public void FindUnions(IDispatcher dispatcher)
{
for (int i = 0; i < dispatcher.ManifoldCount; i++)
{
PersistentManifold manifold = dispatcher.GetManifoldByIndex(i);
//static objects (invmass 0.f) don't merge !
CollisionObject colObjA = manifold.BodyA as CollisionObject;
CollisionObject colObjB = manifold.BodyB as CollisionObject;
if (((colObjA != null) && (colObjA.MergesSimulationIslands)) &&
((colObjB != null) && (colObjB.MergesSimulationIslands)))
{
_unionFind.Unite(colObjA.IslandTag, colObjB.IslandTag);
}
}
}
public void FindUnions(IDispatcher dispatcher)
{
for (int i = 0; i < dispatcher.ManifoldCount; i++)
{
PersistentManifold manifold = dispatcher.GetManifoldByIndex(i);
//static objects (invmass 0.f) don't merge !
CollisionObject colObjA = manifold.BodyA as CollisionObject;
CollisionObject colObjB = manifold.BodyB as CollisionObject;
if (((colObjA != null) && (colObjA.MergesSimulationIslands)) &&
((colObjB != null) && (colObjB.MergesSimulationIslands)))
{
_unionFind.Unite(colObjA.IslandTag, colObjB.IslandTag);
}
}
}
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, 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();
}
}
