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dynamicsWorldMt: make island mgr aware of whether a parallel solver is present and make handoff from parallel solver to solver-pool more explicit

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This commit is contained in:
Lunkhound
2018-03-05 20:05:38 -08:00
parent d900a74939
commit 45fd4acf6e
5 changed files with 116 additions and 150 deletions
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28
examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
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@@ -200,11 +200,11 @@ public:
///
/// myParallelIslandDispatch -- wrap default parallel dispatch for profiling and to get the number of simulation islands
//
void myParallelIslandDispatch( btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr, btSimulationIslandManagerMt::IslandCallback* callback )
void myParallelIslandDispatch( btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr, const btSimulationIslandManagerMt::SolverParams& solverParams)
{
ProfileHelper prof( Profiler::kRecordDispatchIslands );
gNumIslands = islandsPtr->size();
btSimulationIslandManagerMt::parallelIslandDispatch( islandsPtr, callback );
btSimulationIslandManagerMt::parallelIslandDispatch( islandsPtr, solverParams );
}
@@ -239,9 +239,10 @@ public:
MyDiscreteDynamicsWorld( btDispatcher* dispatcher,
btBroadphaseInterface* pairCache,
btConstraintSolverPoolMt* constraintSolver,
btSequentialImpulseConstraintSolverMt* constraintSolverMt,
btCollisionConfiguration* collisionConfiguration
) :
btDiscreteDynamicsWorldMt( dispatcher, pairCache, constraintSolver, collisionConfiguration )
btDiscreteDynamicsWorldMt( dispatcher, pairCache, constraintSolver, constraintSolverMt, collisionConfiguration )
{
btSimulationIslandManagerMt* islandMgr = static_cast<btSimulationIslandManagerMt*>( m_islandManager );
islandMgr->setIslandDispatchFunction( myParallelIslandDispatch );
@@ -347,11 +348,12 @@ static btTaskSchedulerManager gTaskSchedulerMgr;
#if BT_THREADSAFE
static bool gMultithreadedWorld = true;
static bool gDisplayProfileInfo = true;
static SolverType gSolverType = SOLVER_TYPE_SEQUENTIAL_IMPULSE_MT;
#else
static bool gMultithreadedWorld = false;
static bool gDisplayProfileInfo = false;
static SolverType gSolverType = SOLVER_TYPE_SEQUENTIAL_IMPULSE;
#endif
static SolverType gSolverType = SOLVER_TYPE_SEQUENTIAL_IMPULSE_MT;
static int gSolverMode = SOLVER_SIMD |
SOLVER_USE_WARMSTARTING |
// SOLVER_RANDMIZE_ORDER |
@@ -547,16 +549,28 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
btConstraintSolverPoolMt* solverPool;
{
SolverType poolSolverType = m_solverType;
if (poolSolverType == SOLVER_TYPE_SEQUENTIAL_IMPULSE_MT)
{
// pool solvers shouldn't be parallel solvers, we don't allow that kind of
// nested parallelism because of performance issues
poolSolverType = SOLVER_TYPE_SEQUENTIAL_IMPULSE;
}
btConstraintSolver* solvers[ BT_MAX_THREAD_COUNT ];
int maxThreadCount = BT_MAX_THREAD_COUNT;
for ( int i = 0; i < maxThreadCount; ++i )
{
solvers[ i ] = createSolverByType( m_solverType );
solvers[ i ] = createSolverByType( poolSolverType );
}
solverPool = new btConstraintSolverPoolMt( solvers, maxThreadCount );
m_solver = solverPool;
}
btDiscreteDynamicsWorld* world = new MyDiscreteDynamicsWorld( m_dispatcher, m_broadphase, solverPool, m_collisionConfiguration );
btSequentialImpulseConstraintSolverMt* solverMt = NULL;
if ( m_solverType == SOLVER_TYPE_SEQUENTIAL_IMPULSE_MT )
{
solverMt = new MySequentialImpulseConstraintSolverMt();
}
btDiscreteDynamicsWorld* world = new MyDiscreteDynamicsWorld( m_dispatcher, m_broadphase, solverPool, solverMt, m_collisionConfiguration );
m_dynamicsWorld = world;
m_multithreadedWorld = true;
btAssert( btGetTaskScheduler() != NULL );
@@ -579,6 +593,8 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
SolverType solverType = m_solverType;
if ( solverType == SOLVER_TYPE_SEQUENTIAL_IMPULSE_MT )
{
// using the parallel solver with the single-threaded world works, but is
// disabled here to avoid confusion
solverType = SOLVER_TYPE_SEQUENTIAL_IMPULSE;
}
m_solver = createSolverByType( solverType );