private static int getConstraintIslandId(TypedConstraint lhs) {
int islandId;
CollisionObject rcolObj0 = lhs.getRigidBodyA();
CollisionObject rcolObj1 = lhs.getRigidBodyB();
islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
return islandId;
}
@Override
public void addConstraint(
TypedConstraint constraint, boolean disableCollisionsBetweenLinkedBodies) {
constraints.add(constraint);
if (disableCollisionsBetweenLinkedBodies) {
constraint.getRigidBodyA().addConstraintRef(constraint);
constraint.getRigidBodyB().addConstraintRef(constraint);
}
}
protected void calculateSimulationIslands() {
getSimulationIslandManager()
.updateActivationState(getCollisionWorld(), getCollisionWorld().getDispatcher());
int i;
int numConstraints = constraints.size();
for (i = 0; i < numConstraints; i++) {
TypedConstraint constraint = constraints.getQuick(i);
RigidBody colObj0 = constraint.getRigidBodyA();
RigidBody colObj1 = constraint.getRigidBodyB();
if (((colObj0 != null) && (!colObj0.isStaticOrKinematicObject()))
&& ((colObj1 != null) && (!colObj1.isStaticOrKinematicObject()))) {
if (colObj0.isActive() || colObj1.isActive()) {
getSimulationIslandManager()
.getUnionFind()
.unite((colObj0).getIslandTag(), (colObj1).getIslandTag());
}
}
}
// Store the island id in each body
getSimulationIslandManager().storeIslandActivationState(getCollisionWorld());
}
@Override
public void removeConstraint(TypedConstraint constraint) {
constraints.remove(constraint);
constraint.getRigidBodyA().removeConstraintRef(constraint);
constraint.getRigidBodyB().removeConstraintRef(constraint);
}