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();
}