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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
erwincoumans
2018-06-16 06:06:18 -07:00
parent fbbd675ed6 5b3e43d4d8
commit bb8cbcdaae
14 changed files with 226 additions and 81 deletions
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173
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1565,7 +1565,7 @@ struct PhysicsServerCommandProcessorInternalData
b3ResizablePool< InternalBodyHandle > m_bodyHandles;
b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
b3ResizablePool<InternalVisualShapeHandle> m_userVisualShapeHandles;
b3PluginManager m_pluginManager;
@@ -1780,6 +1780,13 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
createEmptyDynamicsWorld();
if (btGetTaskScheduler() == 0) {
btITaskScheduler *scheduler = btCreateDefaultTaskScheduler();
if (scheduler == 0) {
scheduler = btGetSequentialTaskScheduler();
}
btSetTaskScheduler(scheduler);
}
}
PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
@@ -4681,31 +4688,87 @@ bool PhysicsServerCommandProcessor::processRequestKeyboardEventsCommand(const st
return hasStatus;
}
bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_REQUEST_RAY_CAST_INTERSECTIONS");
serverStatusOut.m_raycastHits.m_numRaycastHits = 0;
for (int ray=0;ray<clientCmd.m_requestRaycastIntersections.m_numRays;ray++)
#if __cplusplus >= 201103L
#include <atomic>
struct CastSyncInfo {
std::atomic<int> m_nextTaskNumber;
CastSyncInfo() : m_nextTaskNumber(0) {}
inline int getNextTask() {
return m_nextTaskNumber++;
}
};
#else // __cplusplus >= 201103L
struct CastSyncInfo {
volatile int m_nextTaskNumber;
btSpinMutex m_taskLock;
CastSyncInfo() : m_nextTaskNumber(0) {}
inline int getNextTask() {
m_taskLock.lock();
const int taskNr = m_nextTaskNumber++;
m_taskLock.unlock();
return taskNr;
}
};
#endif // __cplusplus >= 201103L
struct BatchRayCaster : public btIParallelForBody
{
CastSyncInfo *m_syncInfo;
const btCollisionWorld *m_world;
const b3RayData *m_rayInputBuffer;
b3RayHitInfo *m_hitInfoOutputBuffer;
int m_numRays;
BatchRayCaster(const btCollisionWorld* world, const b3RayData *rayInputBuffer, b3RayHitInfo *hitInfoOutputBuffer, int numRays)
: m_world(world), m_rayInputBuffer(rayInputBuffer), m_hitInfoOutputBuffer(hitInfoOutputBuffer), m_numRays(numRays) {
m_syncInfo = new CastSyncInfo;
}
~BatchRayCaster() {
delete m_syncInfo;
}
void castRays(int numWorkers) {
#if BT_THREADSAFE
btParallelFor(0, numWorkers, 1, *this);
#else // BT_THREADSAFE
for (int i = 0; i < m_numRays; i++) {
processRay(i);
}
#endif // BT_THREADSAFE
}
void forLoop( int iBegin, int iEnd ) const
{
btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPositions[ray][0],
clientCmd.m_requestRaycastIntersections.m_rayFromPositions[ray][1],
clientCmd.m_requestRaycastIntersections.m_rayFromPositions[ray][2]);
btVector3 rayToWorld(clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][0],
clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][1],
clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][2]);
while(true) {
const int taskNr = m_syncInfo->getNextTask();
if (taskNr >= m_numRays)
return;
processRay(taskNr);
}
}
void processRay(int ray) const {
const double *from = m_rayInputBuffer[ray].m_rayFromPosition;
const double *to = m_rayInputBuffer[ray].m_rayToPosition;
btVector3 rayFromWorld(from[0], from[1], from[2]);
btVector3 rayToWorld(to[0], to[1], to[2]);
btCollisionWorld::ClosestRayResultCallback rayResultCallback(rayFromWorld,rayToWorld);
rayResultCallback.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest;
m_data->m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,rayResultCallback);
int rayHits = serverStatusOut.m_raycastHits.m_numRaycastHits;
m_world->rayTest(rayFromWorld,rayToWorld,rayResultCallback);
