diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h | 128 |
1 files changed, 63 insertions, 65 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h index 563577a6f4..ab73a899f1 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h @@ -35,80 +35,78 @@ class btIDebugDraw; class btSimulationIslandManagerMt : public btSimulationIslandManager { public: - struct Island - { - // a simulation island consisting of bodies, manifolds and constraints, - // to be passed into a constraint solver. - btAlignedObjectArray<btCollisionObject*> bodyArray; - btAlignedObjectArray<btPersistentManifold*> manifoldArray; - btAlignedObjectArray<btTypedConstraint*> constraintArray; - int id; // island id - bool isSleeping; + struct Island + { + // a simulation island consisting of bodies, manifolds and constraints, + // to be passed into a constraint solver. + btAlignedObjectArray<btCollisionObject*> bodyArray; + btAlignedObjectArray<btPersistentManifold*> manifoldArray; + btAlignedObjectArray<btTypedConstraint*> constraintArray; + int id; // island id + bool isSleeping; - void append( const Island& other ); // add bodies, manifolds, constraints to my own - }; - struct SolverParams - { - btConstraintSolver* m_solverPool; - btConstraintSolver* m_solverMt; - btContactSolverInfo* m_solverInfo; - btIDebugDraw* m_debugDrawer; - btDispatcher* m_dispatcher; - }; - static void solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams); + void append(const Island& other); // add bodies, manifolds, constraints to my own + }; + struct SolverParams + { + btConstraintSolver* m_solverPool; + btConstraintSolver* m_solverMt; + btContactSolverInfo* m_solverInfo; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; + }; + static void solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams); + + typedef void (*IslandDispatchFunc)(btAlignedObjectArray<Island*>* islands, const SolverParams& solverParams); + static void serialIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams); + static void parallelIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams); - typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, const SolverParams& solverParams ); - static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams ); - static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams ); protected: - btAlignedObjectArray<Island*> m_allocatedIslands; // owner of all Islands - btAlignedObjectArray<Island*> m_activeIslands; // islands actively in use - btAlignedObjectArray<Island*> m_freeIslands; // islands ready to be reused - btAlignedObjectArray<Island*> m_lookupIslandFromId; // big lookup table to map islandId to Island pointer - Island* m_batchIsland; - int m_minimumSolverBatchSize; - int m_batchIslandMinBodyCount; - IslandDispatchFunc m_islandDispatch; + btAlignedObjectArray<Island*> m_allocatedIslands; // owner of all Islands + btAlignedObjectArray<Island*> m_activeIslands; // islands actively in use + btAlignedObjectArray<Island*> m_freeIslands; // islands ready to be reused + btAlignedObjectArray<Island*> m_lookupIslandFromId; // big lookup table to map islandId to Island pointer + Island* m_batchIsland; + int m_minimumSolverBatchSize; + int m_batchIslandMinBodyCount; + IslandDispatchFunc m_islandDispatch; + + Island* getIsland(int id); + virtual Island* allocateIsland(int id, int numBodies); + virtual void initIslandPools(); + virtual void addBodiesToIslands(btCollisionWorld* collisionWorld); + virtual void addManifoldsToIslands(btDispatcher* dispatcher); + virtual void addConstraintsToIslands(btAlignedObjectArray<btTypedConstraint*>& constraints); + virtual void mergeIslands(); - Island* getIsland( int id ); - virtual Island* allocateIsland( int id, int numBodies ); - virtual void initIslandPools(); - virtual void addBodiesToIslands( btCollisionWorld* collisionWorld ); - virtual void addManifoldsToIslands( btDispatcher* dispatcher ); - virtual void addConstraintsToIslands( btAlignedObjectArray<btTypedConstraint*>& constraints ); - virtual void mergeIslands(); - public: btSimulationIslandManagerMt(); virtual ~btSimulationIslandManagerMt(); - virtual void buildAndProcessIslands( btDispatcher* dispatcher, - btCollisionWorld* collisionWorld, - btAlignedObjectArray<btTypedConstraint*>& constraints, - const SolverParams& solverParams - ); + virtual void buildAndProcessIslands(btDispatcher* dispatcher, + btCollisionWorld* collisionWorld, + btAlignedObjectArray<btTypedConstraint*>& constraints, + const SolverParams& solverParams); - virtual void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld); + virtual void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld); - int getMinimumSolverBatchSize() const - { - return m_minimumSolverBatchSize; - } - void setMinimumSolverBatchSize( int sz ) - { - m_minimumSolverBatchSize = sz; - } - IslandDispatchFunc getIslandDispatchFunction() const - { - return m_islandDispatch; - } - // allow users to set their own dispatch function for multithreaded dispatch - void setIslandDispatchFunction( IslandDispatchFunc func ) - { - m_islandDispatch = func; - } + int getMinimumSolverBatchSize() const + { + return m_minimumSolverBatchSize; + } + void setMinimumSolverBatchSize(int sz) + { + m_minimumSolverBatchSize = sz; + } + IslandDispatchFunc getIslandDispatchFunction() const + { + return m_islandDispatch; + } + // allow users to set their own dispatch function for multithreaded dispatch + void setIslandDispatchFunction(IslandDispatchFunc func) + { + m_islandDispatch = func; + } }; - -#endif //BT_SIMULATION_ISLAND_MANAGER_H - +#endif //BT_SIMULATION_ISLAND_MANAGER_H |