public void buildIslands(IDispatcher dispatcher, CollisionWorld collisionWorld)
{
BulletGlobal.StartProfile("0-3-1-0 buildIslands");
List<CollisionObject> collisionObjects = collisionWorld.CollisionObjects;
m_islandmanifold.Clear();
//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
UnionFind.sortIslands();
int numElem = UnionFind.NumElements;
int endIslandIndex = 1;
int startIslandIndex;
//update the sleeping state for bodies, if all are sleeping
for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
{
int islandId = UnionFind.getElement(startIslandIndex).m_id;
for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (UnionFind.getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
{
}
//int numSleeping = 0;
bool allSleeping = true;
for (int idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = UnionFind.getElement(idx).m_sz;
CollisionObject colObj0 = collisionObjects[i];
if ((colObj0.IslandTag != islandId) && (colObj0.IslandTag != -1))
{
// printf("error in island management\n");
}
Debug.Assert((colObj0.IslandTag == islandId) || (colObj0.IslandTag == -1));
if (colObj0.IslandTag == islandId)
{
if (colObj0.ActivationState == ActivationStateFlags.ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0.ActivationState == ActivationStateFlags.DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
if (allSleeping)
{
for (int idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = UnionFind.getElement(idx).m_sz;
CollisionObject colObj0 = collisionObjects[i];
if ((colObj0.IslandTag != islandId) && (colObj0.IslandTag != -1))
{
// printf("error in island management\n");
}
Debug.Assert((colObj0.IslandTag == islandId) || (colObj0.IslandTag == -1));
if (colObj0.IslandTag == islandId)
{
colObj0.ActivationState = ActivationStateFlags.ISLAND_SLEEPING;
}
}
}
else
{
int idx;
for (idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = UnionFind.getElement(idx).m_sz;
CollisionObject colObj0 = collisionObjects[i];
if ((colObj0.IslandTag != islandId) && (colObj0.IslandTag != -1))
{
// printf("error in island management\n");
}
Debug.Assert((colObj0.IslandTag == islandId) || (colObj0.IslandTag == -1));
if (colObj0.IslandTag == islandId)
{
if (colObj0.ActivationState == ActivationStateFlags.ISLAND_SLEEPING)
{
colObj0.ActivationState = ActivationStateFlags.WANTS_DEACTIVATION;
colObj0.DeactivationTime = 0f;
}
}
}
}
}
int maxNumManifolds = dispatcher.NumManifolds;
//#define SPLIT_ISLANDS 1
//#ifdef SPLIT_ISLANDS
//#endif //SPLIT_ISLANDS
for (int i = 0; i < maxNumManifolds; i++)
{
PersistentManifold manifold = dispatcher.getManifoldByIndexInternal(i);
CollisionObject colObj0 = manifold.Body0;
CollisionObject colObj1 = manifold.Body1;
///@todo: check sleeping conditions!
if (((colObj0 != null) && colObj0.ActivationState != ActivationStateFlags.ISLAND_SLEEPING) ||
((colObj1 != null) && colObj1.ActivationState != ActivationStateFlags.ISLAND_SLEEPING))
{
//kinematic objects don't merge islands, but wake up all connected objects
if (colObj0.isKinematicObject && colObj0.ActivationState != ActivationStateFlags.ISLAND_SLEEPING)
{
colObj1.activate(false);
}
if (colObj1.isKinematicObject && colObj1.ActivationState != ActivationStateFlags.ISLAND_SLEEPING)
{
colObj0.activate(false);
}
if (m_splitIslands)
{
//filtering for response
if (dispatcher.needsResponse(colObj0, colObj1))
m_islandmanifold.Add(manifold);
}
}
}
BulletGlobal.EndProfile("0-3-1-0 buildIslands");
}