b3RayHitInfo& hit = m_hitInfoOutputBuffer[ray];
if (rayResultCallback.hasHit())
{
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitFraction
= rayResultCallback.m_closestHitFraction;
hit.m_hitFraction = rayResultCallback.m_closestHitFraction;
int objectUniqueId = -1;
int linkIndex = -1;
@@ -4724,39 +4787,61 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
}
}
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitObjectUniqueId
= objectUniqueId;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitObjectLinkIndex
= linkIndex;
hit.m_hitObjectUniqueId = objectUniqueId;
hit.m_hitObjectLinkIndex = linkIndex;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[0]
= rayResultCallback.m_hitPointWorld[0];
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[1]
= rayResultCallback.m_hitPointWorld[1];
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[2]
= rayResultCallback.m_hitPointWorld[2];
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[0]
= rayResultCallback.m_hitNormalWorld[0];
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[1]
= rayResultCallback.m_hitNormalWorld[1];
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[2]
= rayResultCallback.m_hitNormalWorld[2];
hit.m_hitPositionWorld[0] = rayResultCallback.m_hitPointWorld[0];
hit.m_hitPositionWorld[1] = rayResultCallback.m_hitPointWorld[1];
hit.m_hitPositionWorld[2] = rayResultCallback.m_hitPointWorld[2];
hit.m_hitNormalWorld[0] = rayResultCallback.m_hitNormalWorld[0];
hit.m_hitNormalWorld[1] = rayResultCallback.m_hitNormalWorld[1];
hit.m_hitNormalWorld[2] = rayResultCallback.m_hitNormalWorld[2];
} else
{
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitFraction = 1;
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitObjectUniqueId = -1;
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitObjectLinkIndex = -1;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[0] = 0;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[1] = 0;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[2] = 0;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[0] = 0;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[1] = 0;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[2] = 0;
hit.m_hitFraction = 1;
hit.m_hitObjectUniqueId = -1;
hit.m_hitObjectLinkIndex = -1;
hit.m_hitPositionWorld[0] = 0;
hit.m_hitPositionWorld[1] = 0;
hit.m_hitPositionWorld[2] = 0;
hit.m_hitNormalWorld[0] = 0;
hit.m_hitNormalWorld[1] = 0;
hit.m_hitNormalWorld[2] = 0;
}
serverStatusOut.m_raycastHits.m_numRaycastHits++;
}
};
bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_REQUEST_RAY_CAST_INTERSECTIONS");
serverStatusOut.m_raycastHits.m_numRaycastHits = 0;
const int numRays = clientCmd.m_requestRaycastIntersections.m_numRays;
const int numThreads = clientCmd.m_requestRaycastIntersections.m_numThreads;
b3RayData *rayInputBuffer = (b3RayData *)malloc(sizeof(b3RayData) * numRays);
memcpy(rayInputBuffer, bufferServerToClient, sizeof(b3RayData) * numRays);
BatchRayCaster batchRayCaster(m_data->m_dynamicsWorld, rayInputBuffer, (b3RayHitInfo *)bufferServerToClient, numRays);
if (numThreads == 0) {
// When 0 is specified, Bullet can decide how many threads to use.
// About 16 rays per thread seems to work reasonably well.
batchRayCaster.castRays(numRays / 16);
} else if (numThreads == 1) {
// Sequentially trace all rays:
for (int i = 0; i < numRays; i++) {
batchRayCaster.processRay(i);
}
} else {
// Otherwise, just use the user-specified number of threads. This is
// still limited by the number of virtual cores on the machine.
batchRayCaster.castRays(numThreads);
}
free(rayInputBuffer);
serverStatusOut.m_raycastHits.m_numRaycastHits = numRays;
serverStatusOut.m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED;
return hasStatus;
}