public static void FindCollision(GImpactQuantizedBvh boxset0, ref IndexedMatrix trans0,
GImpactQuantizedBvh boxset1, ref IndexedMatrix trans1,
PairSet collision_pairs)
{
if (boxset0.GetNodeCount() == 0 || boxset1.GetNodeCount() == 0)
{
return;
}
BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0 = new BT_BOX_BOX_TRANSFORM_CACHE();
trans_cache_1to0.CalcFromHomogenic(ref trans0, ref trans1);
#if TRI_COLLISION_PROFILING
BulletGlobals.StartProfile("GIMPACT-TRIMESH");
#endif //TRI_COLLISION_PROFILING
FindQuantizedCollisionPairsRecursive(boxset0, boxset1, collision_pairs, ref trans_cache_1to0, 0, 0, true);
#if TRI_COLLISION_PROFILING
BulletGlobals.StopProfile();
#endif //TRI_COLLISION_PROFILING
}
public void BuildIslands(IDispatcher dispatcher, CollisionWorld collisionWorld)
{
BulletGlobals.StartProfile("islandUnionFindAndQuickSort");
ObjectArray <CollisionObject> collisionObjects = collisionWorld.GetCollisionObjectArray();
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
GetUnionFind().sortIslands();
int numElem = GetUnionFind().GetNumElements();
int endIslandIndex = 1;
//update the sleeping state for bodies, if all are sleeping
for (int startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
{
int islandId = GetUnionFind().GetElement(startIslandIndex).m_id;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugIslands)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("buildIslands start[{0}] end[{1}] id[{2}]", startIslandIndex, endIslandIndex, islandId));
}
for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (GetUnionFind().GetElement(endIslandIndex).m_id == islandId); endIslandIndex++)
{
}
//int numSleeping = 0;
bool allSleeping = true;
for (int idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = GetUnionFind().GetElement(idx).m_sz;
CollisionObject colObj0 = collisionObjects[i];
if ((colObj0.GetIslandTag() != islandId) && (colObj0.GetIslandTag() != -1))
{
// printf("error in island management\n");
}
Debug.Assert((colObj0.GetIslandTag() == islandId) || (colObj0.GetIslandTag() == -1));
if (colObj0.GetIslandTag() == islandId)
{
if (colObj0.GetActivationState() == ActivationState.ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0.GetActivationState() == ActivationState.DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
if (allSleeping)
{
for (int idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = GetUnionFind().GetElement(idx).m_sz;
CollisionObject colObj0 = collisionObjects[i];
int islandTag = colObj0.GetIslandTag();
if (islandTag != islandId && islandTag != -1)
{
// printf("error in island management\n");
}
Debug.Assert((islandTag == islandId) || (islandTag == -1));
if (islandTag == islandId)
{
colObj0.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
}
}
else
{
for (int idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = GetUnionFind().GetElement(idx).m_sz;
CollisionObject colObj0 = collisionObjects[i];
int islandTag = colObj0.GetIslandTag();
if (islandTag != islandId && islandTag != -1)
{
// printf("error in island management\n");
}
Debug.Assert((islandTag == islandId) || (islandTag == -1));
if (islandTag == islandId)
{
if (colObj0.GetActivationState() == ActivationState.ISLAND_SLEEPING)
{
colObj0.SetActivationState(ActivationState.WANTS_DEACTIVATION);
colObj0.SetDeactivationTime(0f);
}
}
}
}
}
int maxNumManifolds = dispatcher.GetNumManifolds();
//#definef SPLIT_ISLANDS 1
//#ifdef SPLIT_ISLANDS
//#endif //SPLIT_ISLANDS
for (int i = 0; i < maxNumManifolds; i++)
{
PersistentManifold manifold = dispatcher.GetManifoldByIndexInternal(i);
CollisionObject colObj0 = manifold.GetBody0() as CollisionObject;
CollisionObject colObj1 = manifold.GetBody1() as CollisionObject;
///@todo: check sleeping conditions!
