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();
//BT_PROFILE("processIslands");
if(!m_splitIslands)
{
ObjectArray<PersistentManifold> manifolds = dispatcher.GetInternalManifoldPointer();
int maxNumManifolds = dispatcher.GetNumManifolds();
callback.ProcessIsland(collisionObjects,collisionObjects.Count,manifolds,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;
if (numManifolds != 0 && m_islandmanifold[0].GetNumContacts() > 0)
{
int ibreak = 0;
}
//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
//m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
//((ObjectArray<PersistentManifold>)m_islandmanifold).Sort();
m_islandmanifold.Sort(new Comparison<PersistentManifold>(PersistentManifoldSortPredicate));
//now process all active islands (sets of manifolds for now)
int startManifoldIndex = 0;
int endManifoldIndex = 1;
//int islandId;
// printf("Start Islands\n");
//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 && debugIslands)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("buildAndProcessIslands start[{0}] end[{1}] id[{2}]", startIslandIndex, endIslandIndex, islandId));
}
bool islandSleeping = false;
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 = true;
//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 (curIslandId == islandId)
{
startManifold = m_islandmanifold[startManifoldIndex];
for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == GetIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
{
}
/// Process the actual simulation, only if not sleeping/deactivated
numIslandManifolds = endManifoldIndex-startManifoldIndex;
}
}
if (!islandSleeping)
{
// pass shortedned list to callback.
ObjectArray<PersistentManifold> subList = new ObjectArray<PersistentManifold>();
for(int i=0;i<numIslandManifolds;++i)
{
subList.Add(m_islandmanifold[startManifoldIndex+i]);
}
callback.ProcessIsland(m_islandBodies,m_islandBodies.Count,subList,numIslandManifolds, islandId);
// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
}
if (numIslandManifolds != 0)
{
startManifoldIndex = endManifoldIndex;
}
m_islandBodies.Clear();
}
} // else if(!splitIslands)
}
public void BuildAndProcessIslands(IDispatcher dispatcher, List<CollisionObject> collisionObjects, IIslandCallback callback)
{
//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.ElementCount;
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[startIslandIndex].ID;
for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (UnionFind[endIslandIndex].ID == islandId); endIslandIndex++)
{
}
//int numSleeping = 0;
bool allSleeping = true;
int idx;
for (idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = UnionFind[idx].Size;
CollisionObject colObjA = collisionObjects[i];
if ((colObjA.IslandTag != islandId) && (colObjA.IslandTag != -1))
{
Console.WriteLine("error in island management");
}
BulletDebug.Assert((colObjA.IslandTag == islandId) || (colObjA.IslandTag == -1));
if (colObjA.IslandTag == islandId)
{
if (colObjA.ActivationState == ActivationState.Active)
{
allSleeping = false;
}
if (colObjA.ActivationState == ActivationState.DisableDeactivation)
{
allSleeping = false;
}
}
}
if (allSleeping)
{
for (idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = UnionFind[idx].Size;
CollisionObject colObjA = collisionObjects[i];
if ((colObjA.IslandTag != islandId) && (colObjA.IslandTag != -1))
{
Console.WriteLine("error in island management");
}
BulletDebug.Assert((colObjA.IslandTag == islandId) || (colObjA.IslandTag == -1));
if (colObjA.IslandTag == islandId)
{
colObjA.ActivationState =ActivationState.IslandSleeping;
}
}
}
else
{
for (idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = UnionFind[idx].Size;
CollisionObject colObjA = collisionObjects[i];
if ((colObjA.IslandTag != islandId) && (colObjA.IslandTag != -1))
{
Console.WriteLine("error in island management");
}
BulletDebug.Assert((colObjA.IslandTag == islandId) || (colObjA.IslandTag == -1));
if (colObjA.IslandTag == islandId)
{
if (colObjA.ActivationState == ActivationState.IslandSleeping)
{
colObjA.ActivationState = ActivationState.WantsDeactivation;
}
}
}
}
}
//int maxNumManifolds = dispatcher.ManifoldCount;
List<PersistentManifold> islandmanifold = new List<PersistentManifold>(dispatcher.ManifoldCount);
for (int i = 0; i < dispatcher.ManifoldCount; i++)
{
PersistentManifold manifold = dispatcher.GetManifoldByIndex(i);
CollisionObject colObjA = manifold.BodyA as CollisionObject;
CollisionObject colObjB = manifold.BodyB as CollisionObject;
//todo: check sleeping conditions!
