Bullet Collision Detection & Physics Library: btUnionFind.cpp Source File

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btUnionFind.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btUnionFind.h"
17
18btUnionFind::~btUnionFind()
19{
20 Free();
21}
22
23btUnionFind::btUnionFind()
24{
25}
26
27 void btUnionFind::allocate(int N)
28{
29 m_elements.resize(N);
30}
31 void btUnionFind::Free()
32{
33 m_elements.clear();
34}
35
36 void btUnionFind::reset(int N)
37{
38 allocate(N);
39
40 for (int i = 0; i < N; i++)
41 {
42 m_elements[i].m_id = i;
43 m_elements[i].m_sz = 1;
44 }
45}
46
47 class btUnionFindElementSortPredicate
48{
49public:
50 bool operator()(const btElement& lhs, const btElement& rhs) const
51 {
52 return lhs.m_id < rhs.m_id;
53 }
54};
55
58 void btUnionFind::sortIslands()
59{
60 //first store the original body index, and islandId
61 int numElements = m_elements.size();
62
63 for (int i = 0; i < numElements; i++)
64 {
65 m_elements[i].m_id = find(i);
66#ifndef STATIC_SIMULATION_ISLAND_OPTIMIZATION
67 m_elements[i].m_sz = i;
68#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
69 }
70
71 // Sort the vector using predicate and std::sort
72 //std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate);
73 m_elements.quickSort(btUnionFindElementSortPredicate());
74}
btUnionFind.h
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition btAlignedObjectArray.h:142
btAlignedObjectArray::resize
void resize(int newsize, const T &fillData=T())
Definition btAlignedObjectArray.h:203
btAlignedObjectArray::clear
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0),...
Definition btAlignedObjectArray.h:176
btAlignedObjectArray::quickSort
void quickSort(const L &CompareFunc)
Definition btAlignedObjectArray.h:341
btUnionFindElementSortPredicate
Definition btUnionFind.cpp:48
btUnionFindElementSortPredicate::operator()
bool operator()(const btElement &lhs, const btElement &rhs) const
Definition btUnionFind.cpp:50
btUnionFind::reset
void reset(int N)
Definition btUnionFind.cpp:36
btUnionFind::btUnionFind
btUnionFind()
Definition btUnionFind.cpp:23
btUnionFind::Free
void Free()
Definition btUnionFind.cpp:31
btUnionFind::allocate
void allocate(int N)
Definition btUnionFind.cpp:27
btUnionFind::~btUnionFind
~btUnionFind()
Definition btUnionFind.cpp:18
btUnionFind::sortIslands
void sortIslands()
this is a special operation, destroying the content of btUnionFind.
Definition btUnionFind.cpp:58
btUnionFind::m_elements
btAlignedObjectArray< btElement > m_elements
Definition btUnionFind.h:38
btUnionFind::find
int find(int p, int q)
Definition btUnionFind.h:71
btElement
Definition btUnionFind.h:27
btElement::m_id
int m_id
Definition btUnionFind.h:28