more work on parallel dispatching of simulation islands
This commit is contained in:
ejcoumans
@@ -14,4 +14,513 @@ subject to the following restrictions:
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*/
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#include "SimulationIsland.h"
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#include "SimdTransform.h"
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#include "CcdPhysicsController.h"
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#include "BroadphaseCollision/OverlappingPairCache.h"
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#include "CollisionShapes/CollisionShape.h"
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#include "BroadphaseCollision/Dispatcher.h"
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#include "ConstraintSolver/ContactSolverInfo.h"
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#include "ConstraintSolver/ConstraintSolver.h"
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extern float gContactBreakingTreshold;
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bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broadphase,class ConstraintSolver* solver,float timeStep)
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{
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//then execute all stuff below for each simulation island
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#ifdef USE_QUICKPROF
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Profiler::endBlock("BuildIslands");
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#endif //USE_QUICKPROF
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///build simulation islands, and add them to a job queue, which can be processed in parallel
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///or on the GPU
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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 = false;//m_enableSatCollisionDetection;
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//pairCache->RefreshOverlappingPairs();
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if (m_overlappingPairs.size())
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{
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dispatcher->DispatchAllCollisionPairs(&m_overlappingPairs[0],m_overlappingPairs.size(),dispatchInfo);///numsubstep,g);
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}
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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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/*
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int numRigidBodies = m_controllers.size();
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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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}
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*/
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//OverlappingPairCache* scene = GetCollisionWorld()->GetPairCache();
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ContactSolverInfo solverInfo;
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solverInfo.m_friction = 0.9f;
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solverInfo.m_numIterations = 10;//m_numIterations;
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solverInfo.m_timeStep = timeStep;
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solverInfo.m_restitution = 0.f;//m_restitution;
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if (m_manifolds.size())
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{
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solver->SolveGroup( &m_manifolds[0],m_manifolds.size(),solverInfo,0);
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}
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#ifdef USE_QUICKPROF
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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(broadphase,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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// GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
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toi = dispatchInfo.m_timeOfImpact;
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}
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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 (true)
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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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return true;
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}
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}
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void SimulationIsland::SyncMotionStates(float timeStep)
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{
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std::vector<CcdPhysicsController*>::iterator i;
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//
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// synchronize the physics and graphics transformations
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//
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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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ctrl->SynchronizeMotionStates(timeStep);
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}
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}
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void SimulationIsland::UpdateAabbs(BroadphaseInterface* scene,float timeStep)
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{
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std::vector<CcdPhysicsController*>::iterator i;
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//
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// update aabbs, only for moving objects (!)
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//
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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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SimdPoint3 minAabb,maxAabb;
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CollisionShape* shapeinterface = ctrl->GetCollisionShape();
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shapeinterface->CalculateTemporalAabb(body->getCenterOfMassTransform(),
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body->getLinearVelocity(),
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//body->getAngularVelocity(),
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SimdVector3(0.f,0.f,0.f),//no angular effect for now //body->getAngularVelocity(),
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timeStep,minAabb,maxAabb);
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SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
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minAabb -= manifoldExtraExtents;
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maxAabb += manifoldExtraExtents;
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BroadphaseProxy* bp = body->m_broadphaseHandle;
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if (bp)
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{
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SimdVector3 color (1,1,0);
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class IDebugDraw* m_debugDrawer = 0;
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/*
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if (m_debugDrawer)
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{
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//draw aabb
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switch (body->GetActivationState())
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{
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case ISLAND_SLEEPING:
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{
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color.setValue(1,1,1);
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break;
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}
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case WANTS_DEACTIVATION:
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{
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color.setValue(0,0,1);
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break;
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}
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case ACTIVE_TAG:
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{
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break;
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}
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case DISABLE_DEACTIVATION:
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{
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color.setValue(1,0,1);
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};
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};
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if (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawAabb)
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{
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DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
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}
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}
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*/
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if ( (maxAabb-minAabb).length2() < 1e12f)
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{
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scene->SetAabb(bp,minAabb,maxAabb);
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} else
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{
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//something went wrong, investigate
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//removeCcdPhysicsController(ctrl);
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body->SetActivationState(DISABLE_SIMULATION);
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static bool reportMe = true;
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if (reportMe)
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{
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reportMe = false;
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printf("Overflow in AABB, object removed from simulation \n");
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printf("If you can reproduce this, please email bugs@continuousphysics.com\n");
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printf("Please include above information, your Platform, version of OS.\n");
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printf("Thanks.\n");
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}
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}
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}
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}
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}
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Block a user