btSimulationIslandManager.cpp 13 KB

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  1. /*
  2. Bullet Continuous Collision Detection and Physics Library
  3. Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
  4. This software is provided 'as-is', without any express or implied warranty.
  5. In no event will the authors be held liable for any damages arising from the use of this software.
  6. Permission is granted to anyone to use this software for any purpose,
  7. including commercial applications, and to alter it and redistribute it freely,
  8. subject to the following restrictions:
  9. 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.
  10. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  11. 3. This notice may not be removed or altered from any source distribution.
  12. */
  13. #include "bullet/LinearMath/btScalar.h"
  14. #include "btSimulationIslandManager.h"
  15. #include "bullet/BulletCollision//BroadphaseCollision/btDispatcher.h"
  16. #include "bullet/BulletCollision//NarrowPhaseCollision/btPersistentManifold.h"
  17. #include "bullet/BulletCollision//CollisionDispatch/btCollisionObject.h"
  18. #include "bullet/BulletCollision//CollisionDispatch/btCollisionWorld.h"
  19. //#include <stdio.h>
  20. #include "bullet/LinearMath/btQuickprof.h"
  21. btSimulationIslandManager::btSimulationIslandManager():
  22. m_splitIslands(true)
  23. {
  24. }
  25. btSimulationIslandManager::~btSimulationIslandManager()
  26. {
  27. }
  28. void btSimulationIslandManager::initUnionFind(int n)
  29. {
  30. m_unionFind.reset(n);
  31. }
  32. void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btCollisionWorld* colWorld)
  33. {
  34. {
  35. btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
  36. const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
  37. if (numOverlappingPairs)
  38. {
  39. btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
  40. for (int i=0;i<numOverlappingPairs;i++)
  41. {
  42. const btBroadphasePair& collisionPair = pairPtr[i];
  43. btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
  44. btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
  45. if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
  46. ((colObj1) && ((colObj1)->mergesSimulationIslands())))
  47. {
  48. m_unionFind.unite((colObj0)->getIslandTag(),
  49. (colObj1)->getIslandTag());
  50. }
  51. }
  52. }
  53. }
  54. }
  55. #ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION
  56. void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
  57. {
  58. // put the index into m_controllers into m_tag
  59. int index = 0;
  60. {
  61. int i;
  62. for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
  63. {
  64. btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
  65. //Adding filtering here
  66. if (!collisionObject->isStaticOrKinematicObject())
  67. {
  68. collisionObject->setIslandTag(index++);
  69. }
  70. collisionObject->setCompanionId(-1);
  71. collisionObject->setHitFraction(btScalar(1.));
  72. }
  73. }
  74. // do the union find
  75. initUnionFind( index );
  76. findUnions(dispatcher,colWorld);
  77. }
  78. void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
  79. {
  80. // put the islandId ('find' value) into m_tag
  81. {
  82. int index = 0;
  83. int i;
  84. for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
  85. {
  86. btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
  87. if (!collisionObject->isStaticOrKinematicObject())
  88. {
  89. collisionObject->setIslandTag( m_unionFind.find(index) );
  90. //Set the correct object offset in Collision Object Array
  91. m_unionFind.getElement(index).m_sz = i;
  92. collisionObject->setCompanionId(-1);
  93. index++;
  94. } else
  95. {
  96. collisionObject->setIslandTag(-1);
  97. collisionObject->setCompanionId(-2);
  98. }
  99. }
  100. }
  101. }
  102. #else //STATIC_SIMULATION_ISLAND_OPTIMIZATION
  103. void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
  104. {
  105. initUnionFind( int (colWorld->getCollisionObjectArray().size()));
  106. // put the index into m_controllers into m_tag
  107. {
  108. int index = 0;
  109. int i;
  110. for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
  111. {
  112. btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
  113. collisionObject->setIslandTag(index);
  114. collisionObject->setCompanionId(-1);
  115. collisionObject->setHitFraction(btScalar(1.));
  116. index++;
  117. }
  118. }
  119. // do the union find
  120. findUnions(dispatcher,colWorld);
  121. }
  122. void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
  123. {
  124. // put the islandId ('find' value) into m_tag
  125. {
  126. int index = 0;
  127. int i;
  128. for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
  129. {
  130. btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
  131. if (!collisionObject->isStaticOrKinematicObject())
  132. {
  133. collisionObject->setIslandTag( m_unionFind.find(index) );
  134. collisionObject->setCompanionId(-1);
  135. } else
  136. {
  137. collisionObject->setIslandTag(-1);
  138. collisionObject->setCompanionId(-2);
  139. }
  140. index++;
  141. }
  142. }
  143. }
  144. #endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
  145. inline int getIslandId(const btPersistentManifold* lhs)
  146. {
  147. int islandId;
  148. const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
  149. const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
  150. islandId= rcolObj0->getIslandTag()>=0?rcolObj0->getIslandTag():rcolObj1->getIslandTag();
  151. return islandId;
  152. }
  153. /// function object that routes calls to operator<
  154. class btPersistentManifoldSortPredicate
  155. {
  156. public:
  157. SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs ) const
  158. {
  159. return getIslandId(lhs) < getIslandId(rhs);
  160. }
  161. };
  162. void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld)
  163. {
  164. BT_PROFILE("islandUnionFindAndQuickSort");
  165. btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
  166. m_islandmanifold.resize(0);
  167. //we are going to sort the unionfind array, and store the element id in the size
  168. //afterwards, we clean unionfind, to make sure no-one uses it anymore
  169. getUnionFind().sortIslands();
  170. int numElem = getUnionFind().getNumElements();
