public bool Compare(TypedConstraint lhs, TypedConstraint rhs)
{
int rIslandId0 = DiscreteDynamicsWorld.GetConstraintIslandId(rhs);
int lIslandId0 = DiscreteDynamicsWorld.GetConstraintIslandId(lhs);
return(lIslandId0 < rIslandId0);
}
public virtual void ProcessIsland(ObjectArray <CollisionObject> bodies, int numBodies, PersistentManifoldArray manifolds, int startManifold, int numManifolds, int islandId)
{
if (islandId < 0)
{
if (numManifolds + m_numConstraints > 0)
{
///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
m_solver.SolveGroup(bodies, numBodies, manifolds, startManifold, numManifolds, m_sortedConstraints, 0, m_numConstraints, m_solverInfo, m_debugDrawer, m_dispatcher);
}
}
else
{
//also add all non-contact constraints/joints for this island
int startConstraint = 0;
int numCurConstraints = 0;
int i = 0;
//find the first constraint for this island
for (i = 0; i < m_numConstraints; i++)
{
if (DiscreteDynamicsWorld.GetConstraintIslandId(m_sortedConstraints[i]) == islandId)
{
startConstraint = i;
break;
}
}
//count the number of constraints in this island
for (; i < m_numConstraints; i++)
{
if (DiscreteDynamicsWorld.GetConstraintIslandId(m_sortedConstraints[i]) == islandId)
{
numCurConstraints++;
}
}
if (m_solverInfo.m_minimumSolverBatchSize <= 1)
{
///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive
if (numManifolds + numCurConstraints > 0)
{
m_solver.SolveGroup(bodies, numBodies, manifolds, startManifold, numManifolds, m_sortedConstraints, startConstraint, numCurConstraints, m_solverInfo, m_debugDrawer, m_dispatcher);
}
}
else
{
for (i = 0; i < numBodies; i++)
{
m_bodies.Add(bodies[i]);
}
int lastManifold = startManifold + numManifolds;
for (i = startManifold; i < lastManifold; i++)
{
m_manifolds.Add(manifolds[i]);
}
int lastConstraint = startConstraint + numCurConstraints;
for (i = startConstraint; i < lastConstraint; i++)
{
m_constraints.Add(m_sortedConstraints[i]);
}
if ((m_constraints.Count + m_manifolds.Count) > m_solverInfo.m_minimumSolverBatchSize)
{
ProcessConstraints();
}
else
{
//printf("deferred\n");
}
}
}
}