MultiThreaded Demo:
- fixing various race conditions throughout (usage of static vars, etc)
- addition of a few lightweight mutexes (which are compiled out by default)
- slight code rearrangement in discreteDynamicsWorld to facilitate multithreading
- PoolAllocator::allocate() can now be called when pool is full without
crashing (null pointer returned)
- PoolAllocator allocate and freeMemory, are OPTIONALLY threadsafe
(default is un-threadsafe)
- CollisionDispatcher no longer checks if the pool allocator is full
before calling allocate(), instead it just calls allocate() and
checks if the return is null -- this avoids a race condition
- SequentialImpulseConstraintSolver OPTIONALLY uses different logic in
getOrInitSolverBody() to avoid a race condition with kinematic bodies
- addition of 2 classes which together allow simulation islands to be run
in parallel:
- btSimulationIslandManagerMt
- btDiscreteDynamicsWorldMt
- MultiThreadedDemo example in the example browser demonstrating use of
OpenMP, Microsoft PPL, and Intel TBB
- use multithreading for other demos
- benchmark demo: add parallel raycasting
This commit is contained in:
Lunkhound
@@ -878,25 +878,12 @@ public:
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int gNumClampedCcdMotions=0;
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void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
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void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep)
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{
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BT_PROFILE("createPredictiveContacts");
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{
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BT_PROFILE("release predictive contact manifolds");
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for (int i=0;i<m_predictiveManifolds.size();i++)
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{
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btPersistentManifold* manifold = m_predictiveManifolds[i];
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this->m_dispatcher1->releaseManifold(manifold);
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}
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m_predictiveManifolds.clear();
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}
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btTransform predictedTrans;
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for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
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for ( int i=0;i<numBodies;i++)
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{
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btRigidBody* body = m_nonStaticRigidBodies[i];
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btRigidBody* body = bodies[i];
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body->setHitFraction(1.f);
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if (body->isActive() && (!body->isStaticOrKinematicObject()))
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@@ -953,7 +940,9 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
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btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body,sweepResults.m_hitCollisionObject);
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btMutexLock( &m_predictiveManifoldsMutex );
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m_predictiveManifolds.push_back(manifold);
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btMutexUnlock( &m_predictiveManifoldsMutex );
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btVector3 worldPointB = body->getWorldTransform().getOrigin()+distVec;
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btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse()*worldPointB;
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@@ -974,13 +963,35 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
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}
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}
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}
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void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
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void btDiscreteDynamicsWorld::releasePredictiveContacts()
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{
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BT_PROFILE( "release predictive contact manifolds" );
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for ( int i = 0; i < m_predictiveManifolds.size(); i++ )
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{
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btPersistentManifold* manifold = m_predictiveManifolds[ i ];
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this->m_dispatcher1->releaseManifold( manifold );
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}
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m_predictiveManifolds.clear();
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}
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void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
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{
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BT_PROFILE("createPredictiveContacts");
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releasePredictiveContacts();
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if (m_nonStaticRigidBodies.size() > 0)
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{
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createPredictiveContactsInternal( &m_nonStaticRigidBodies[ 0 ], m_nonStaticRigidBodies.size(), timeStep );
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}
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}
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void btDiscreteDynamicsWorld::integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep )
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{
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BT_PROFILE("integrateTransforms");
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btTransform predictedTrans;
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for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
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for (int i=0;i<numBodies;i++)
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{
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btRigidBody* body = m_nonStaticRigidBodies[i];
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btRigidBody* body = bodies[i];
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body->setHitFraction(1.f);
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if (body->isActive() && (!body->isStaticOrKinematicObject()))
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@@ -1080,7 +1091,17 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
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}
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///this should probably be switched on by default, but it is not well tested yet
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}
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void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
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{
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BT_PROFILE("integrateTransforms");
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if (m_nonStaticRigidBodies.size() > 0)
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{
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integrateTransformsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
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}
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///this should probably be switched on by default, but it is not well tested yet
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if (m_applySpeculativeContactRestitution)
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{
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BT_PROFILE("apply speculative contact restitution");
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@@ -1114,14 +1135,12 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
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}
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}
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}
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}
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void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
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{
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BT_PROFILE("predictUnconstraintMotion");
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@@ -30,6 +30,7 @@ class btIDebugDraw;
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struct InplaceSolverIslandCallback;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btThreads.h"
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///btDiscreteDynamicsWorld provides discrete rigid body simulation
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@@ -68,9 +69,11 @@ protected:
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bool m_latencyMotionStateInterpolation;
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btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
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btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts
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virtual void predictUnconstraintMotion(btScalar timeStep);
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void integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel
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virtual void integrateTransforms(btScalar timeStep);
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virtual void calculateSimulationIslands();
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@@ -85,7 +88,9 @@ protected:
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virtual void internalSingleStepSimulation( btScalar timeStep);
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void createPredictiveContacts(btScalar timeStep);
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void releasePredictiveContacts();
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void createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel
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virtual void createPredictiveContacts(btScalar timeStep);
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virtual void saveKinematicState(btScalar timeStep);
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168
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
Normal file
168
