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https://github.com/copyrighttxt/watrbx-game-engine.git
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fahhh
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watrabi
@@ -0,0 +1,380 @@
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#pragma once
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#include "v8kernel/Body.h"
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#include "V8Kernel/SimBody.h"
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#include "V8Kernel/Point.h"
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#include "V8Kernel/Connector.h"
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#include "V8Kernel/ContactConnector.h"
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#include "V8Kernel/BuoyancyConnector.h"
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#include "V8kernel/Constants.h"
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#include "V8datamodel/FastLogSettings.h"
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namespace RBX {
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class KernelData {
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public:
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// main object types
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IndexArray<SimBody, &SimBody::getFreeFallBodyIndex> freeFallBodies; // bodies with no connectors
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IndexArray<SimBody, &SimBody::getRealTimeBodyIndex> realTimeBodies; // humanoid bodies that are not throttle-able
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IndexArray<SimBody, &SimBody::getJointBodyIndex> jointBodies; // bodies with joint connectors
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IndexArray<SimBody, &SimBody::getContactBodyIndex> contactBodies; // bodies with contact connectors but no joint connectors
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IndexArray<Body, &Body::getLeafBodyIndex> leafBodies; // need update PV every step, NOT in kernel!
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IndexArray<Point, &Point::getKernelIndex> points;
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IndexArray<Connector, &Connector::getHumanoidIndex> humanoidConnectors; // The humanoids
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IndexArray<Connector, &Connector::getSecondPassIndex> secondPassConnectors; // kernel joints
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IndexArray<Connector, &Connector::getRealTimeIndex> realTimeConnectors; // connectors on humanoid body parts
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IndexArray<Connector, &Connector::getJointIndex> jointConnectors;
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IndexArray<Connector, &Connector::getBuoyancyIndex> buoyancyConnectors;
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IndexArray<Connector, &Connector::getContactIndex> contactConnectors;
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KernelData()
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{
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}
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~KernelData() {
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RBXASSERT(freeFallBodies.size() == 0);
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RBXASSERT(realTimeBodies.size() == 0);
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RBXASSERT(jointBodies.size() == 0);
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RBXASSERT(contactBodies.size() == 0);
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RBXASSERT(leafBodies.size() == 0);
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RBXASSERT(points.size() == 0);
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RBXASSERT(humanoidConnectors.size() == 0);
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RBXASSERT(secondPassConnectors.size() == 0);
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RBXASSERT(realTimeConnectors.size() == 0);
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RBXASSERT(jointConnectors.size() == 0);
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RBXASSERT(buoyancyConnectors.size() == 0);
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RBXASSERT(contactConnectors.size() == 0);
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}
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inline void addLeafBodies(Body* b)
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{
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for (int i = 0; i < b->numChildren(); ++i)
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{
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Body* child = b->getChild(i);
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RBXASSERT(!child->isLeafBody());
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RBXASSERT(child != child->getRoot());
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if (child->connectorUseCount > 0)
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{
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addLeafBody(child);
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}
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addLeafBodies(child);
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}
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}
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inline void insertBody(Body* b)
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{
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RBXASSERT(b->getRoot() == b);
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SimBody* simBody = b->getSimBody();
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RBXASSERT(!b->isLeafBody() && !simBody->isInKernel());
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addBodyToNewList(simBody);
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RBXASSERT(simBody->validateBodyLists());
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}
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inline void removeBody(Body* b)
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{
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RBXASSERT(b->getRoot() == b);
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RBXASSERT(!b->isLeafBody());
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SimBody* simBody = b->getSimBody();
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removeBodyFromCurrentList(simBody);
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simBody->clearSymStateAndAccummulator();
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RBXASSERT(simBody->validateBodyLists());
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}
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inline void addConnector(Connector* c, bool pgsOn)
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{
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RBXASSERT(!c->isInKernel());
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Body* body0 = c->getBody(Connector::body0);
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Body* body1 = c->getBody(Connector::body1);
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SimBody* simBody0 = body0 ? body0->getRootSimBody() : NULL;
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SimBody* simBody1 = body1 ? body1->getRootSimBody() : NULL;
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Connector::KernelType connectorType = c->getConnectorKernelType();
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if ((simBody0 == NULL || !simBody0->isInKernel()) &&
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(simBody1 == NULL || !simBody1->isInKernel()) &&
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connectorType != Connector::HUMANOID &&
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connectorType != Connector::JOINT &&
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connectorType != Connector::KERNEL_JOINT)
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return;
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if (connectorType == Connector::HUMANOID)
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{
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humanoidConnectors.fastAppend(c);
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if (simBody0)
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simBody0->incrementHumanoidConnectorCount();
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if (simBody1)
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simBody1->incrementHumanoidConnectorCount();
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}
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else if (connectorType == Connector::KERNEL_JOINT)
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{
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secondPassConnectors.fastAppend(c);
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if (simBody0)
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simBody0->incrementSecondPassConnectorCount();
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if (simBody1)
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simBody1->incrementSecondPassConnectorCount();
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}
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else if (pgsOn && connectorType == Connector::JOINT)
