Bullet Collision Detection & Physics Library
btUnionFind.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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
18
19
21{
22 Free();
23
24}
25
27{
28
29}
30
32{
33 m_elements.resize(N);
34}
36{
37 m_elements.clear();
38}
39
40
42{
43 allocate(N);
44
45 for (int i = 0; i < N; i++)
46 {
47 m_elements[i].m_id = i; m_elements[i].m_sz = 1;
48 }
49}
50
51
53{
54 public:
55
56 bool operator() ( const btElement& lhs, const btElement& rhs ) const
57 {
58 return lhs.m_id < rhs.m_id;
59 }
60};
61
65{
66
67 //first store the original body index, and islandId
68 int numElements = m_elements.size();
69
70 for (int i=0;i<numElements;i++)
71 {
72 m_elements[i].m_id = find(i);
73#ifndef STATIC_SIMULATION_ISLAND_OPTIMIZATION
74 m_elements[i].m_sz = i;
75#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
76 }
77
78 // Sort the vector using predicate and std::sort
79 //std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate);
81
82}
bool operator()(const btElement &lhs, const btElement &rhs) const
Definition: btUnionFind.cpp:56
void reset(int N)
Definition: btUnionFind.cpp:41
void allocate(int N)
Definition: btUnionFind.cpp:31
void sortIslands()
this is a special operation, destroying the content of btUnionFind.
Definition: btUnionFind.cpp:64
btAlignedObjectArray< btElement > m_elements
Definition: btUnionFind.h:38
int find(int p, int q)
Definition: btUnionFind.h:76