if (((colObj0 != null) && colObj0.GetActivationState() != ActivationState.ISLAND_SLEEPING) ||
((colObj1 != null) && colObj1.GetActivationState() != ActivationState.ISLAND_SLEEPING))
{
//kinematic objects don't merge islands, but wake up all connected objects
if (colObj0.IsKinematicObject() && colObj0.GetActivationState() != ActivationState.ISLAND_SLEEPING)
{
if (colObj0.HasContactResponse())
{
colObj1.Activate();
}
}
if (colObj1.IsKinematicObject() && colObj1.GetActivationState() != ActivationState.ISLAND_SLEEPING)
{
if (colObj1.HasContactResponse())
{
colObj0.Activate();
}
}
if (m_splitIslands)
{
//filtering for response
if (dispatcher.NeedsResponse(colObj0, colObj1))
{
m_islandmanifold.Add(manifold);
}
}
}
}
BulletGlobals.StopProfile();
}
public void BuildAndProcessIslands(IDispatcher dispatcher, CollisionWorld collisionWorld, IIslandCallback callback)
{
ObjectArray <CollisionObject> collisionObjects = collisionWorld.GetCollisionObjectArray();
BuildIslands(dispatcher, collisionWorld);
int endIslandIndex = 1;
int startIslandIndex;
int numElem = GetUnionFind().GetNumElements();
BulletGlobals.StartProfile("processIslands");
if (!m_splitIslands)
{
PersistentManifoldArray manifolds = dispatcher.GetInternalManifoldPointer();
int maxNumManifolds = dispatcher.GetNumManifolds();
callback.ProcessIsland(collisionObjects, collisionObjects.Count, manifolds, 0, 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 = m_islandmanifold.Count;
//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
m_islandmanifold.QuickSort(m_sortPredicate);
//now process all active islands (sets of manifolds for now)
int startManifoldIndex = 0;
int endManifoldIndex = 1;
//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;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugIslands)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("buildAndProcessIslands start[{0}] end[{1}] id[{2}]", startIslandIndex, endIslandIndex, islandId));
}
bool islandSleeping = true;
for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (GetUnionFind().GetElement(endIslandIndex).m_id == islandId); endIslandIndex++)
{
int i = GetUnionFind().GetElement(endIslandIndex).m_sz;
CollisionObject colObj0 = collisionObjects[i];
m_islandBodies.Add(colObj0);
if (colObj0.IsActive())
{
islandSleeping = false;
}
}
//find the accompanying contact manifold for this islandId
int numIslandManifolds = 0;
PersistentManifold startManifold = null;
if (startManifoldIndex < numManifolds)
{
int curIslandId = GetIslandId(m_islandmanifold[startManifoldIndex]);
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugIslands)
{
BulletGlobals.g_streamWriter.WriteLine("curIsland[{0}] startManifold[{1}].", curIslandId, startManifoldIndex);
}
if (curIslandId == islandId)
{
startManifold = m_islandmanifold[startManifoldIndex];
for (endManifoldIndex = startManifoldIndex + 1; (endManifoldIndex < numManifolds) && (islandId == GetIslandId(m_islandmanifold[endManifoldIndex])); endManifoldIndex++)
{
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugIslands)
{
BulletGlobals.g_streamWriter.WriteLine("endManifoldIndex[{0}] islandId[{1}] getIsland[{2}].", endManifoldIndex, startManifoldIndex, GetIslandId(m_islandmanifold[endManifoldIndex]));
}
}
/// Process the actual simulation, only if not sleeping/deactivated
numIslandManifolds = endManifoldIndex - startManifoldIndex;
}
}
if (!islandSleeping)
{
callback.ProcessIsland(m_islandBodies, m_islandBodies.Count, m_islandmanifold, startManifoldIndex, numIslandManifolds, islandId);
// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
}
else
{
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugIslands)
{
BulletGlobals.g_streamWriter.WriteLine("islandSleeping.");
}
}
if (numIslandManifolds != 0)
{
startManifoldIndex = endManifoldIndex;
}
m_islandBodies.Clear();
}
} // else if(!splitIslands)
BulletGlobals.StopProfile();
}
protected void CollideSatTriangles(CollisionObject body0,
CollisionObject body1,
GImpactMeshShapePart shape0,
GImpactMeshShapePart shape1,
PairSet pairs, int pair_count)
{
IndexedMatrix orgtrans0 = body0.GetWorldTransform();
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
PrimitiveTriangle ptri0 = new PrimitiveTriangle();
PrimitiveTriangle ptri1 = new PrimitiveTriangle();
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::CollideSatTriangles [{0}]", pair_count);
}
shape0.LockChildShapes();
