446 lines
14 KiB
C++
446 lines
14 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "LinearMath/btScalar.h"
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#include "btSimulationIslandManager.h"
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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//#include <stdio.h>
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#include "LinearMath/btQuickprof.h"
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btSimulationIslandManager::btSimulationIslandManager() : m_splitIslands(true)
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{
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}
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btSimulationIslandManager::~btSimulationIslandManager()
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{
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}
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void btSimulationIslandManager::initUnionFind(int n)
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{
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m_unionFind.reset(n);
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}
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void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */, btCollisionWorld* colWorld)
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{
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{
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btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
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const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
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if (numOverlappingPairs)
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{
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btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
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for (int i = 0; i < numOverlappingPairs; i++)
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{
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const btBroadphasePair& collisionPair = pairPtr[i];
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btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
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btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
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if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
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((colObj1) && ((colObj1)->mergesSimulationIslands())))
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{
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m_unionFind.unite((colObj0)->getIslandTag(),
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(colObj1)->getIslandTag());
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}
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}
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}
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}
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}
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#ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION
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void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld, btDispatcher* dispatcher)
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{
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// put the index into m_controllers into m_tag
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int index = 0;
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{
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int i;
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for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
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{
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btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
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//Adding filtering here
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if (!collisionObject->isStaticOrKinematicObject())
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{
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collisionObject->setIslandTag(index++);
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}
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collisionObject->setCompanionId(-1);
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collisionObject->setHitFraction(btScalar(1.));
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}
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}
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// do the union find
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initUnionFind(index);
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findUnions(dispatcher, colWorld);
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}
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void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
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{
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// put the islandId ('find' value) into m_tag
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{
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int index = 0;
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int i;
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for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
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{
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btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
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if (!collisionObject->isStaticOrKinematicObject())
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{
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collisionObject->setIslandTag(m_unionFind.find(index));
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//Set the correct object offset in Collision Object Array
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m_unionFind.getElement(index).m_sz = i;
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collisionObject->setCompanionId(-1);
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index++;
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}
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else
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{
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collisionObject->setIslandTag(-1);
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collisionObject->setCompanionId(-2);
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}
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}
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}
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}
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#else //STATIC_SIMULATION_ISLAND_OPTIMIZATION
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void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld, btDispatcher* dispatcher)
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{
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initUnionFind(int(colWorld->getCollisionObjectArray().size()));
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// put the index into m_controllers into m_tag
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{
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int index = 0;
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int i;
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for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
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{
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btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
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collisionObject->setIslandTag(index);
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collisionObject->setCompanionId(-1);
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collisionObject->setHitFraction(btScalar(1.));
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index++;
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}
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}
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// do the union find
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findUnions(dispatcher, colWorld);
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}
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void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
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{
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// put the islandId ('find' value) into m_tag
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{
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int index = 0;
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int i;
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for (i = 0; i < colWorld->getCollisionObjectArray().size(); i++)
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{
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btCollisionObject* collisionObject = colWorld->getCollisionObjectArray()[i];
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if (!collisionObject->isStaticOrKinematicObject())
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{
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collisionObject->setIslandTag(m_unionFind.find(index));
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collisionObject->setCompanionId(-1);
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}
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else
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{
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collisionObject->setIslandTag(-1);
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collisionObject->setCompanionId(-2);
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}
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index++;
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}
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}
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}
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#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
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inline int getIslandId(const btPersistentManifold* lhs)
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{
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int islandId;
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const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
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const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
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islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag();
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return islandId;
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}
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/// function object that routes calls to operator<
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class btPersistentManifoldSortPredicate
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{
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public:
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SIMD_FORCE_INLINE bool operator()(const btPersistentManifold* lhs, const btPersistentManifold* rhs) const
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{
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return getIslandId(lhs) < getIslandId(rhs);
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}
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};
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class btPersistentManifoldSortPredicateDeterministic
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{
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public:
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SIMD_FORCE_INLINE bool operator()(const btPersistentManifold* lhs, const btPersistentManifold* rhs) const
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{
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return (
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(getIslandId(lhs) < getIslandId(rhs)) || ((getIslandId(lhs) == getIslandId(rhs)) && lhs->getBody0()->getBroadphaseHandle()->m_uniqueId < rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) || ((getIslandId(lhs) == getIslandId(rhs)) && (lhs->getBody0()->getBroadphaseHandle()->m_uniqueId == rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) && (lhs->getBody1()->getBroadphaseHandle()->m_uniqueId < rhs->getBody1()->getBroadphaseHandle()->m_uniqueId)));
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}
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};
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void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld)
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{
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BT_PROFILE("islandUnionFindAndQuickSort");
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btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
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m_islandmanifold.resize(0);
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//we are going to sort the unionfind array, and store the element id in the size
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//afterwards, we clean unionfind, to make sure no-one uses it anymore
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getUnionFind().sortIslands();
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int numElem = getUnionFind().getNumElements();
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int endIslandIndex = 1;
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int startIslandIndex;
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//update the sleeping state for bodies, if all are sleeping
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for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
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{
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int islandId = getUnionFind().getElement(startIslandIndex).m_id;
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for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
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{
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}
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//int numSleeping = 0;
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bool allSleeping = true;
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int idx;
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for (idx = startIslandIndex; idx < endIslandIndex; idx++)
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{
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int i = getUnionFind().getElement(idx).m_sz;
