private void solve(TimeStep step) { m_profile.solveInit = 0; m_profile.solveVelocity = 0; m_profile.solvePosition = 0; // Size the island for the worst case. island.init( m_bodyCount, m_contactManager.m_contactCount, m_jointCount, m_contactManager.m_contactListener); // Clear all the island flags. for (Body b = m_bodyList; b != null; b = b.m_next) { b.m_flags &= ~Body.e_islandFlag; } for (Contact c = m_contactManager.m_contactList; c != null; c = c.m_next) { c.m_flags &= ~Contact.ISLAND_FLAG; } for (Joint j = m_jointList; j != null; j = j.m_next) { j.m_islandFlag = false; } // Build and simulate all awake islands. int stackSize = m_bodyCount; if (stack.length < stackSize) { stack = new Body[stackSize]; } for (Body seed = m_bodyList; seed != null; seed = seed.m_next) { if ((seed.m_flags & Body.e_islandFlag) == Body.e_islandFlag) { continue; } if (seed.isAwake() == false || seed.isActive() == false) { continue; } // The seed can be dynamic or kinematic. if (seed.getType() == BodyType.STATIC) { continue; } // Reset island and stack. island.clear(); int stackCount = 0; stack[stackCount++] = seed; seed.m_flags |= Body.e_islandFlag; // Perform a depth first search (DFS) on the constraint graph. while (stackCount > 0) { // Grab the next body off the stack and add it to the island. Body b = stack[--stackCount]; assert (b.isActive() == true); island.add(b); // Make sure the body is awake. b.setAwake(true); // To keep islands as small as possible, we don't // propagate islands across static bodies. if (b.getType() == BodyType.STATIC) { continue; } // Search all contacts connected to this body. for (ContactEdge ce = b.m_contactList; ce != null; ce = ce.next) { Contact contact = ce.contact; // Has this contact already been added to an island? if ((contact.m_flags & Contact.ISLAND_FLAG) == Contact.ISLAND_FLAG) { continue; } // Is this contact solid and touching? if (contact.isEnabled() == false || contact.isTouching() == false) { continue; } // Skip sensors. boolean sensorA = contact.m_fixtureA.m_isSensor; boolean sensorB = contact.m_fixtureB.m_isSensor; if (sensorA || sensorB) { continue; } island.add(contact); contact.m_flags |= Contact.ISLAND_FLAG; Body other = ce.other; // Was the other body already added to this island? if ((other.m_flags & Body.e_islandFlag) == Body.e_islandFlag) { continue; } assert (stackCount < stackSize); stack[stackCount++] = other; other.m_flags |= Body.e_islandFlag; } // Search all joints connect to this body. for (JointEdge je = b.m_jointList; je != null; je = je.next) { if (je.joint.m_islandFlag == true) { continue; } Body other = je.other; // Don't simulate joints connected to inactive bodies. if (other.isActive() == false) { continue; } island.add(je.joint); je.joint.m_islandFlag = true; if ((other.m_flags & Body.e_islandFlag) == Body.e_islandFlag) { continue; } assert (stackCount < stackSize); stack[stackCount++] = other; other.m_flags |= Body.e_islandFlag; } } island.solve(islandProfile, step, m_gravity, m_allowSleep); m_profile.solveInit += islandProfile.solveInit; m_profile.solveVelocity += islandProfile.solveVelocity; m_profile.solvePosition += islandProfile.solvePosition; // Post solve cleanup. for (int i = 0; i < island.m_bodyCount; ++i) { // Allow static bodies to participate in other islands. Body b = island.m_bodies[i]; if (b.getType() == BodyType.STATIC) { b.m_flags &= ~Body.e_islandFlag; } } } broadphaseTimer.reset(); // Synchronize fixtures, check for out of range bodies. for (Body b = m_bodyList; b != null; b = b.getNext()) { // If a body was not in an island then it did not move. if ((b.m_flags & Body.e_islandFlag) == 0) { continue; } if (b.getType() == BodyType.STATIC) { continue; } // Update fixtures (for broad-phase). b.synchronizeFixtures(); } // Look for new contacts. m_contactManager.findNewContacts(); m_profile.broadphase = broadphaseTimer.getMilliseconds(); }