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Refactoring for parallel processing of islands, collision detection and constraint solving.

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This commit is contained in:
ejcoumans
2006-06-30 00:41:09 +00:00
parent 6e68cff650
commit 3a85557c29
22 changed files with 1359 additions and 345 deletions
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2
Bullet/BroadphaseCollision/BroadphaseInterface.h
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@@ -33,7 +33,7 @@ public:
virtual void DestroyProxy(BroadphaseProxy* proxy)=0;
virtual void SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)=0;
virtual void CleanProxyFromPairs(BroadphaseProxy* proxy)=0;
virtual void DispatchAllCollisionPairs(Dispatcher& dispatcher,DispatcherInfo& dispatchInfo)=0;
};

63
Bullet/BroadphaseCollision/OverlappingPairCache.cpp
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@@ -147,67 +147,4 @@ void OverlappingPairCache::RemoveOverlappingPairsContainingProxy(BroadphaseProxy
}
void OverlappingPairCache::DispatchAllCollisionPairs(Dispatcher& dispatcher,DispatcherInfo& dispatchInfo)
{
m_blockedForChanges = true;
int i;
int dispatcherId = dispatcher.GetUniqueId();
RefreshOverlappingPairs();
for (i=0;i<m_NumOverlapBroadphasePair;i++)
{
BroadphasePair& pair = m_OverlappingPairs[i];
if (dispatcherId>= 0)
{
//dispatcher will keep algorithms persistent in the collision pair
if (!pair.m_algorithms[dispatcherId])
{
pair.m_algorithms[dispatcherId] = dispatcher.FindAlgorithm(
*pair.m_pProxy0,
*pair.m_pProxy1);
}
if (pair.m_algorithms[dispatcherId])
{
if (dispatchInfo.m_dispatchFunc == DispatcherInfo::DISPATCH_DISCRETE)
{
pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
} else
{
float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
} else
{
//non-persistent algorithm dispatcher
CollisionAlgorithm* algo = dispatcher.FindAlgorithm(
*pair.m_pProxy0,
*pair.m_pProxy1);
if (algo)
{
if (dispatchInfo.m_dispatchFunc == DispatcherInfo::DISPATCH_DISCRETE)
{
algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
} else
{
float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}
m_blockedForChanges = false;
}

2
Bullet/BroadphaseCollision/OverlappingPairCache.h
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@@ -74,7 +74,7 @@ class OverlappingPairCache : public BroadphaseInterface
return collides;
}
void DispatchAllCollisionPairs(Dispatcher& dispatcher,DispatcherInfo& dispatchInfo);
virtual void RefreshOverlappingPairs() =0;

42
Bullet/CollisionDispatch/CollisionCreateFunc.h Normal file
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@@ -0,0 +1,42 @@
/*
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 COLLISION_CREATE_FUNC
#define COLLISION_CREATE_FUNC
#include <vector>
typedef std::vector<struct CollisionObject*> CollisionObjectArray;
class CollisionAlgorithm;
struct BroadphaseProxy;
struct CollisionAlgorithmCreateFunc
{
bool m_swapped;
CollisionAlgorithmCreateFunc()
:m_swapped(false)
{
}
virtual ~CollisionAlgorithmCreateFunc(){};
virtual CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
{
return 0;
}
};
#endif //COLLISION_CREATE_FUNC

