171 lines
6.8 KiB
C++
171 lines
6.8 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
|
* Copyright (c) 2010-2022 Daniel Chappuis *
|
|
*********************************************************************************
|
|
* *
|
|
* This software is provided 'as-is', without any express or implied warranty. *
|
|
* In no event will the authors be held liable for any damages arising from the *
|
|
* use of this software. *
|
|
* *
|
|
* Permission is granted to anyone to use this software for any purpose, *
|
|
* including commercial applications, and to alter it and redistribute it *
|
|
* freely, subject to the following restrictions: *
|
|
* *
|
|
* 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. *
|
|
* *
|
|
* 2. Altered source versions must be plainly marked as such, and must not be *
|
|
* misrepresented as being the original software. *
|
|
* *
|
|
* 3. This notice may not be removed or altered from any source distribution. *
|
|
* *
|
|
********************************************************************************/
|
|
|
|
#ifndef REACTPHYSICS3D_ISLANDS_H
|
|
#define REACTPHYSICS3D_ISLANDS_H
|
|
|
|
// Libraries
|
|
#include <reactphysics3d/configuration.h>
|
|
#include <reactphysics3d/containers/Array.h>
|
|
#include <reactphysics3d/engine/Entity.h>
|
|
#include <reactphysics3d/constraint/Joint.h>
|
|
|
|
namespace reactphysics3d {
|
|
|
|
// Declarations
|
|
|
|
// Structure Islands
|
|
/**
|
|
* This class contains all the islands of bodies during a frame.
|
|
* An island represent an isolated group of awake bodies that are connected with each other by
|
|
* some contraints (contacts or joints).
|
|
*/
|
|
struct Islands {
|
|
|
|
private:
|
|
|
|
/// Number of islands in the previous frame
|
|
uint32 mNbIslandsPreviousFrame;
|
|
|
|
/// Number of items in the bodyEntities array in the previous frame
|
|
uint32 mNbBodyEntitiesPreviousFrame;
|
|
|
|
/// Maximum number of bodies in a single island in the previous frame
|
|
uint32 mNbMaxBodiesInIslandPreviousFrame;
|
|
|
|
/// Maximum number of bodies in a single island in the current frame
|
|
uint32 mNbMaxBodiesInIslandCurrentFrame;
|
|
|
|
public:
|
|
|
|
// -------------------- Attributes -------------------- //
|
|
|
|
|
|
/// For each island, index of the first contact manifold of the island in the array of contact manifolds
|
|
Array<uint> contactManifoldsIndices;
|
|
|
|
/// For each island, number of contact manifolds in the island
|
|
Array<uint> nbContactManifolds;
|
|
|
|
/// Array of all the entities of the bodies in the islands (stored sequentially)
|
|
Array<Entity> bodyEntities;
|
|
|
|
/// For each island we store the starting index of the bodies of that island in the "bodyEntities" array
|
|
Array<uint32> startBodyEntitiesIndex;
|
|
|
|
/// For each island, total number of bodies in the island
|
|
Array<uint32> nbBodiesInIsland;
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
/// Constructor
|
|
Islands(MemoryAllocator& allocator)
|
|
:mNbIslandsPreviousFrame(16), mNbBodyEntitiesPreviousFrame(32), mNbMaxBodiesInIslandPreviousFrame(0), mNbMaxBodiesInIslandCurrentFrame(0),
|
|
contactManifoldsIndices(allocator), nbContactManifolds(allocator),
|
|
bodyEntities(allocator), startBodyEntitiesIndex(allocator), nbBodiesInIsland(allocator) {
|
|
|
|
}
|
|
|
|
/// Destructor
|
|
~Islands() = default;
|
|
|
|
/// Assignment operator
|
|
Islands& operator=(const Islands& island) = delete;
|
|
|
|
/// Copy-constructor
|
|
Islands(const Islands& island) = default;
|
|
|
|
/// Return the number of islands
|
|
uint32 getNbIslands() const {
|
|
return static_cast<uint32>(contactManifoldsIndices.size());
|
|
}
|
|
|
|
/// Add an island and return its index
|
|
uint32 addIsland(uint32 contactManifoldStartIndex) {
|
|
|
|
const uint32 islandIndex = static_cast<uint32>(contactManifoldsIndices.size());
|
|
|
|
contactManifoldsIndices.add(contactManifoldStartIndex);
|
|
nbContactManifolds.add(0);
|
|
startBodyEntitiesIndex.add(static_cast<uint32>(bodyEntities.size()));
|
|
nbBodiesInIsland.add(0);
|
|
|
|
if (islandIndex > 0 && nbBodiesInIsland[islandIndex-1] > mNbMaxBodiesInIslandCurrentFrame) {
|
|
mNbMaxBodiesInIslandCurrentFrame = nbBodiesInIsland[islandIndex-1];
|
|
}
|
|
|
|
return islandIndex;
|
|
}
|
|
|
|
void addBodyToIsland(Entity bodyEntity) {
|
|
|
|
const uint32 islandIndex = static_cast<uint32>(contactManifoldsIndices.size());
|
|
assert(islandIndex > 0);
|
|
|
|
bodyEntities.add(bodyEntity);
|
|
nbBodiesInIsland[islandIndex - 1]++;
|
|
}
|
|
|
|
/// Reserve memory for the current frame
|
|
void reserveMemory() {
|
|
|
|
contactManifoldsIndices.reserve(mNbIslandsPreviousFrame);
|
|
nbContactManifolds.reserve(mNbIslandsPreviousFrame);
|
|
startBodyEntitiesIndex.reserve(mNbIslandsPreviousFrame);
|
|
nbBodiesInIsland.reserve(mNbIslandsPreviousFrame);
|
|
|
|
bodyEntities.reserve(mNbBodyEntitiesPreviousFrame);
|
|
}
|
|
|
|
/// Clear all the islands
|
|
void clear() {
|
|
|
|
const uint32 nbIslands = static_cast<uint32>(nbContactManifolds.size());
|
|
|
|
if (nbIslands > 0 && nbBodiesInIsland[nbIslands-1] > mNbMaxBodiesInIslandCurrentFrame) {
|
|
mNbMaxBodiesInIslandCurrentFrame = nbBodiesInIsland[nbIslands-1];
|
|
}
|
|
|
|
mNbMaxBodiesInIslandPreviousFrame = mNbMaxBodiesInIslandCurrentFrame;
|
|
mNbIslandsPreviousFrame = nbIslands;
|
|
mNbMaxBodiesInIslandCurrentFrame = 0;
|
|
mNbBodyEntitiesPreviousFrame = static_cast<uint32>(bodyEntities.size());
|
|
|
|
contactManifoldsIndices.clear(true);
|
|
nbContactManifolds.clear(true);
|
|
bodyEntities.clear(true);
|
|
startBodyEntitiesIndex.clear(true);
|
|
nbBodiesInIsland.clear(true);
|
|
}
|
|
|
|
uint32 getNbMaxBodiesInIslandPreviousFrame() const {
|
|
return mNbMaxBodiesInIslandPreviousFrame;
|
|
}
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|