protected void solveConstraints(ContactSolverInfo solverInfo) {
// sorted version of all btTypedConstraint, based on islandId
sortedConstraints.clear();
for (int i = 0; i < constraints.size(); i++) {
sortedConstraints.add(constraints.getQuick(i));
}
// Collections.sort(sortedConstraints, sortConstraintOnIslandPredicate);
MiscUtil.quickSort(sortedConstraints, sortConstraintOnIslandPredicate);
ObjectArrayList<TypedConstraint> constraintsPtr =
getNumConstraints() != 0 ? sortedConstraints : null;
solverCallback.init(
solverInfo,
constraintSolver,
constraintsPtr,
sortedConstraints.size(),
debugDrawer /*,m_stackAlloc*/,
dispatcher1);
constraintSolver.prepareSolve(
getCollisionWorld().getNumCollisionObjects(),
getCollisionWorld().getDispatcher().getNumManifolds());
// solve all the constraints for this island
islandManager.buildAndProcessIslands(
getCollisionWorld().getDispatcher(),
getCollisionWorld().getCollisionObjectArray(),
solverCallback);
constraintSolver.allSolved(solverInfo, debugDrawer /*, m_stackAlloc*/);
}
public void processIsland(
ObjectArrayList<CollisionObject> bodies,
int numBodies,
ObjectArrayList<PersistentManifold> manifolds,
int manifolds_offset,
int numManifolds,
int islandId) {
if (islandId < 0) {
// we don't split islands, so all constraints/contact manifolds/bodies are passed into the
// solver regardless the island id
solver.solveGroup(
bodies,
numBodies,
manifolds,
manifolds_offset,
numManifolds,
sortedConstraints,
0,
numConstraints,
solverInfo,
debugDrawer /*,m_stackAlloc*/,
dispatcher);
} else {
// also add all non-contact constraints/joints for this island
// ObjectArrayList<TypedConstraint> startConstraint = null;
int startConstraint_idx = -1;
int numCurConstraints = 0;
int i;
// find the first constraint for this island
for (i = 0; i < numConstraints; i++) {
if (getConstraintIslandId(sortedConstraints.getQuick(i)) == islandId) {
// startConstraint = &m_sortedConstraints[i];
// startConstraint = sortedConstraints.subList(i, sortedConstraints.size());
startConstraint_idx = i;
break;
}
}
// count the number of constraints in this island
for (; i < numConstraints; i++) {
if (getConstraintIslandId(sortedConstraints.getQuick(i)) == islandId) {
numCurConstraints++;
}
}
// only call solveGroup if there is some work: avoid virtual function call, its overhead can
// be excessive
if ((numManifolds + numCurConstraints) > 0) {
solver.solveGroup(
bodies,
numBodies,
manifolds,
manifolds_offset,
numManifolds,
sortedConstraints,
startConstraint_idx,
numCurConstraints,
solverInfo,
debugDrawer /*,m_stackAlloc*/,
dispatcher);
}
}
}