moved Extras/Gimpact to src/BulletCollision/Gimpact
moved Extras/BulletMultiThreaded to src/BulletMultiThreaded (build systems will be updated soon)
This commit is contained in:
erwin.coumans
216
src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp
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216
src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
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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 "SpuGatheringCollisionDispatcher.h"
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#include "SpuCollisionTaskProcess.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
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#include "SpuContactManifoldCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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SpuGatheringCollisionDispatcher::SpuGatheringCollisionDispatcher(class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration)
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:btCollisionDispatcher(collisionConfiguration),
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m_spuCollisionTaskProcess(0),
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m_threadInterface(threadInterface),
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m_maxNumOutstandingTasks(maxNumOutstandingTasks)
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{
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}
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bool SpuGatheringCollisionDispatcher::supportsDispatchPairOnSpu(int proxyType0,int proxyType1)
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{
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bool supported0 = (
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(proxyType0 == BOX_SHAPE_PROXYTYPE) ||
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(proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) ||
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(proxyType0 == SPHERE_SHAPE_PROXYTYPE) ||
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(proxyType0 == CAPSULE_SHAPE_PROXYTYPE) ||
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(proxyType0 == CYLINDER_SHAPE_PROXYTYPE) ||
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// (proxyType0 == CONE_SHAPE_PROXYTYPE) ||
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(proxyType0 == TRIANGLE_MESH_SHAPE_PROXYTYPE) ||
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(proxyType0 == CONVEX_HULL_SHAPE_PROXYTYPE)||
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(proxyType0 == COMPOUND_SHAPE_PROXYTYPE)
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);
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bool supported1 = (
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(proxyType1 == BOX_SHAPE_PROXYTYPE) ||
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(proxyType1 == TRIANGLE_SHAPE_PROXYTYPE) ||
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(proxyType1 == SPHERE_SHAPE_PROXYTYPE) ||
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(proxyType1 == CAPSULE_SHAPE_PROXYTYPE) ||
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(proxyType1 == CYLINDER_SHAPE_PROXYTYPE) ||
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// (proxyType1 == CONE_SHAPE_PROXYTYPE) ||
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(proxyType1 == TRIANGLE_MESH_SHAPE_PROXYTYPE) ||
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(proxyType1 == CONVEX_HULL_SHAPE_PROXYTYPE) ||
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(proxyType1 == COMPOUND_SHAPE_PROXYTYPE)
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);
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return supported0 && supported1;
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}
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SpuGatheringCollisionDispatcher::~SpuGatheringCollisionDispatcher()
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{
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if (m_spuCollisionTaskProcess)
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delete m_spuCollisionTaskProcess;
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}
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#include "stdio.h"
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///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
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///this is useful for the collision dispatcher.
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class btSpuCollisionPairCallback : public btOverlapCallback
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{
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const btDispatcherInfo& m_dispatchInfo;
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SpuGatheringCollisionDispatcher* m_dispatcher;
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public:
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btSpuCollisionPairCallback(const btDispatcherInfo& dispatchInfo, SpuGatheringCollisionDispatcher* dispatcher)
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:m_dispatchInfo(dispatchInfo),
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m_dispatcher(dispatcher)
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{
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}
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virtual bool processOverlap(btBroadphasePair& collisionPair)
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{
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//PPU version
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//(*m_dispatcher->getNearCallback())(collisionPair,*m_dispatcher,m_dispatchInfo);
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//only support discrete collision detection for now, we could fallback on PPU/unoptimized version for TOI/CCD
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btAssert(m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE);
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//by default, Bullet will use this near callback
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{
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///userInfo is used to determine if the SPU has to handle this case or not (skip PPU tasks)
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if (!collisionPair.m_userInfo)
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{
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collisionPair.m_userInfo = (void*) 1;
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}
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if (!collisionPair.m_algorithm)
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{
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btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
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btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
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btCollisionAlgorithmConstructionInfo ci;
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ci.m_dispatcher1 = m_dispatcher;
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ci.m_manifold = 0;
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if (m_dispatcher->needsCollision(colObj0,colObj1))
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{
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int proxyType0 = colObj0->getCollisionShape()->getShapeType();
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int proxyType1 = colObj1->getCollisionShape()->getShapeType();
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if (m_dispatcher->supportsDispatchPairOnSpu(proxyType0,proxyType1))
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{
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int so = sizeof(SpuContactManifoldCollisionAlgorithm);
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void* mem = m_dispatcher->allocateCollisionAlgorithm(so);
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collisionPair.m_algorithm = new(mem) SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1);
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collisionPair.m_userInfo = (void*) 2;
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} else
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{
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collisionPair.m_algorithm = m_dispatcher->findAlgorithm(colObj0,colObj1);
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collisionPair.m_userInfo = (void*)3;
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}
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}
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}
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}
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return false;
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}
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};
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void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher)
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{
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if (dispatchInfo.m_enableSPU)
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{
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if (!m_spuCollisionTaskProcess)
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m_spuCollisionTaskProcess = new SpuCollisionTaskProcess(m_threadInterface,m_maxNumOutstandingTasks);
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m_spuCollisionTaskProcess->initialize2(dispatchInfo.m_useEpa);
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///modified version of btCollisionDispatcher::dispatchAllCollisionPairs:
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{
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btSpuCollisionPairCallback collisionCallback(dispatchInfo,this);
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pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
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}
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//send one big batch
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int numTotalPairs = pairCache->getNumOverlappingPairs();
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btBroadphasePair* pairPtr = pairCache->getOverlappingPairArrayPtr();
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int i;
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for (i=0;i<numTotalPairs;)
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{
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//Performance Hint: tweak this number during benchmarking
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static const int pairRange = SPU_BATCHSIZE_BROADPHASE_PAIRS;
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int endIndex = (i+pairRange) < numTotalPairs ? i+pairRange : numTotalPairs;
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m_spuCollisionTaskProcess->addWorkToTask(pairPtr,i,endIndex);
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i = endIndex;
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}
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//handle PPU fallback pairs
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for (i=0;i<numTotalPairs;i++)
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{
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btBroadphasePair& collisionPair = pairPtr[i];
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if (collisionPair.m_userInfo == (void*)3)
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{
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if (collisionPair.m_algorithm)
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{
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btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
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btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
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if (dispatcher->needsCollision(colObj0,colObj1))
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{
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btManifoldResult contactPointResult(colObj0,colObj1);
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if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
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{
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//discrete collision detection query
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collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
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} else
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{
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//continuous collision detection query, time of impact (toi)
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btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
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if (dispatchInfo.m_timeOfImpact > toi)
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dispatchInfo.m_timeOfImpact = toi;
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}
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}
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}
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}
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}
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//make sure all SPU work is done
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m_spuCollisionTaskProcess->flush2();
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} else
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{
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///PPU fallback
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///!Need to make sure to clear all 'algorithms' when switching between SPU and PPU
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btCollisionDispatcher::dispatchAllCollisionPairs(pairCache,dispatchInfo,dispatcher);
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}
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}
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