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fairly large refactoring of dispatcher/simulation island management, to allow for parallel simulation.

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This commit is contained in:
ejcoumans
2006-07-01 00:22:15 +00:00
parent 8e91b0cd68
commit 2d80bae6e3
16 changed files with 424 additions and 283 deletions
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47
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
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@@ -30,8 +30,7 @@ subject to the following restrictions:
#include "CollisionShapes/ConvexShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionDispatch/SimulationIslandManager.h"
#include "BroadphaseCollision/Dispatcher.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
@@ -55,7 +54,7 @@ subject to the following restrictions:
#include "PHY_IMotionState.h"
#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
#include "CollisionDispatch/UnionFind.h"
#include "CollisionShapes/SphereShape.h"
@@ -360,6 +359,8 @@ m_enableSatCollisionDetection(false)
m_debugDrawer = 0;
m_gravity = SimdVector3(0.f,-10.f,0.f);
m_islandManager = new SimulationIslandManager();
}
@@ -675,7 +676,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
#ifdef USE_QUICKPROF
@@ -685,7 +686,8 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
int numRigidBodies = m_controllers.size();
m_collisionWorld->UpdateActivationState();
m_islandManager->UpdateActivationState(GetCollisionWorld(),GetCollisionWorld()->GetDispatcher());
{
int i;
@@ -702,15 +704,15 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
{
if (colObj0->IsActive() || colObj1->IsActive())
{
GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
m_islandManager->GetUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
m_collisionWorld->StoreIslandActivationState();
m_islandManager->StoreIslandActivationState(GetCollisionWorld());
//contacts
@@ -762,7 +764,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
#endif //NEW_BULLET_VEHICLE_SUPPORT
struct InplaceSolverIslandCallback : public CollisionDispatcher::IslandCallback
struct InplaceSolverIslandCallback : public SimulationIslandManager::IslandCallback
{
ContactSolverInfo& m_solverInfo;
@@ -803,7 +805,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
#endif //USE_QUICKPROF
/// solve all the contact points and contact friction
GetDispatcher()->BuildAndProcessIslands(m_collisionWorld->GetCollisionObjectArray(),&solverCallback);
m_islandManager->BuildAndProcessIslands(GetCollisionWorld()->GetDispatcher(),m_collisionWorld->GetCollisionObjectArray(),&solverCallback);
#ifdef USE_QUICKPROF
Profiler::endBlock("BuildAndProcessIslands");
@@ -842,7 +844,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
toi = dispatchInfo.m_timeOfImpact;
@@ -1426,15 +1428,6 @@ BroadphaseInterface* CcdPhysicsEnvironment::GetBroadphase()
const CollisionDispatcher* CcdPhysicsEnvironment::GetDispatcher() const
{
return m_collisionWorld->GetDispatcher();
}
CollisionDispatcher* CcdPhysicsEnvironment::GetDispatcher()
{
return m_collisionWorld->GetDispatcher();
}
CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
{
@@ -1449,6 +1442,8 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
//first delete scene, then dispatcher, because pairs have to release manifolds on the dispatcher
//delete m_dispatcher;
delete m_collisionWorld;
delete m_islandManager;
}
@@ -1465,15 +1460,9 @@ CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index)
}
int CcdPhysicsEnvironment::GetNumManifolds() const
{
return GetDispatcher()->GetNumManifolds();
}
const PersistentManifold* CcdPhysicsEnvironment::GetManifold(int index) const
{
return GetDispatcher()->GetManifoldByIndexInternal(index);
}
TypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId)
{
@@ -1566,6 +1555,7 @@ void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctr
void CcdPhysicsEnvironment::CallbackTriggers()
{
/*
CcdPhysicsController* ctrl0=0,*ctrl1=0;
if (m_triggerCallbacks[PHY_OBJECT_RESPONSE])
@@ -1603,6 +1593,7 @@ void CcdPhysicsEnvironment::CallbackTriggers()
}
*/
}