shape1.LockChildShapes();
int pair_pointer = 0;
while (pair_count-- != 0)
{
m_triface0 = pairs[pair_pointer].m_index1;
m_triface1 = pairs[pair_pointer].m_index2;
pair_pointer += 1;
shape0.GetPrimitiveTriangle(m_triface0, ptri0);
shape1.GetPrimitiveTriangle(m_triface1, ptri1);
#if TRI_COLLISION_PROFILING
BulletGlobal.StartProfile("gim02_tri_time");
#endif
ptri0.ApplyTransform(ref orgtrans0);
ptri1.ApplyTransform(ref orgtrans1);
//build planes
ptri0.BuildTriPlane();
ptri1.BuildTriPlane();
// test conservative
if (ptri0.OverlapTestConservative(ptri1))
{
if (ptri0.FindTriangleCollisionClipMethod(ptri1, m_contact_data))
{
int j = m_contact_data.m_point_count;
while (j-- != 0)
{
AddContactPoint(body0, body1,
m_contact_data.m_points[j],
MathUtil.Vector4ToVector3(ref m_contact_data.m_separating_normal),
-m_contact_data.m_penetration_depth);
}
}
}
#if TRI_COLLISION_PROFILING
BulletGlobals.StopProfile();
#endif
}
shape0.UnlockChildShapes();
shape1.UnlockChildShapes();
}
public void Collide(IDispatcher dispatcher)
{
BulletGlobals.StartProfile("BroadphaseCollide");
//SPC(m_profiling.m_total);
/* optimize */
m_sets[0].OptimizeIncremental(1 + (m_sets[0].m_leaves * m_dupdates) / 100);
if (m_fixedleft > 0)
{
int count = 1 + (m_sets[1].m_leaves * m_fupdates) / 100;
m_sets[1].OptimizeIncremental(1 + (m_sets[1].m_leaves * m_fupdates) / 100);
m_fixedleft = Math.Max(0, m_fixedleft - count);
}
/* dynamic . fixed set */
m_stageCurrent = (m_stageCurrent + 1) % STAGECOUNT;
DbvtProxy current = m_stageRoots[m_stageCurrent];
if (current != null)
{
DbvtTreeCollider collider = BulletGlobals.DbvtTreeColliderPool.Get();
collider.Initialize(this);
do
{
DbvtProxy next = current.links[1];
ListRemove(current, ref m_stageRoots[current.stage]);
ListAppend(current, ref m_stageRoots[STAGECOUNT]);
#if DBVT_BP_ACCURATESLEEPING
m_paircache.removeOverlappingPairsContainingProxy(current, dispatcher);
collider.proxy = current;
btDbvt::collideTV(m_sets[0].m_root, current.aabb, collider);
btDbvt::collideTV(m_sets[1].m_root, current.aabb, collider);
#endif
m_sets[0].Remove(current.leaf);
DbvtAabbMm curAabb = DbvtAabbMm.FromMM(ref current.m_aabbMin, ref current.m_aabbMax);
current.leaf = m_sets[1].Insert(ref curAabb, current);
current.stage = STAGECOUNT;
current = next;
} while (current != null);
m_fixedleft = m_sets[1].m_leaves;
BulletGlobals.DbvtTreeColliderPool.Free(collider);
m_needcleanup = true;
}
/* collide dynamics */
{
DbvtTreeCollider collider = BulletGlobals.DbvtTreeColliderPool.Get();
collider.Initialize(this);
if (m_deferedcollide)
{
//Stopwatch fdCollideStopwatch = new Stopwatch();
//fdCollideStopwatch.Start();
//SPC(m_profiling.m_fdcollide);
Dbvt.CollideTTpersistentStack(m_sets[0].m_root, m_sets[1].m_root, collider);
//fdCollideStopwatch.Stop();
//m_profiling.m_fdcollide += (ulong)fdCollideStopwatch.ElapsedMilliseconds;
}
if (m_deferedcollide)
{
//Stopwatch ddCollideStopwatch = new Stopwatch();
//ddCollideStopwatch.Start();
//SPC(m_profiling.m_ddcollide);
Dbvt.CollideTTpersistentStack(m_sets[0].m_root, m_sets[0].m_root, collider);
//ddCollideStopwatch.Stop();
//m_profiling.m_ddcollide += (ulong)ddCollideStopwatch.ElapsedMilliseconds;
}
BulletGlobals.DbvtTreeColliderPool.Free(collider);
}
/* clean up */
if (m_needcleanup)
{
Stopwatch cleanupStopwatch = new Stopwatch();
cleanupStopwatch.Start();
//SPC(m_profiling.m_cleanup);
IList <BroadphasePair> pairs = m_paircache.GetOverlappingPairArray();
if (pairs.Count > 0)
{
int ni = Math.Min(pairs.Count, Math.Max(m_newpairs, (pairs.Count * m_cupdates) / 100));
for (int i = 0; i < ni; ++i)
{
BroadphasePair p = pairs[(m_cid + i) % pairs.Count];
DbvtProxy pa = p.m_pProxy0 as DbvtProxy;
DbvtProxy pb = p.m_pProxy1 as DbvtProxy;
if (!DbvtAabbMm.Intersect(ref pa.leaf.volume, ref pb.leaf.volume))
{
#if DBVT_BP_SORTPAIRS
if (pa.m_uniqueId > pb.m_uniqueId)
{
btSwap(pa, pb);
}
#endif
m_paircache.RemoveOverlappingPair(pa, pb, dispatcher);
--ni; --i;
}
}
if (pairs.Count > 0)
{
m_cid = (m_cid + ni) % pairs.Count;
}
else
{
m_cid = 0;
}
}
cleanupStopwatch.Stop();
//m_profiling.m_cleanup += (ulong)cleanupStopwatch.ElapsedMilliseconds;
}
++m_pid;
m_newpairs = 1;
m_needcleanup = false;
if (m_updates_call > 0)
{
m_updates_ratio = m_updates_done / (float)m_updates_call;
}
else
{
m_updates_ratio = 0;
}
m_updates_done /= 2;
m_updates_call /= 2;
BulletGlobals.StopProfile();
}
