Add posix thread backend to BulletMultiThreaded. Contributed by Enrico.

Demos/MultiThreadedDemo/CMakeLists.txt

@@ -43,6 +43,7 @@ ELSE (WIN32)
 #  SET(CMAKE_BUILD_TYPE Debug)
 #  SET(CMAKE_CXX_FLAGS_DEBUG "-g")
   INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR}) 
+  LINK_LIBRARIES(MultiThreadedDemo pthread)
 #  TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
 #  TARGET_LINK_LIBRARIES(checker ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
 ENDIF (WIN32)

Demos/MultiThreadedDemo/MultiThreadedDemo.cpp

@@ -22,14 +22,19 @@ subject to the following restrictions:
 
 #ifdef USE_PARALLEL_DISPATCHER
 #include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
-#ifdef WIN32
-#endif //WIN32
+#include "../../Extras/BulletMultiThreaded/PlatformDefinitions.h"
 
 #ifdef USE_LIBSPE2
 #include "../../Extras/BulletMultiThreaded/SpuLibspe2Support.h"
 #elif defined (WIN32)
 #include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
 #include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
+
+#elif defined (USE_PTHREADS)
+
+#include "../../Extras/BulletMultiThreaded/PosixThreadSupport.h"
+#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
+
 #else
 //other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
 #include "../../Extras/BulletMultiThreaded/SequentialThreadSupport.h"
@@ -44,7 +49,6 @@ subject to the following restrictions:
 #endif//USE_PARALLEL_DISPATCHER
 
 
-
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btIDebugDraw.h"
 
@@ -222,10 +226,8 @@ void MultiThreadedDemo::displayCallback(void) {
 void	MultiThreadedDemo::initPhysics()
 {
 #ifdef USE_PARALLEL_DISPATCHER
-#ifdef WIN32
 	m_threadSupportSolver = 0;
 	m_threadSupportCollision = 0;
-#endif //
 #endif
 
 //#define USE_GROUND_PLANE 1
@@ -250,7 +252,7 @@ void	MultiThreadedDemo::initPhysics()
 	m_collisionConfiguration = new btDefaultCollisionConfiguration();
 	
 #ifdef USE_PARALLEL_DISPATCHER
-int maxNumOutstandingTasks = 4;
+	int maxNumOutstandingTasks = 4;
 
 #ifdef USE_WIN32_THREADING
 
@@ -279,6 +281,12 @@ m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32Threa
                         program_handle = &spu_program;
 #endif
         SpuLibspe2Support* threadSupportCollision  = new SpuLibspe2Support( program_handle, maxNumOutstandingTasks);
+#elif defined (USE_PTHREADS)
+    PosixThreadSupport::ThreadConstructionInfo constructionInfo("collision",
+								processCollisionTask,
+								createCollisionLocalStoreMemory,
+								maxNumOutstandingTasks);
+    m_threadSupportCollision = new PosixThreadSupport(constructionInfo);
 #else
 
 	SequentialThreadSupport::SequentialThreadConstructionInfo colCI("collision",processCollisionTask,createCollisionLocalStoreMemory);
@@ -315,7 +323,11 @@ m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32Threa
 								processSolverTask,
 								createSolverLocalStoreMemory,
 								maxNumOutstandingTasks));
+#elif defined (USE_PTHREADS)
+	PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", processSolverTask,
+									createSolverLocalStoreMemory, maxNumOutstandingTasks);
 
+    	m_threadSupportSolver = new PosixThreadSupport(solverConstructionInfo);
 #else
 	//for now use sequential version	
 	SequentialThreadSupport::SequentialThreadConstructionInfo solverCI("solver",processSolverTask,createSolverLocalStoreMemory);
@@ -405,7 +417,6 @@ m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32Threa
 void	MultiThreadedDemo::exitPhysics()
 {
 
-
 	//cleanup in the reverse order of creation/initialization
 
 	//remove the rigidbodies from the dynamics world and delete them
@@ -436,12 +447,10 @@ void	MultiThreadedDemo::exitPhysics()
 	//delete solver
 	delete m_solver;
 #ifdef USE_PARALLEL_DISPATCHER
-#ifdef WIN32
 	if (m_threadSupportSolver)
 	{
 		delete m_threadSupportSolver;
 	}
-#endif
 #endif
 
 	//delete broadphase
@@ -451,12 +460,10 @@ void	MultiThreadedDemo::exitPhysics()
 	delete m_dispatcher;
 
 #ifdef USE_PARALLEL_DISPATCHER
-#ifdef WIN32
 	if (m_threadSupportCollision)
 	{
 		delete m_threadSupportCollision;
 	}
-#endif
 #endif
 
 	delete m_collisionConfiguration;

Demos/MultiThreadedDemo/main.cpp

@@ -12,7 +12,7 @@ subject to the following restrictions:
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-
+#include <cstdio>
 #include "MultiThreadedDemo.h"
 #include "GlutStuff.h"
 #include "GLDebugDrawer.h"
@@ -22,7 +22,6 @@ GLDebugDrawer	gDebugDrawer;
 
 int main(int argc,char** argv)
 {
-
 	MultiThreadedDemo* demo = new MultiThreadedDemo();
 
 	demo->initPhysics();
@@ -33,4 +32,5 @@ int main(int argc,char** argv)
 
 	delete demo;
 
+	return EXIT_SUCCESS;
 }