if (((colObjA != null) && colObjA.ActivationState != ActivationState.IslandSleeping) ||
((colObjB != null) && colObjB.ActivationState != ActivationState.IslandSleeping))
{
//kinematic objects don't merge islands, but wake up all connected objects
if (colObjA.IsStaticOrKinematicObject && colObjA.ActivationState != ActivationState.IslandSleeping)
{
colObjB.Activate();
}
if (colObjB.IsStaticOrKinematicObject && colObjB.ActivationState != ActivationState.IslandSleeping)
{
colObjA.Activate();
}
//filtering for response
if (dispatcher.NeedsResponse(colObjA, colObjB))
islandmanifold.Add(manifold);
}
}
int numManifolds = islandmanifold.Count;
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort
islandmanifold.Sort(new Comparison<PersistentManifold>(PersistentManifoldSortPredicate));
//now process all active islands (sets of manifolds for now)
int startManifoldIndex = 0;
int endManifoldIndex = 1;
List<CollisionObject> islandBodies = new List<CollisionObject>();
for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
{
int islandId = UnionFind[startIslandIndex].ID;
bool islandSleeping = false;
for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (UnionFind[endIslandIndex].ID == islandId); endIslandIndex++)
{
int i = UnionFind[endIslandIndex].Size;
CollisionObject colObjA = collisionObjects[i];
islandBodies.Add(colObjA);
if (!colObjA.IsActive)
islandSleeping = true;
}
//find the accompanying contact manifold for this islandId
int numIslandManifolds = 0;
List<PersistentManifold> startManifold = new List<PersistentManifold>(numIslandManifolds);
if (startManifoldIndex < numManifolds)
{
int curIslandID = GetIslandId(islandmanifold[startManifoldIndex]);
if (curIslandID == islandId)
{
for (int k = startManifoldIndex; k < islandmanifold.Count; k++)
{
startManifold.Add(islandmanifold[k]);
}
for (endManifoldIndex = startManifoldIndex + 1; (endManifoldIndex < numManifolds) && (islandId == GetIslandId(islandmanifold[endManifoldIndex])); endManifoldIndex++) { }
// Process the actual simulation, only if not sleeping/deactivated
numIslandManifolds = endManifoldIndex - startManifoldIndex;
}
}
if (!islandSleeping)
{
callback.ProcessIsland(islandBodies, startManifold, numIslandManifolds, islandId);
}
if (numIslandManifolds != 0)
{
startManifoldIndex = endManifoldIndex;
}
islandBodies.Clear();
}
}
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();
}
public void BuildAndProcessIslands(IDispatcher dispatcher, List <CollisionObject> collisionObjects, IIslandCallback callback)
{
//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.ElementCount;
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[startIslandIndex].ID;
for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (UnionFind[endIslandIndex].ID == islandId); endIslandIndex++)
{
}
//int numSleeping = 0;
bool allSleeping = true;
int idx;
for (idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = UnionFind[idx].Size;
CollisionObject colObjA = collisionObjects[i];
if ((colObjA.IslandTag != islandId) && (colObjA.IslandTag != -1))
{
Console.WriteLine("error in island management");
}
BulletDebug.Assert((colObjA.IslandTag == islandId) || (colObjA.IslandTag == -1));
if (colObjA.IslandTag == islandId)
{
if (colObjA.ActivationState == ActivationState.Active)
{
allSleeping = false;
}
if (colObjA.ActivationState == ActivationState.DisableDeactivation)
{
allSleeping = false;
}
}
}
if (allSleeping)
{
for (idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = UnionFind[idx].Size;
CollisionObject colObjA = collisionObjects[i];