67
Bullet/CollisionDispatch/CollisionDispatcher.cpp
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@@ -24,6 +24,7 @@ subject to the following restrictions:
#include "CollisionShapes/CollisionShape.h"
#include "CollisionDispatch/CollisionObject.h"
#include <algorithm>
#include "BroadphaseCollision/OverlappingPairCache.h"
int gNumManifold = 0;
@@ -293,3 +294,69 @@ void CollisionDispatcher::ReleaseManifoldResult(ManifoldResult*)
{
}
void CollisionDispatcher::DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo)
{
//m_blockedForChanges = true;
int i;
int dispatcherId = GetUniqueId();
pairCache->RefreshOverlappingPairs();
for (i=0;i<pairCache->GetNumOverlappingPairs();i++)
{
BroadphasePair& pair = pairCache->GetOverlappingPair(i);
if (dispatcherId>= 0)
{
//dispatcher will keep algorithms persistent in the collision pair
if (!pair.m_algorithms[dispatcherId])
{
pair.m_algorithms[dispatcherId] = FindAlgorithm(
*pair.m_pProxy0,
*pair.m_pProxy1);
}
if (pair.m_algorithms[dispatcherId])
{
if (dispatchInfo.m_dispatchFunc == DispatcherInfo::DISPATCH_DISCRETE)
{
pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
} else
{
float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
} else
{
//non-persistent algorithm dispatcher
CollisionAlgorithm* algo = FindAlgorithm(
*pair.m_pProxy0,
*pair.m_pProxy1);
if (algo)
{
if (dispatchInfo.m_dispatchFunc == DispatcherInfo::DISPATCH_DISCRETE)
{
algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
} else
{
float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}
//m_blockedForChanges = false;
}

23
Bullet/CollisionDispatch/CollisionDispatcher.h
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@@ -22,28 +22,15 @@ subject to the following restrictions:
#include "CollisionDispatch/ManifoldResult.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include <vector>
class IDebugDraw;
typedef std::vector<struct CollisionObject*> CollisionObjectArray;
class OverlappingPairCache;
struct CollisionAlgorithmCreateFunc
{
bool m_swapped;
CollisionAlgorithmCreateFunc()
:m_swapped(false)
{
}
virtual ~CollisionAlgorithmCreateFunc(){};
#include "CollisionCreateFunc.h"
virtual CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
{
return 0;
}
};
///CollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
@@ -131,7 +118,7 @@ public:
virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
virtual void DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo);
};

7
Bullet/CollisionDispatch/CollisionWorld.cpp
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@@ -150,10 +150,13 @@ void CollisionWorld::PerformDiscreteCollisionDetection()
for (size_t i=0;i<m_collisionObjects.size();i++)
{
m_collisionObjects[i]->m_collisionShape->GetAabb(m_collisionObjects[i]->m_worldTransform,aabbMin,aabbMax);
m_broadphase->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
m_pairCache->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
}
m_broadphase->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);
CollisionDispatcher* dispatcher = GetDispatcher();
if (dispatcher)
dispatcher->DispatchAllCollisionPairs(m_pairCache,dispatchInfo);
}

16
Bullet/CollisionDispatch/CollisionWorld.h
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@@ -70,6 +70,7 @@ class BroadphaseInterface;
#include "SimdTransform.h"
#include "CollisionObject.h"
#include "CollisionDispatcher.h" //for definition of CollisionObjectArray
#include "BroadphaseCollision/OverlappingPairCache.h"
#include <vector>
@@ -85,13 +86,14 @@ class CollisionWorld
CollisionDispatcher* m_dispatcher;
BroadphaseInterface* m_broadphase;
OverlappingPairCache* m_pairCache;
public:
CollisionWorld(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
CollisionWorld(CollisionDispatcher* dispatcher,OverlappingPairCache* pairCache)
:m_dispatcher(dispatcher),
m_broadphase(broadphase)
m_pairCache(pairCache)
{
}
@@ -102,9 +104,15 @@ public:
BroadphaseInterface* GetBroadphase()
{
return m_broadphase;
return m_pairCache;
}
OverlappingPairCache* GetPairCache()
{
return m_pairCache;
}
CollisionDispatcher* GetDispatcher()
{
return m_dispatcher;

4
Bullet/CollisionDispatch/ManifoldResult.h
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@@ -21,6 +21,10 @@ subject to the following restrictions:
struct CollisionObject;
class PersistentManifold;
///ManifoldResult is a helper class to manage contact results.
class ManifoldResult : public DiscreteCollisionDetectorInterface::Result
{