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btCollisionObject* colObj0 = collisionObjects[i];
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if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
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{
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// printf("error in island management\n");
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}
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btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
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if (colObj0->getIslandTag() == islandId)
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{
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if (colObj0->getActivationState() == ACTIVE_TAG ||
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colObj0->getActivationState() == DISABLE_DEACTIVATION)
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{
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allSleeping = false;
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break;
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}
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}
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}
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if (allSleeping)
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{
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int idx;
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for (idx = startIslandIndex; idx < endIslandIndex; idx++)
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{
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int i = getUnionFind().getElement(idx).m_sz;
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btCollisionObject* colObj0 = collisionObjects[i];
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if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
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{
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// printf("error in island management\n");
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}
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btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
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if (colObj0->getIslandTag() == islandId)
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{
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colObj0->setActivationState(ISLAND_SLEEPING);
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}
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}
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}
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else
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{
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int idx;
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for (idx = startIslandIndex; idx < endIslandIndex; idx++)
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{
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int i = getUnionFind().getElement(idx).m_sz;
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btCollisionObject* colObj0 = collisionObjects[i];
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if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
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{
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// printf("error in island management\n");
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}
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btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
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if (colObj0->getIslandTag() == islandId)
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{
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if (colObj0->getActivationState() == ISLAND_SLEEPING)
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{
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colObj0->setActivationState(WANTS_DEACTIVATION);
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colObj0->setDeactivationTime(0.f);
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}
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}
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}
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}
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}
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int i;
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int maxNumManifolds = dispatcher->getNumManifolds();
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//#define SPLIT_ISLANDS 1
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//#ifdef SPLIT_ISLANDS
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//#endif //SPLIT_ISLANDS
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for (i = 0; i < maxNumManifolds; i++)
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{
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btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
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if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs)
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{
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if (manifold->getNumContacts() == 0)
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continue;
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}
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const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
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const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
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///@todo: check sleeping conditions!
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if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
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((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
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{
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//kinematic objects don't merge islands, but wake up all connected objects
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if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
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{
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if (colObj0->hasContactResponse())
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colObj1->activate();
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}
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if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
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{
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if (colObj1->hasContactResponse())
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colObj0->activate();
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}
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if (m_splitIslands)
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{
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//filtering for response
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if (dispatcher->needsResponse(colObj0, colObj1))
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m_islandmanifold.push_back(manifold);
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}
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}
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}
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}
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///@todo: this is random access, it can be walked 'cache friendly'!
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void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
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{
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buildIslands(dispatcher, collisionWorld);
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processIslands(dispatcher, collisionWorld, callback);
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}
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void btSimulationIslandManager::processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback)
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{
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btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
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int endIslandIndex = 1;
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int startIslandIndex;
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int numElem = getUnionFind().getNumElements();
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BT_PROFILE("processIslands");
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if (!m_splitIslands)
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{
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btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
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int maxNumManifolds = dispatcher->getNumManifolds();
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callback->processIsland(&collisionObjects[0], collisionObjects.size(), manifold, maxNumManifolds, -1);
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}
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else
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{
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// Sort manifolds, based on islands
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// Sort the vector using predicate and std::sort
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//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
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int numManifolds = int(m_islandmanifold.size());
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//tried a radix sort, but quicksort/heapsort seems still faster
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//@todo rewrite island management
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//btPersistentManifoldSortPredicateDeterministic sorts contact manifolds based on islandid,
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//but also based on object0 unique id and object1 unique id
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if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs)
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{
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m_islandmanifold.quickSort(btPersistentManifoldSortPredicateDeterministic());
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}
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else
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{
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m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
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}
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//m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
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//now process all active islands (sets of manifolds for now)
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int startManifoldIndex = 0;
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int endManifoldIndex = 1;
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//int islandId;
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// printf("Start Islands\n");
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//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
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for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
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{
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int islandId = getUnionFind().getElement(startIslandIndex).m_id;
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bool islandSleeping = true;
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for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId); endIslandIndex++)
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{
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int i = getUnionFind().getElement(endIslandIndex).m_sz;
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btCollisionObject* colObj0 = collisionObjects[i];
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m_islandBodies.push_back(colObj0);
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if (colObj0->isActive())
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islandSleeping = false;
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}
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//find the accompanying contact manifold for this islandId
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int numIslandManifolds = 0;
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btPersistentManifold** startManifold = 0;
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if (startManifoldIndex < numManifolds)
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{
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int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
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if (curIslandId == islandId)
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{
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startManifold = &m_islandmanifold[startManifoldIndex];
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for (endManifoldIndex = startManifoldIndex + 1; (endManifoldIndex < numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex])); endManifoldIndex++)
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{
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}
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/// Process the actual simulation, only if not sleeping/deactivated
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numIslandManifolds = endManifoldIndex - startManifoldIndex;
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}
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}
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if (!islandSleeping)
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{
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callback->processIsland(&m_islandBodies[0], m_islandBodies.size(), startManifold, numIslandManifolds, islandId);
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// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
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}
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if (numIslandManifolds)
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{
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startManifoldIndex = endManifoldIndex;
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}
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m_islandBodies.resize(0);
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}
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} // else if(!splitIslands)
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}
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