if ((colObjA.IslandTag != islandId) && (colObjA.IslandTag != -1))
{
Console.WriteLine("error in island management");
}
BulletDebug.Assert((colObjA.IslandTag == islandId) || (colObjA.IslandTag == -1));
if (colObjA.IslandTag == islandId)
{
colObjA.ActivationState = ActivationState.IslandSleeping;
}
}
}
else
{
for (idx = startIslandIndex; idx < endIslandIndex; idx++)
{
int i = UnionFind[idx].Size;
CollisionObject colObjA = collisionObjects[i];
if ((colObjA.IslandTag != islandId) && (colObjA.IslandTag != -1))
{
Console.WriteLine("error in island management");
}
BulletDebug.Assert((colObjA.IslandTag == islandId) || (colObjA.IslandTag == -1));
if (colObjA.IslandTag == islandId)
{
if (colObjA.ActivationState == ActivationState.IslandSleeping)
{
colObjA.ActivationState = ActivationState.WantsDeactivation;
}
}
}
}
}
//int maxNumManifolds = dispatcher.ManifoldCount;
List <PersistentManifold> islandmanifold = new List <PersistentManifold>(dispatcher.ManifoldCount);
for (int i = 0; i < dispatcher.ManifoldCount; i++)
{
PersistentManifold manifold = dispatcher.GetManifoldByIndex(i);
CollisionObject colObjA = manifold.BodyA as CollisionObject;
CollisionObject colObjB = manifold.BodyB as CollisionObject;
//todo: check sleeping conditions!
if (((colObjA != null) && colObjA.ActivationState != ActivationState.IslandSleeping) ||
((colObjB != null) && colObjB.ActivationState != ActivationState.IslandSleeping))
{
//kinematic objects don't merge islands, but wake up all connected objects
if (colObjA.IsStaticOrKinematicObject && colObjA.ActivationState != ActivationState.IslandSleeping)
{
colObjB.Activate();
}
if (colObjB.IsStaticOrKinematicObject && colObjB.ActivationState != ActivationState.IslandSleeping)
{
colObjA.Activate();
}
//filtering for response
if (dispatcher.NeedsResponse(colObjA, colObjB))
{
islandmanifold.Add(manifold);
}
}
}
int numManifolds = islandmanifold.Count;
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort
islandmanifold.Sort(new Comparison <PersistentManifold>(PersistentManifoldSortPredicate));
//now process all active islands (sets of manifolds for now)
int startManifoldIndex = 0;
int endManifoldIndex = 1;
List <CollisionObject> islandBodies = new List <CollisionObject>();
for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
{
int islandId = UnionFind[startIslandIndex].ID;
bool islandSleeping = false;
for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (UnionFind[endIslandIndex].ID == islandId); endIslandIndex++)
{
int i = UnionFind[endIslandIndex].Size;
CollisionObject colObjA = collisionObjects[i];
islandBodies.Add(colObjA);
if (!colObjA.IsActive)
{
islandSleeping = true;
}
}
//find the accompanying contact manifold for this islandId
int numIslandManifolds = 0;
List <PersistentManifold> startManifold = new List <PersistentManifold>(numIslandManifolds);
if (startManifoldIndex < numManifolds)
{
int curIslandID = GetIslandId(islandmanifold[startManifoldIndex]);
if (curIslandID == islandId)
{
for (int k = startManifoldIndex; k < islandmanifold.Count; k++)
{
startManifold.Add(islandmanifold[k]);
}
for (endManifoldIndex = startManifoldIndex + 1; (endManifoldIndex < numManifolds) && (islandId == GetIslandId(islandmanifold[endManifoldIndex])); endManifoldIndex++)
{
}
// Process the actual simulation, only if not sleeping/deactivated
numIslandManifolds = endManifoldIndex - startManifoldIndex;
}
}
if (!islandSleeping)
{
callback.ProcessIsland(islandBodies, startManifold, numIslandManifolds, islandId);
}
if (numIslandManifolds != 0)
{
startManifoldIndex = endManifoldIndex;
}
islandBodies.Clear();
}
}
