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btUnionFind.cpp
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 1. 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #include "btUnionFind.h"
00017 #include <assert.h>
00018 
00019 
00020 
00021 
00022 btUnionFind::~btUnionFind()
00023 {
00024        Free();
00025 
00026 }
00027 
00028 btUnionFind::btUnionFind()
00029 { 
00030 
00031 }
00032 
00033 void   btUnionFind::allocate(int N)
00034 {
00035        m_elements.resize(N);
00036 }
00037 void   btUnionFind::Free()
00038 {
00039        m_elements.clear();
00040 }
00041 
00042 
00043 void   btUnionFind::reset(int N)
00044 {
00045        allocate(N);
00046 
00047        for (int i = 0; i < N; i++) 
00048        { 
00049               m_elements[i].m_id = i; m_elements[i].m_sz = 1; 
00050        } 
00051 }
00052 
00053 
00054 class btUnionFindElementSortPredicate
00055 {
00056        public:
00057 
00058               bool operator() ( const btElement& lhs, const btElement& rhs )
00059               {
00060                      return lhs.m_id < rhs.m_id;
00061               }
00062 };
00063 
00066 void   btUnionFind::sortIslands()
00067 {
00068 
00069        //first store the original body index, and islandId
00070        int numElements = m_elements.size();
00071        
00072        for (int i=0;i<numElements;i++)
00073        {
00074               m_elements[i].m_id = find(i);
00075               m_elements[i].m_sz = i;
00076        }
00077        
00078         // Sort the vector using predicate and std::sort
00079          //std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate);
00080          m_elements.quickSort(btUnionFindElementSortPredicate());
00081 
00082 }
00083