  171. int endIslandIndex=1;
  172. int startIslandIndex;
  173. //update the sleeping state for bodies, if all are sleeping
  174. for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
  175. {
  176. int islandId = getUnionFind().getElement(startIslandIndex).m_id;
  177. for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
  178. {
  179. }
  180. //int numSleeping = 0;
  181. bool allSleeping = true;
  182. int idx;
  183. for (idx=startIslandIndex;idx<endIslandIndex;idx++)
  184. {
  185. int i = getUnionFind().getElement(idx).m_sz;
  186. btCollisionObject* colObj0 = collisionObjects[i];
  187. if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
  188. {
  189. // printf("error in island management\n");
  190. }
  191. btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
  192. if (colObj0->getIslandTag() == islandId)
  193. {
  194. if (colObj0->getActivationState()== ACTIVE_TAG)
  195. {
  196. allSleeping = false;
  197. }
  198. if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
  199. {
  200. allSleeping = false;
  201. }
  202. }
  203. }
  204. if (allSleeping)
  205. {
  206. int idx;
  207. for (idx=startIslandIndex;idx<endIslandIndex;idx++)
  208. {
  209. int i = getUnionFind().getElement(idx).m_sz;
  210. btCollisionObject* colObj0 = collisionObjects[i];
  211. if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
  212. {
  213. // printf("error in island management\n");
  214. }
  215. btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
  216. if (colObj0->getIslandTag() == islandId)
  217. {
  218. colObj0->setActivationState( ISLAND_SLEEPING );
  219. }
  220. }
  221. } else
  222. {
  223. int idx;
  224. for (idx=startIslandIndex;idx<endIslandIndex;idx++)
  225. {
  226. int i = getUnionFind().getElement(idx).m_sz;
  227. btCollisionObject* colObj0 = collisionObjects[i];
  228. if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
  229. {
  230. // printf("error in island management\n");
  231. }
  232. btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
  233. if (colObj0->getIslandTag() == islandId)
  234. {
  235. if ( colObj0->getActivationState() == ISLAND_SLEEPING)
  236. {
  237. colObj0->setActivationState( WANTS_DEACTIVATION);
  238. colObj0->setDeactivationTime(0.f);
  239. }
  240. }
  241. }
  242. }
  243. }
  244. int i;
  245. int maxNumManifolds = dispatcher->getNumManifolds();
  246. //#define SPLIT_ISLANDS 1
  247. //#ifdef SPLIT_ISLANDS
  248. //#endif //SPLIT_ISLANDS
  249. for (i=0;i<maxNumManifolds ;i++)
  250. {
  251. btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
  252. const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
  253. const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
  254. ///@todo: check sleeping conditions!
  255. if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
  256. ((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
  257. {
  258. //kinematic objects don't merge islands, but wake up all connected objects
  259. if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
  260. {
  261. if (colObj0->hasContactResponse())
  262. colObj1->activate();
  263. }
  264. if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
  265. {
  266. if (colObj1->hasContactResponse())
  267. colObj0->activate();
  268. }
  269. if(m_splitIslands)
  270. {
  271. //filtering for response
  272. if (dispatcher->needsResponse(colObj0,colObj1))
  273. m_islandmanifold.push_back(manifold);
  274. }
  275. }
  276. }
  277. }
  278. ///@todo: this is random access, it can be walked 'cache friendly'!
  279. void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback)
  280. {
  281. btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
  282. buildIslands(dispatcher,collisionWorld);
  283. int endIslandIndex=1;
  284. int startIslandIndex;
  285. int numElem = getUnionFind().getNumElements();
  286. BT_PROFILE("processIslands");
  287. if(!m_splitIslands)
  288. {
  289. btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
  290. int maxNumManifolds = dispatcher->getNumManifolds();
  291. callback->processIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
  292. }
  293. else
  294. {
  295. // Sort manifolds, based on islands
  296. // Sort the vector using predicate and std::sort
  297. //std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
  298. int numManifolds = int (m_islandmanifold.size());
  299. //tried a radix sort, but quicksort/heapsort seems still faster
  300. //@todo rewrite island management
  301. m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
  302. //m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
  303. //now process all active islands (sets of manifolds for now)
  304. int startManifoldIndex = 0;
  305. int endManifoldIndex = 1;
  306. //int islandId;
  307. // printf("Start Islands\n");
  308. //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
  309. for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
  310. {
  311. int islandId = getUnionFind().getElement(startIslandIndex).m_id;
  312. bool islandSleeping = true;
  313. for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
  314. {
  315. int i = getUnionFind().getElement(endIslandIndex).m_sz;
  316. btCollisionObject* colObj0 = collisionObjects[i];
  317. m_islandBodies.push_back(colObj0);
  318. if (colObj0->isActive())
  319. islandSleeping = false;
  320. }
  321. //find the accompanying contact manifold for this islandId
  322. int numIslandManifolds = 0;
  323. btPersistentManifold** startManifold = 0;
  324. if (startManifoldIndex<numManifolds)
  325. {
  326. int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
  327. if (curIslandId == islandId)
  328. {
  329. startManifold = &m_islandmanifold[startManifoldIndex];
  330. for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
  331. {
  332. }
  333. /// Process the actual simulation, only if not sleeping/deactivated
  334. numIslandManifolds = endManifoldIndex-startManifoldIndex;
  335. }
  336. }
  337. if (!islandSleeping)
  338. {
  339. callback->processIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
  340. // printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
  341. }
  342. if (numIslandManifolds)
  343. {
  344. startManifoldIndex = endManifoldIndex;
  345. }
  346. m_islandBodies.resize(0);
  347. }
  348. } // else if(!splitIslands)
  349. }