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{
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jointConnectors.fastAppend(c);
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if (simBody0)
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simBody0->incrementJointConnetorCount();
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if (simBody1)
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simBody1->incrementJointConnetorCount();
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}
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else if (pgsOn && connectorType == Connector::BUOYANCY)
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{
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buoyancyConnectors.fastAppend(c);
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if (simBody0)
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simBody0->incrementBuoyancyConnectorCount();
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if (simBody1)
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simBody1->incrementBuoyancyConnectorCount();
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}
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else if ((simBody0 && !simBody0->getBody()->getCanThrottle()) ||
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(simBody1 && !simBody1->getBody()->getCanThrottle()))
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{
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realTimeConnectors.fastAppend(c);
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if (simBody0)
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simBody0->incrementRealTimeConnectorCount();
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if (simBody1)
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simBody1->incrementRealTimeConnectorCount();
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}
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else if (!pgsOn &&
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(connectorType == Connector::JOINT ||
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connectorType == Connector::BUOYANCY ||
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((simBody0 && simBody0->isJointBody()) || // Contact connectors in touch with joint bodies
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(simBody1 && simBody1->isJointBody())))) // are considered joint connectors.
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{
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jointConnectors.fastAppend(c);
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if (simBody0)
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simBody0->incrementJointConnetorCount();
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if (simBody1)
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simBody1->incrementJointConnetorCount();
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}
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else
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{
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RBXASSERT(connectorType == Connector::CONTACT);
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contactConnectors.fastAppend(c);
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if (simBody0)
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simBody0->incrementContactConnectorCount();
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if (simBody1)
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simBody1->incrementContactConnectorCount();
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}
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if (body0)
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addConnectorToBody(c, body0);
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if (body1)
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addConnectorToBody(c, body1);
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RBXASSERT(simBody0 == NULL || simBody0->validateBodyLists());
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RBXASSERT(simBody1 == NULL || simBody1->validateBodyLists());
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}
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inline void removeConnector(Connector* c)
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{
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if (!c->isInKernel())
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return;
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Body* body0 = c->getBody(Connector::body0);
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Body* body1 = c->getBody(Connector::body1);
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SimBody* simBody0 = body0 ? body0->getRootSimBody() : NULL;
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SimBody* simBody1 = body1 ? body1->getRootSimBody() : NULL;
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if (c->isHumanoid())
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{
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humanoidConnectors.fastRemove(c);
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if (simBody0)
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simBody0->decrementHumanoidConnectorCount();
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if (simBody1)
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simBody1->decrementHumanoidConnectorCount();
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}
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else if (c->isSecondPass())
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{
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secondPassConnectors.fastRemove(c);
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if (simBody0)
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simBody0->decrementSecondPassConnectorCount();
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if (simBody1)
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simBody1->decrementSecondPassConnectorCount();
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}
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else if (c->isRealTime())
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{
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realTimeConnectors.fastRemove(c);
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if (simBody0)
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simBody0->decrementRealTimeConnectorCount();
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if (simBody1)
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simBody1->decrementRealTimeConnectorCount();
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}
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else if (c->isJoint())
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{
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jointConnectors.fastRemove(c);
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if (simBody0)
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simBody0->decrementJointConnetorCount();
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if (simBody1)
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simBody1->decrementJointConnetorCount();
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}
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else if (c->isBuoyancy())
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{
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buoyancyConnectors.fastRemove(c);
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if (simBody0)
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simBody0->decrementBuoyancyConnectorCount();
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if (simBody1)
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simBody1->decrementBuoyancyConnectorCount();
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}
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else
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{
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RBXASSERT(c->isContact());
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contactConnectors.fastRemove(c);
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if (simBody0)
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simBody0->decrementContactConnectorCount();
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if (simBody1)
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simBody1->decrementContactConnectorCount();
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ContactConnector* conn = static_cast<ContactConnector*>(c);
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PairParams params = conn->getContactPoint();
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if (conn->getReordedSimBody(simBody0, simBody1, params))
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conn->applyContactPointForSymmetryDetection(simBody0, simBody1, params, -1.0f);
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}
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if (body0)
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removeConnectorFromBody(c, body0);
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if (body1)
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removeConnectorFromBody(c, body1);
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RBXASSERT(simBody0 == NULL || simBody0->validateBodyLists());