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
Normal file
@@ -0,0 +1,168 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btDiscreteDynamicsWorldMt.h"
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//collision detection
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h"
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#include "LinearMath/btTransformUtil.h"
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#include "LinearMath/btQuickprof.h"
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//rigidbody & constraints
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
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#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
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#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletDynamics/Dynamics/btActionInterface.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btMotionState.h"
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#include "LinearMath/btSerializer.h"
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struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::IslandCallback
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{
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btContactSolverInfo* m_solverInfo;
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btConstraintSolver* m_solver;
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btIDebugDraw* m_debugDrawer;
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btDispatcher* m_dispatcher;
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InplaceSolverIslandCallbackMt(
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btConstraintSolver* solver,
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btStackAlloc* stackAlloc,
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btDispatcher* dispatcher)
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:m_solverInfo(NULL),
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m_solver(solver),
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m_debugDrawer(NULL),
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m_dispatcher(dispatcher)
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{
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}
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InplaceSolverIslandCallbackMt& operator=(InplaceSolverIslandCallbackMt& other)
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{
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btAssert(0);
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(void)other;
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return *this;
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}
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SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btIDebugDraw* debugDrawer)
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{
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btAssert(solverInfo);
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m_solverInfo = solverInfo;
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m_debugDrawer = debugDrawer;
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}
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virtual void processIsland( btCollisionObject** bodies,
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int numBodies,
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btPersistentManifold** manifolds,
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int numManifolds,
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btTypedConstraint** constraints,
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int numConstraints,
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int islandId
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)
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{
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m_solver->solveGroup( bodies,
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numBodies,
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manifolds,
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numManifolds,
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constraints,
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numConstraints,
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*m_solverInfo,
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m_debugDrawer,
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m_dispatcher
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);
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}
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};
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btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
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: btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
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{
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if (m_ownsIslandManager)
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{
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m_islandManager->~btSimulationIslandManager();
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btAlignedFree( m_islandManager);
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}
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{
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void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallbackMt),16);
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m_solverIslandCallbackMt = new (mem) InplaceSolverIslandCallbackMt (m_constraintSolver, 0, dispatcher);
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}
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{
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void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16);
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btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt();
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m_islandManager = im;
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im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize );
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}
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}
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btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt()
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{
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if (m_solverIslandCallbackMt)
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{
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m_solverIslandCallbackMt->~InplaceSolverIslandCallbackMt();
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btAlignedFree(m_solverIslandCallbackMt);
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}
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if (m_ownsConstraintSolver)
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{
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m_constraintSolver->~btConstraintSolver();
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btAlignedFree(m_constraintSolver);
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}
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}
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void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo)
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{
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BT_PROFILE("solveConstraints");
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m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer());
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m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
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/// solve all the constraints for this island
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btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager);
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im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, m_solverIslandCallbackMt );
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m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
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}
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void btDiscreteDynamicsWorldMt::addCollisionObject(btCollisionObject* collisionObject, short int collisionFilterGroup, short int collisionFilterMask)
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{
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collisionObject->setUniqueId(m_collisionObjects.size());
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btDiscreteDynamicsWorld::addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask);
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}
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44
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
Normal file
44
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
Normal file
@@ -0,0 +1,44 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
|
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In no event will the authors be held liable for any damages arising from the use of this software.
|
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Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
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#ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H
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#define BT_DISCRETE_DYNAMICS_WORLD_MT_H
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#include "btDiscreteDynamicsWorld.h"
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struct InplaceSolverIslandCallbackMt;
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///
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/// btDiscreteDynamicsWorldMt -- a version of DiscreteDynamicsWorld with some minor changes to support
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/// solving simulation islands on multiple threads.
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///
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ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld
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{
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protected:
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InplaceSolverIslandCallbackMt* m_solverIslandCallbackMt;
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virtual void solveConstraints(btContactSolverInfo& solverInfo);
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
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virtual ~btDiscreteDynamicsWorldMt();
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};
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#endif //BT_DISCRETE_DYNAMICS_WORLD_H
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Reference in New Issue
Block a user