id = id;
-		island->bodyArray.reserve(allocSize);
-		m_allocatedIslands.push_back(island);
-	}
-	m_lookupIslandFromId[id] = island;
-	if (numBodies < m_batchIslandMinBodyCount)
-	{
-		m_batchIsland = island;
-	}
-	m_activeIslands.push_back(island);
-	return island;
-}
-
-void btSimulationIslandManagerMt::buildIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld)
-{
-	BT_PROFILE("buildIslands");
-
-	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-
-	//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);
-					}
-				}
-			}
-		}
-	}
-}
-
-void btSimulationIslandManagerMt::addBodiesToIslands(btCollisionWorld* collisionWorld)
-{
-	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-	int endIslandIndex = 1;
-	int startIslandIndex;
-	int numElem = getUnionFind().getNumElements();
-
-	// create explicit islands and add bodies to each
-	for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
-	{
-		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-
-		// find end index
-		for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
-		{
-		}
-		// check if island is sleeping
-		bool islandSleeping = true;
-		for (int iElem = startIslandIndex; iElem < endIslandIndex; iElem++)
-		{
-			int i = getUnionFind().getElement(iElem).m_sz;
-			btCollisionObject* colObj = collisionObjects[i];
-			if (colObj->isActive())
-			{
-				islandSleeping = false;
-			}
-		}
-		if (!islandSleeping)
-		{
-			// want to count the number of bodies before allocating the island to optimize memory usage of the Island structures
-			int numBodies = endIslandIndex - startIslandIndex;
-			Island* island = allocateIsland(islandId, numBodies);
-			island->isSleeping = false;
-
-			// add bodies to island
-			for (int iElem = startIslandIndex; iElem < endIslandIndex; iElem++)
-			{
-				int i = getUnionFind().getElement(iElem).m_sz;
-				btCollisionObject* colObj = collisionObjects[i];
-				island->bodyArray.push_back(colObj);
-			}
-		}
-	}
-}
-
-void btSimulationIslandManagerMt::addManifoldsToIslands(btDispatcher* dispatcher)
-{
-	// walk all the manifolds, activating bodies touched by kinematic objects, and add each manifold to its Island
-	int maxNumManifolds = dispatcher->getNumManifolds();
-	for (int i = 0; i < maxNumManifolds; i++)
-	{
-		btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
-
-		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();
-			}
-			//filtering for response
-			if (dispatcher->needsResponse(colObj0, colObj1))
-			{
-				// scatter manifolds into various islands
-				int islandId = getIslandId(manifold);
-				// if island not sleeping,
-				if (Island* island = getIsland(islandId))
-				{
-					island->manifoldArray.push_back(manifold);
-				}
-			}
-		}
-	}
-}
-
-void btSimulationIslandManagerMt::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 = btGetConstraintIslandId1(constraint);
-			// if island is not sleeping,
-			if (Island* island = getIsland(islandId))
-			{
-				island->constraintArray.push_back(constraint);
-			}
-		}
-	}
-}
-
-void btSimulationIslandManagerMt::mergeIslands()
-{
-	// sort islands in order of decreasing batch size
-	m_activeIslands.quickSort(IslandBatchSizeSortPredicate());
-
-	// merge small islands to satisfy minimum batch size
-	// find first small batch island
-	int destIslandIndex = m_activeIslands.size();
-	for (int i = 0; i < m_activeIslands.size(); ++i)
-	{
-		Island* island = m_activeIslands[i];
-		int batchSize = calcBatchCost(island);
-		if (batchSize < m_minimumSolverBatchSize)
-		{
-			destIslandIndex = i;
-			break;
-		}
-	}
-	int lastIndex = m_activeIslands.size() - 1;
-	while (destIslandIndex < lastIndex)
-	{
-		// merge islands from the back of the list
-		Island* island = m_activeIslands[destIslandIndex];
-		int numBodies = island->bodyArray.size();
-		int numManifolds = island->manifoldArray.size();
-		int numConstraints = island->constraintArray.size();
-		int firstIndex = lastIndex;
-		// figure out how many islands we want to merge and find out how many bodies, manifolds and constraints we will have
-		while (true)
-		{
-			Island* src = m_activeIslands[firstIndex];
-			numBodies += src->bodyArray.size();
-			numManifolds += src->manifoldArray.size();
-			numConstraints += src->constraintArray.size();
-			int batchCost = calcBatchCost(numBodies, numManifolds, numConstraints);
-			if (batchCost >= m_minimumSolverBatchSize)
-			{
-				break;
-			}
-			if (firstIndex - 1 == destIslandIndex)
-			{
-				break;
-			}
-			firstIndex--;
-		}
-		// reserve space for these pointers to minimize reallocation
-		island->bodyArray.reserve(numBodies);
-		island->manifoldArray.reserve(numManifolds);
-		island->constraintArray.reserve(numConstraints);
-		// merge islands
-		for (int i = firstIndex; i <= lastIndex; ++i)
-		{
-			island->append(*m_activeIslands[i]);
-		}
-		// shrink array to exclude the islands that were merged from
-		m_activeIslands.resize(firstIndex);
-		lastIndex = firstIndex - 1;
-		destIslandIndex++;
-	}
-}
-
-void btSimulationIslandManagerMt::solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams)
-{
-	btPersistentManifold** manifolds = island.manifoldArray.size() ? &island.manifoldArray[0] : NULL;
-	btTypedConstraint** constraintsPtr = island.constraintArray.size() ? &island.constraintArray[0] : NULL;
-	solver->solveGroup(&island.bodyArray[0],
-					   island.bodyArray.size(),
-					   manifolds,
-					   island.manifoldArray.size(),
