Refactoring for parallel processing of islands, collision detection and constraint solving.
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ejcoumans
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 "ParallelPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "ParallelIslandDispatcher.h"
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ParallelPhysicsEnvironment::ParallelPhysicsEnvironment(ParallelIslandDispatcher* dispatcher, OverlappingPairCache* pairCache):
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CcdPhysicsEnvironment(0,pairCache)
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{
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}
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ParallelPhysicsEnvironment::~ParallelPhysicsEnvironment()
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{
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}
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/// Perform an integration step of duration 'timeStep'.
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bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
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{
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/*
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//printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
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if (SimdFuzzyZero(timeStep))
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return true;
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if (m_debugDrawer)
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{
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gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation);
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}
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#ifdef USE_QUICKPROF
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Profiler::beginBlock("SyncMotionStates");
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#endif //USE_QUICKPROF
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//this is needed because scaling is not known in advance, and scaling has to propagate to the shape
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if (!m_scalingPropagated)
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{
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SyncMotionStates(timeStep);
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m_scalingPropagated = true;
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}
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#ifdef USE_QUICKPROF
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Profiler::endBlock("SyncMotionStates");
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Profiler::beginBlock("predictIntegratedTransform");
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#endif //USE_QUICKPROF
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{
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// std::vector<CcdPhysicsController*>::iterator i;
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int k;
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for (k=0;k<GetNumControllers();k++)
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{
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CcdPhysicsController* ctrl = m_controllers[k];
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// SimdTransform predictedTrans;
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RigidBody* body = ctrl->GetRigidBody();
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if (body->IsActive())
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{
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if (!body->IsStatic())
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{
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body->applyForces( timeStep);
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body->integrateVelocities( timeStep);
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body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
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}
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}
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}
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}
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#ifdef USE_QUICKPROF
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Profiler::endBlock("predictIntegratedTransform");
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#endif //USE_QUICKPROF
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BroadphaseInterface* scene = GetBroadphase();
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//
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// collision detection (?)
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//
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#ifdef USE_QUICKPROF
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Profiler::beginBlock("DispatchAllCollisionPairs");
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#endif //USE_QUICKPROF
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int numsubstep = m_numIterations;
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DispatcherInfo dispatchInfo;
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dispatchInfo.m_timeStep = timeStep;
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dispatchInfo.m_stepCount = 0;
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dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
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scene->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);///numsubstep,g);
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#ifdef USE_QUICKPROF
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Profiler::endBlock("DispatchAllCollisionPairs");
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#endif //USE_QUICKPROF
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int numRigidBodies = m_controllers.size();
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m_collisionWorld->UpdateActivationState();
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{
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int i;
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int numConstraints = m_constraints.size();
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for (i=0;i< numConstraints ; i++ )
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{
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TypedConstraint* constraint = m_constraints[i];
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const RigidBody* colObj0 = &constraint->GetRigidBodyA();
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const RigidBody* colObj1 = &constraint->GetRigidBodyB();
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if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
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((colObj1) && ((colObj1)->mergesSimulationIslands())))
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{
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if (colObj0->IsActive() || colObj1->IsActive())
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{
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GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
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(colObj1)->m_islandTag1);
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}
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}
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}
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}
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m_collisionWorld->StoreIslandActivationState();
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//contacts
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#ifdef USE_QUICKPROF
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Profiler::beginBlock("SolveConstraint");
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#endif //USE_QUICKPROF
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//solve the regular constraints (point 2 point, hinge, etc)
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for (int g=0;g<numsubstep;g++)
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{
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//
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// constraint solving
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//
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int i;
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int numConstraints = m_constraints.size();
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//point to point constraints
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for (i=0;i< numConstraints ; i++ )
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{
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TypedConstraint* constraint = m_constraints[i];
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constraint->BuildJacobian();
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constraint->SolveConstraint( timeStep );
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}
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}
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#ifdef USE_QUICKPROF
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Profiler::endBlock("SolveConstraint");
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#endif //USE_QUICKPROF
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//solve the vehicles
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#ifdef NEW_BULLET_VEHICLE_SUPPORT
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//vehicles
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int numVehicles = m_wrapperVehicles.size();
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for (int i=0;i<numVehicles;i++)
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{
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WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
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RaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
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vehicle->UpdateVehicle( timeStep);
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}
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#endif //NEW_BULLET_VEHICLE_SUPPORT
