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Based on feedback from another professional game company, there are several improvements, including some API change...

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Some dynamic memory allocations have been replace by pool allocation or stack allocations.
quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360)
Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change):
Example:
	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
	m_dispatcher = new	btCollisionDispatcher(collisionConfiguration);
This commit is contained in:
ejcoumans
2007-09-08 05:40:01 +00:00
parent 30b1887f40
commit 87df3d0f32
67 changed files with 1116 additions and 972 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Extras/BulletMultiThreaded/Jamfile
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@@ -2,7 +2,7 @@ SubDir TOP Extras BulletMultiThreaded ;
#IncludeDir Extras/BulletMultiThreaded ;
Library bulletmultithreaded : [ Wildcard . : */.h *.cpp ] [ Wildcard SpuNarrowPhaseCollisionTask : *.h *.cpp ] : noinstall ;
Library bulletmultithreaded : [ Wildcard . : */.h *.cpp ] [ Wildcard SpuNarrowPhaseCollisionTask : *.h *.cpp ] [ Wildcard SpuSolverTask : *.h *.cpp ] : noinstall ;
CFlags bulletmultithreaded : [ FIncludes $(TOP)/Extras/BulletMultiThreaded ] ;
LibDepends bulletmultithreaded : ;

5
Extras/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h
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@@ -19,6 +19,8 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
class btPersistentManifold;
/// SpuContactManifoldCollisionAlgorithm provides contact manifold and should be processed on SPU.
@@ -71,7 +73,8 @@ public:
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
return new SpuContactManifoldCollisionAlgorithm(ci,body0,body1);
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm));
return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0,body1);
}
};

17
Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp
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@@ -26,8 +26,9 @@ subject to the following restrictions:
SpuGatheringCollisionDispatcher::SpuGatheringCollisionDispatcher(class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks)
:m_spuCollisionTaskProcess(0),
SpuGatheringCollisionDispatcher::SpuGatheringCollisionDispatcher(class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration)
:btCollisionDispatcher(collisionConfiguration),
m_spuCollisionTaskProcess(0),
m_threadInterface(threadInterface),
m_maxNumOutstandingTasks(maxNumOutstandingTasks)
{
@@ -115,7 +116,7 @@ public:
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher = m_dispatcher;
ci.m_dispatcher1 = m_dispatcher;
ci.m_manifold = 0;
if (m_dispatcher->needsCollision(colObj0,colObj1))
@@ -124,7 +125,9 @@ public:
int proxyType1 = colObj1->getCollisionShape()->getShapeType();
if (m_dispatcher->supportsDispatchPairOnSpu(proxyType0,proxyType1))
{
collisionPair.m_algorithm = new SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1);
int so = sizeof(SpuContactManifoldCollisionAlgorithm);
void* mem = m_dispatcher->allocateCollisionAlgorithm(so);
collisionPair.m_algorithm = new(mem) SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1);
collisionPair.m_userInfo = (void*) 2;
} else
{
@@ -138,7 +141,7 @@ public:
}
};
void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo)
void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)
{
if (dispatchInfo.m_enableSPU)
@@ -152,7 +155,7 @@ void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPai
{
btSpuCollisionPairCallback collisionCallback(dispatchInfo,this);
pairCache->processAllOverlappingPairs(&collisionCallback);
pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
}
//send one big batch
@@ -203,7 +206,7 @@ void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPai
{
///PPU fallback
///!Need to make sure to clear all 'algorithms' when switching between SPU and PPU
btCollisionDispatcher::dispatchAllCollisionPairs(pairCache,dispatchInfo);
btCollisionDispatcher::dispatchAllCollisionPairs(pairCache,dispatchInfo,dispatcher);
}
}

4
Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h
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@@ -49,13 +49,13 @@ public:
return m_spuCollisionTaskProcess;
}
SpuGatheringCollisionDispatcher (class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks);
SpuGatheringCollisionDispatcher (class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration);
virtual ~SpuGatheringCollisionDispatcher();
bool supportsDispatchPairOnSpu(int proxyType0,int proxyType1);
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo);
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher);
};

2
Extras/BulletMultiThreaded/SpuParallelSolver.cpp
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@@ -105,7 +105,7 @@ void btParallelSequentialImpulseSolver::prepareSolve(int numBodies, int numManif
m_allObjects.reserve(numBodies);
}
btScalar btParallelSequentialImpulseSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc)
btScalar btParallelSequentialImpulseSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher)
{
if (!numManifolds && !numConstraints)
return 0;

2
Extras/BulletMultiThreaded/SpuParallelSolver.h
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@@ -67,7 +67,7 @@ public:
virtual ~btParallelSequentialImpulseSolver();
virtual void prepareSolve (int numBodies, int numManifolds);
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc);
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
virtual void allSolved (const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc);
virtual void reset ();
};

6
Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactCollisionAlgorithm.h
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@@ -84,7 +84,8 @@ protected:
{
if(m_convex_algorithm)
{
delete m_convex_algorithm;
m_convex_algorithm->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm);
m_convex_algorithm = NULL;
}
}
@@ -188,7 +189,8 @@ public:
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
return new btGImpactCollisionAlgorithm(ci,body0,body1);
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1);
}
};

4
Extras/GIMPACT/src/Bullet/btGImpactCollisionAlgorithm.cpp
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@@ -905,9 +905,9 @@ btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* b
void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher * dispatcher)
{
for (GUINT i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
for (GUINT i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
{
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,new btGImpactCollisionAlgorithm::CreateFunc);
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,new btGImpactCollisionAlgorithm::CreateFunc);
}
for (GUINT i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )

6
Extras/quickstep/OdeConstraintSolver.cpp
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@@ -72,7 +72,7 @@ m_erp(0.4f)
//iterative lcp and penalty method
btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher)
{
BEGIN_PROFILE("prepareConstraints");
@@ -291,3 +291,7 @@ void OdeConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,BU_Jo
//create a new contact constraint
};
void OdeConstraintSolver::reset()
{
}

5
Extras/quickstep/OdeConstraintSolver.h
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@@ -20,6 +20,7 @@ subject to the following restrictions:
class btRigidBody;
struct OdeSolverBody;
class btDispatcher;
class BU_Joint;
/// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework
@@ -45,7 +46,7 @@ public:
virtual ~OdeConstraintSolver() {}
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher);
///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
@@ -59,6 +60,8 @@ public:
{
m_erp = erp;
}
virtual void reset();
};