Function processIslandsFast

3rd_party/Src/ode/ode/src/stepfast.cpp:852–885

Since the iterative algorithm doesn't care about islands of bodies, this is a faster algorithm that just sends it all the joints and bodies in one array. It's downfall is it's inability to handle disabled bodies as well as the old one.

// faster algorithm that just sends it all the joints and bodies in one array.
// It's downfall is it's inability to handle disabled bodies as well as the old one.
static void
processIslandsFast (dxWorld * world, dReal stepsize, int maxiterations)
{
	// nothing to do if no bodies
	if (world->nb <= 0)
		return;

#	ifdef TIMING
	dTimerStart ("creating joint and body arrays");
#	endif
	dxBody **bodies, *body;
	dxJoint **joints, *joint;
	joints = (dxJoint **) ALLOCA (world->nj * sizeof (dxJoint *));
	bodies = (dxBody **) ALLOCA (world->nb * sizeof (dxBody *));

	int nj = 0;
	for (joint = world->firstjoint; joint; joint = (dxJoint *) joint->next)
		joints[nj++] = joint;

	int nb = 0;
	for (body = world->firstbody; body; body = (dxBody *) body->next)
	{
		body->flags &= ~dxBodyDisabled;
		bodies[nb++] = body;

	}

	if (nj>3)		dInternalStepIslandFast (world, bodies, nb, joints, nj, stepsize, maxiterations);
	else			dInternalStepIsland		(world, bodies, nb, joints, nj, stepsize);		
#	ifdef TIMING
	dTimerEnd ();
	dTimerReport (stdout, 1);
#	endif
}

#else