-					   constraintsPtr,
-					   island.constraintArray.size(),
-					   *solverParams.m_solverInfo,
-					   solverParams.m_debugDrawer,
-					   solverParams.m_dispatcher);
-}
-
-void btSimulationIslandManagerMt::serialIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams)
-{
-	BT_PROFILE("serialIslandDispatch");
-	// serial dispatch
-	btAlignedObjectArray<Island*>& islands = *islandsPtr;
-	btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool;
-	for (int i = 0; i < islands.size(); ++i)
-	{
-		solveIsland(solver, *islands[i], solverParams);
-	}
-}
-
-struct UpdateIslandDispatcher : public btIParallelForBody
-{
-	btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& m_islandsPtr;
-	const btSimulationIslandManagerMt::SolverParams& m_solverParams;
-
-	UpdateIslandDispatcher(btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& islandsPtr, const btSimulationIslandManagerMt::SolverParams& solverParams)
-		: m_islandsPtr(islandsPtr), m_solverParams(solverParams)
-	{
-	}
-
-	void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
-	{
-		btConstraintSolver* solver = m_solverParams.m_solverPool;
-		for (int i = iBegin; i < iEnd; ++i)
-		{
-			btSimulationIslandManagerMt::Island* island = m_islandsPtr[i];
-			btSimulationIslandManagerMt::solveIsland(solver, *island, m_solverParams);
-		}
-	}
-};
-
-void btSimulationIslandManagerMt::parallelIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams)
-{
-	BT_PROFILE("parallelIslandDispatch");
-	//
-	// if there are islands with many contacts, it may be faster to submit these
-	// large islands *serially* to a single parallel constraint solver, and then later
-	// submit the remaining smaller islands in parallel to multiple sequential solvers.
-	//
-	// Some task schedulers do not deal well with nested parallelFor loops. One implementation
-	// of OpenMP was actually slower than doing everything single-threaded. Intel TBB
-	// on the other hand, seems to do a pretty respectable job with it.
-	//
-	// When solving islands in parallel, the worst case performance happens when there
-	// is one very large island and then perhaps a smattering of very small
-	// islands -- one worker thread takes the large island and the remaining workers
-	// tear through the smaller islands and then sit idle waiting for the first worker
-	// to finish. Solving islands in parallel works best when there are numerous small
-	// islands, roughly equal in size.
-	//
-	// By contrast, the other approach -- the parallel constraint solver -- is only
-	// able to deliver a worthwhile speedup when the island is large. For smaller islands,
-	// it is difficult to extract a useful amount of parallelism -- the overhead of grouping
-	// the constraints into batches and sending the batches to worker threads can nullify
-	// any gains from parallelism.
-	//
-
-	UpdateIslandDispatcher dispatcher(*islandsPtr, solverParams);
-	// We take advantage of the fact the islands are sorted in order of decreasing size
-	int iBegin = 0;
-	if (solverParams.m_solverMt)
-	{
-		while (iBegin < islandsPtr->size())
-		{
-			btSimulationIslandManagerMt::Island* island = (*islandsPtr)[iBegin];
-			if (island->manifoldArray.size() < btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching)
-			{
-				// OK to submit the rest of the array in parallel
-				break;
-			}
-			// serial dispatch to parallel solver for large islands (if any)
-			solveIsland(solverParams.m_solverMt, *island, solverParams);
-			++iBegin;
-		}
-	}
-	// parallel dispatch to sequential solvers for rest
-	btParallelFor(iBegin, islandsPtr->size(), 1, dispatcher);
-}
-
-///@todo: this is random access, it can be walked 'cache friendly'!
-void btSimulationIslandManagerMt::buildAndProcessIslands(btDispatcher* dispatcher,
-														 btCollisionWorld* collisionWorld,
-														 btAlignedObjectArray<btTypedConstraint*>& constraints,
-														 const SolverParams& solverParams)
-{
-	BT_PROFILE("buildAndProcessIslands");
-	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-
-	buildIslands(dispatcher, collisionWorld);
-
-	if (!getSplitIslands())
-	{
-		btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer();
-		int maxNumManifolds = dispatcher->getNumManifolds();
-
-		for (int i = 0; i < maxNumManifolds; i++)
-		{
-			btPersistentManifold* manifold = manifolds[i];
-
-			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();
-				}
-			}
-		}
-		btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[0] : NULL;
-		btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool;
-		solver->solveGroup(&collisionObjects[0],
-						   collisionObjects.size(),
-						   manifolds,
-						   maxNumManifolds,
-						   constraintsPtr,
-						   constraints.size(),
-						   *solverParams.m_solverInfo,
-						   solverParams.m_debugDrawer,
-						   solverParams.m_dispatcher);
-	}
-	else
-	{
-		initIslandPools();
-
-		//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
-		addBodiesToIslands(collisionWorld);
-		addManifoldsToIslands(dispatcher);
-		addConstraintsToIslands(constraints);
-
-		// m_activeIslands array should now contain all non-sleeping Islands, and each Island should
-		// have all the necessary bodies, manifolds and constraints.
-
-		// if we want to merge islands with small batch counts,
-		if (m_minimumSolverBatchSize > 1)
-		{
-			mergeIslands();
-		}
-		// dispatch islands to solver
-		m_islandDispatch(&m_activeIslands, solverParams);
-	}
-}