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RBXASSERT(simBody1 == NULL || simBody1->validateBodyLists());
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}
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private:
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inline void addLeafBody(Body* b)
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{
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RBXASSERT(!b->isLeafBody());
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RBXASSERT(b->connectorUseCount > 0);
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leafBodies.fastAppend(b);
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RBXASSERT(b->isLeafBody());
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}
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inline void removeLeafBody(Body* b)
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{
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RBXASSERT(b->isLeafBody());
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leafBodies.fastRemove(b);
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RBXASSERT(!b->isLeafBody());
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}
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inline void removeLeafBodies(Body* b)
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{
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for (int i = 0; i < b->numChildren(); ++i)
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{
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Body* child = b->getChild(i);
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if (child->isLeafBody())
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{
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removeLeafBody(child);
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}
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removeLeafBodies(child);
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}
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}
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inline void removeBodyFromCurrentList(SimBody* simBody)
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{
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if (simBody->isRealTimeBody())
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{
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removeLeafBodies(simBody->getBody());
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realTimeBodies.fastRemove(simBody);
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} else if (simBody->isJointBody())
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{
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removeLeafBodies(simBody->getBody());
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jointBodies.fastRemove(simBody);
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} else if (simBody->isContactBody())
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{
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contactBodies.fastRemove(simBody);
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} else if (simBody->isFreeFallBody())
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{
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freeFallBodies.fastRemove(simBody);
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simBody->updateAngMomentum();
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} else
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return;
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simBody->setDt(0.0f);
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}
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inline void addBodyToNewList(SimBody* simBody)
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{
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if (!simBody->getBody()->getCanThrottle())
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{
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if (!simBody->isRealTimeBody())
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{
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removeBodyFromCurrentList(simBody);
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realTimeBodies.fastAppend(simBody);
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simBody->setDt(Constants::kernelDt());
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addLeafBodies(simBody->getBody());
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}
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} else if (simBody->getJointConnectorCount() > 0)
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{
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if (!simBody->isJointBody())
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{
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removeBodyFromCurrentList(simBody);
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jointBodies.fastAppend(simBody);
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simBody->setDt(Constants::kernelDt());
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addLeafBodies(simBody->getBody());
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}
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} else if (simBody->getContactConnectorCount() > 0)
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{
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if (!simBody->isContactBody())
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{
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removeBodyFromCurrentList(simBody);
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contactBodies.fastAppend(simBody);
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simBody->setDt(Constants::freeFallDt());
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}
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} else
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{
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if (simBody->getConnectorCount() == 0)
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{
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if (!simBody->isFreeFallBody())
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{
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removeBodyFromCurrentList(simBody);
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freeFallBodies.fastAppend(simBody);
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simBody->setDt(Constants::freeFallDt());
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simBody->clearSymStateAndAccummulator();
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}
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} else
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{
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if (!simBody->isJointBody())
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{
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removeBodyFromCurrentList(simBody);
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jointBodies.fastAppend(simBody);
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simBody->setDt(Constants::kernelDt());
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addLeafBodies(simBody->getBody());
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}
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}
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}
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}
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inline void addConnectorToBody(Connector* c, Body* body)
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{
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body->connectorUseCount++;
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SimBody* simBody = body->getRootSimBody();
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if (!simBody->isInKernel())
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return;
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addBodyToNewList(simBody);
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// adds leaf bodies if root is already here and it is subject to the spring solver
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if (body != body->getRoot() && !body->isLeafBody() &&
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(simBody->isJointBody() || simBody->isRealTimeBody()))
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addLeafBody(body);
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}
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inline void removeConnectorFromBody(Connector* c, Body* body)
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{
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body->connectorUseCount--;
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if (body->isLeafBody() && body->connectorUseCount == 0)
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removeLeafBody(body);
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SimBody* simBody = body->getRootSimBody();
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if (!simBody->isInKernel())
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return;
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addBodyToNewList(simBody);
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}
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};
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} // namespace
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