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struct InplaceSolverIslandCallback : public ParallelIslandDispatcher::IslandCallback
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{
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ContactSolverInfo& m_solverInfo;
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ConstraintSolver* m_solver;
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IDebugDraw* m_debugDrawer;
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InplaceSolverIslandCallback(
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ContactSolverInfo& solverInfo,
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ConstraintSolver* solver,
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IDebugDraw* debugDrawer)
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:m_solverInfo(solverInfo),
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m_solver(solver),
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m_debugDrawer(debugDrawer)
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{
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}
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virtual void ProcessIsland(PersistentManifold** manifolds,int numManifolds)
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{
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m_solver->SolveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
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}
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};
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m_solverInfo.m_friction = 0.9f;
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m_solverInfo.m_numIterations = m_numIterations;
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m_solverInfo.m_timeStep = timeStep;
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m_solverInfo.m_restitution = 0.f;//m_restitution;
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InplaceSolverIslandCallback solverCallback(
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m_solverInfo,
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m_solver,
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m_debugDrawer);
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#ifdef USE_QUICKPROF
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Profiler::beginBlock("BuildAndProcessIslands");
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#endif //USE_QUICKPROF
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/// solve all the contact points and contact friction
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GetDispatcher()->BuildAndProcessIslands(m_collisionWorld->GetCollisionObjectArray(),&solverCallback);
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#ifdef USE_QUICKPROF
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Profiler::endBlock("BuildAndProcessIslands");
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Profiler::beginBlock("CallbackTriggers");
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#endif //USE_QUICKPROF
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CallbackTriggers();
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#ifdef USE_QUICKPROF
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Profiler::endBlock("CallbackTriggers");
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Profiler::beginBlock("proceedToTransform");
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#endif //USE_QUICKPROF
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{
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{
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UpdateAabbs(timeStep);
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float toi = 1.f;
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if (m_ccdMode == 3)
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{
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DispatcherInfo dispatchInfo;
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dispatchInfo.m_timeStep = timeStep;
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dispatchInfo.m_stepCount = 0;
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dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
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scene->DispatchAllCollisionPairs( *GetDispatcher(),dispatchInfo);///numsubstep,g);
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toi = dispatchInfo.m_timeOfImpact;
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}
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//
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// integrating solution
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//
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{
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std::vector<CcdPhysicsController*>::iterator i;
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for (i=m_controllers.begin();
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!(i==m_controllers.end()); i++)
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{
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CcdPhysicsController* ctrl = *i;
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SimdTransform predictedTrans;
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RigidBody* body = ctrl->GetRigidBody();
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if (body->IsActive())
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{
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if (!body->IsStatic())
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{
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body->predictIntegratedTransform(timeStep* toi, predictedTrans);
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body->proceedToTransform( predictedTrans);
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}
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}
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}
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}
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//
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// disable sleeping physics objects
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//
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std::vector<CcdPhysicsController*> m_sleepingControllers;
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std::vector<CcdPhysicsController*>::iterator i;
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for (i=m_controllers.begin();
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!(i==m_controllers.end()); i++)
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{
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CcdPhysicsController* ctrl = (*i);
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RigidBody* body = ctrl->GetRigidBody();
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ctrl->UpdateDeactivation(timeStep);
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if (ctrl->wantsSleeping())
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{
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if (body->GetActivationState() == ACTIVE_TAG)
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body->SetActivationState( WANTS_DEACTIVATION );
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} else
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{
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if (body->GetActivationState() != DISABLE_DEACTIVATION)
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body->SetActivationState( ACTIVE_TAG );
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}
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if (useIslands)
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{
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if (body->GetActivationState() == ISLAND_SLEEPING)
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{
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m_sleepingControllers.push_back(ctrl);
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}
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} else
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{
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if (ctrl->wantsSleeping())
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{
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m_sleepingControllers.push_back(ctrl);
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}
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}
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}
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}
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#ifdef USE_QUICKPROF
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Profiler::endBlock("proceedToTransform");
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Profiler::beginBlock("SyncMotionStates");
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#endif //USE_QUICKPROF
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SyncMotionStates(timeStep);
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#ifdef USE_QUICKPROF
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Profiler::endBlock("SyncMotionStates");
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Profiler::endProfilingCycle();
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#endif //USE_QUICKPROF
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#ifdef NEW_BULLET_VEHICLE_SUPPORT
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//sync wheels for vehicles
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int numVehicles = m_wrapperVehicles.size();
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for (int i=0;i<numVehicles;i++)
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{
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WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
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wrapperVehicle->SyncWheels();
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}
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#endif //NEW_BULLET_VEHICLE_SUPPORT
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}
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*/
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return true;
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}
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