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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()
}
*/
}