24
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
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@@ -24,7 +24,7 @@ class CcdPhysicsController;
class TypedConstraint;
class SimulationIslandManager;
class CollisionDispatcher;
class Dispatcher;
//#include "BroadphaseInterface.h"
@@ -61,6 +61,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
ContactSolverInfo m_solverInfo;
SimulationIslandManager* m_islandManager;
public:
CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, OverlappingPairCache* pairCache=0);
@@ -160,9 +161,9 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
BroadphaseInterface* GetBroadphase();
CollisionDispatcher* GetDispatcher();
const CollisionDispatcher* GetDispatcher() const;
bool IsSatCollisionDetectionEnabled() const
{
@@ -180,16 +181,29 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
CcdPhysicsController* GetPhysicsController( int index);
int GetNumManifolds() const;
const PersistentManifold* GetManifold(int index) const;
std::vector<TypedConstraint*> m_constraints;
void SyncMotionStates(float timeStep);
class CollisionWorld* GetCollisionWorld()
{
return m_collisionWorld;
}
const class CollisionWorld* GetCollisionWorld() const
{
return m_collisionWorld;
}
private:
void SyncMotionStates(float timeStep);
std::vector<CcdPhysicsController*> m_controllers;

33
Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.cpp
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@@ -27,34 +27,7 @@ subject to the following restrictions:
static int gNumManifold2 = 0;
void ParallelIslandDispatcher::FindUnions()
{
if (m_useIslands)
{
for (int i=0;i<GetNumManifolds();i++)
{
const PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
//static objects (invmass 0.f) don't merge !
const CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
const CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
if (colObj0 && colObj1 && NeedsResponse(*colObj0,*colObj1))
{
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
m_unionFind.unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
}
@@ -293,3 +266,9 @@ void ParallelIslandDispatcher::ReleaseManifoldResult(ManifoldResult*)
{
}
void ParallelIslandDispatcher::DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo)
{
}

3
Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h
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@@ -117,6 +117,9 @@ public:
virtual bool NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);
virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
virtual void DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo);

68
Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp
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@@ -18,6 +18,9 @@ subject to the following restrictions:
#include "ParallelPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "ParallelIslandDispatcher.h"
#include "CollisionDispatch/CollisionWorld.h"
#include "ConstraintSolver/TypedConstraint.h"
ParallelPhysicsEnvironment::ParallelPhysicsEnvironment(ParallelIslandDispatcher* dispatcher, OverlappingPairCache* pairCache):
@@ -37,6 +40,44 @@ ParallelPhysicsEnvironment::~ParallelPhysicsEnvironment()
bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
{
#ifdef USE_QUICKPROF
Profiler::beginBlock("CalcSimulationIslands");
#endif //USE_QUICKPROF
/*
GetCollisionWorld()->UpdateActivationState();
{
int i;
int numConstraints = m_constraints.size();
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = m_constraints[i];
const RigidBody* colObj0 = &constraint->GetRigidBodyA();
const RigidBody* colObj1 = &constraint->GetRigidBodyB();
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
if (colObj0->IsActive() || colObj1->IsActive())
{
GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
GetCollisionWorld()->StoreIslandActivationState();
*/
#ifdef USE_QUICKPROF
Profiler::endBlock("CalcSimulationIslands");
#endif //USE_QUICKPROF
/*
//printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
@@ -127,32 +168,7 @@ bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
int numRigidBodies = m_controllers.size();
m_collisionWorld->UpdateActivationState();
{
int i;
int numConstraints = m_constraints.size();
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = m_constraints[i];
const RigidBody* colObj0 = &constraint->GetRigidBodyA();
const RigidBody* colObj1 = &constraint->GetRigidBodyB();
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
if (colObj0->IsActive() || colObj1->IsActive())
{
GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
m_collisionWorld->StoreIslandActivationState();
//contacts

17
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp Normal file
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@@ -0,0 +1,17 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
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.
*/
#include "SimulationIsland.h"

29
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.h Normal file
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@@ -0,0 +1,29 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
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.
*/
#ifndef SIMULATION_ISLAND_H
#define SIMULATION_ISLAND_H
///SimulationIsland groups all computations and data (for collision detection and dynamics) that can execute in parallel with other SimulationIsland's
///The ParallelPhysicsEnvironment and ParallelIslandDispatcher will dispatch SimulationIsland's
///At the start of the simulation timestep the simulation islands are re-calculated
///During one timestep there is no merging or splitting of Simulation Islands
class SimulationIsland
{
public:
};
#endif //SIMULATION_ISLAND_H