Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

lazy creation of batch scheduler, it causes issues with the physics.

Browse Source
This commit is contained in:
erwincoumans
2018-06-16 13:59:03 -07:00
parent 9b0845a0f1
commit 42c9d9aa3c
2 changed files with 18 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1783,15 +1783,6 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
createEmptyDynamicsWorld(); createEmptyDynamicsWorld();
#ifdef BT_THREADSAFE
if (btGetTaskScheduler() == 0) {
m_data->m_scheduler = btCreateDefaultTaskScheduler();
if (m_data->m_scheduler == 0) {
m_data->m_scheduler = btGetSequentialTaskScheduler();
}
btSetTaskScheduler(m_data->m_scheduler);
}
#endif //BT_THREADSAFE
} }
PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor() PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
@@ -4820,6 +4811,19 @@ struct BatchRayCaster : public btIParallelForBody
} }
}; };
void PhysicsServerCommandProcessor::createTaskScheduler()
{
#ifdef BT_THREADSAFE
if (btGetTaskScheduler() == 0) {
m_data->m_scheduler = btCreateDefaultTaskScheduler();
if (m_data->m_scheduler == 0) {
m_data->m_scheduler = btGetSequentialTaskScheduler();
}
btSetTaskScheduler(m_data->m_scheduler);
}
#endif //BT_THREADSAFE
}
bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{ {
bool hasStatus = true; bool hasStatus = true;
@@ -4844,6 +4848,7 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
BatchRayCaster batchRayCaster(m_data->m_dynamicsWorld, &rays[0], (b3RayHitInfo *)bufferServerToClient, totalRays); BatchRayCaster batchRayCaster(m_data->m_dynamicsWorld, &rays[0], (b3RayHitInfo *)bufferServerToClient, totalRays);
if (numThreads == 0) { if (numThreads == 0) {
createTaskScheduler();
// When 0 is specified, Bullet can decide how many threads to use. // When 0 is specified, Bullet can decide how many threads to use.
// About 16 rays per thread seems to work reasonably well. // About 16 rays per thread seems to work reasonably well.
batchRayCaster.castRays(totalRays / 16); batchRayCaster.castRays(totalRays / 16);
@@ -4853,8 +4858,10 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
batchRayCaster.processRay(i); batchRayCaster.processRay(i);
} }
} else { } else {
// Otherwise, just use the user-specified number of threads. This is // Otherwise, just use the user-specified number of threads. This is
// still limited by the number of virtual cores on the machine. // still limited by the number of virtual cores on the machine.
createTaskScheduler();
batchRayCaster.castRays(numThreads); batchRayCaster.castRays(numThreads);
} }
@@ -7251,7 +7258,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_SAT) if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_SAT)
{ {
m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex = clientCmd.m_physSimParamArgs.m_enableSAT; m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex = clientCmd.m_physSimParamArgs.m_enableSAT!=0;
} }

1
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -21,6 +21,7 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface
struct PhysicsServerCommandProcessorInternalData* m_data; struct PhysicsServerCommandProcessorInternalData* m_data;
void resetSimulation(); void resetSimulation();
void createTaskScheduler();
protected: protected: