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

2006-06-30 00:41:09 +00:00
parent 6e68cff650
commit 3a85557c29
22 changed files with 1359 additions and 345 deletions
--- a/Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h
+++ b/Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h
@@ -0,0 +1,126 @@
+/*
+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 PARALLEL_ISLAND_DISPATCHER_H
+#define PARALLEL_ISLAND_DISPATCHER_H
+
+#include "BroadphaseCollision/Dispatcher.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "CollisionDispatch/UnionFind.h"
+#include "CollisionDispatch/ManifoldResult.h"
+
+#include "BroadphaseCollision/BroadphaseProxy.h"
+#include <vector>
+
+class IDebugDraw;
+
+
+#include "CollisionDispatch/CollisionCreateFunc.h"
+
+
+
+
+///ParallelIslandDispatcher dispatches entire simulation islands in parallel.
+///For both collision detection and constraint solving.
+///This development heads toward multi-core, CELL SPU and GPU approach
+class ParallelIslandDispatcher : public Dispatcher
+{
+	
+	std::vector<PersistentManifold*>	m_manifoldsPtr;
+
+	UnionFind m_unionFind;
+
+	bool m_useIslands;
+	
+	ManifoldResult	m_defaultManifoldResult;
+	
+	CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
+	
+public:
+	
+	UnionFind& GetUnionFind() { return m_unionFind;}
+
+	struct	IslandCallback
+	{
+		virtual ~IslandCallback() {};
+
+		virtual	void	ProcessIsland(PersistentManifold**	manifolds,int numManifolds) = 0;
+	};
+
+
+	int	GetNumManifolds() const
+	{ 
+		return m_manifoldsPtr.size();
+	}
+
+	 PersistentManifold* GetManifoldByIndexInternal(int index)
+	{
+		return m_manifoldsPtr[index];
+	}
+
+	 const PersistentManifold* GetManifoldByIndexInternal(int index) const
+	{
+		return m_manifoldsPtr[index];
+	}
+
+	void InitUnionFind(int n)
+	{
+		if (m_useIslands)
+			m_unionFind.reset(n);
+	}
+	
+	void FindUnions();
+	
+	int m_count;
+	
+	ParallelIslandDispatcher ();
+	virtual ~ParallelIslandDispatcher() {};
+
+	virtual PersistentManifold*	GetNewManifold(void* b0,void* b1);
+	
+	virtual void ReleaseManifold(PersistentManifold* manifold);
+
+	
+	virtual void BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback);
+
+	///allows the user to get contact point callbacks 
+	virtual	ManifoldResult*	GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold);
+
+	///allows the user to get contact point callbacks 
+	virtual	void	ReleaseManifoldResult(ManifoldResult*);
+
+	virtual void ClearManifold(PersistentManifold* manifold);
+
+			
+	CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+	{
+		CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
+		return algo;
+	}
+	
+	CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
+	
+	virtual bool	NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
+	
+	virtual bool	NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);
+
+	virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
+	
+	
+
+};
+
+#endif //PARALLEL_ISLAND_DISPATCHER_H
+