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added hierarchical profiling (needs more cleanup)

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avoid dynamic allocations in btRaycastVehicle
This commit is contained in:
ejcoumans
2007-11-21 03:00:40 +00:00
parent 89382c0dc4
commit cab75b53ec
19 changed files with 695 additions and 128 deletions
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51
Extras/BulletMultiThreaded/SpuParallelSolver.cpp
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@@ -28,6 +28,7 @@ Written by: Marten Svanfeldt
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "LinearMath/profile.h"
#include "SpuSolverTask/SpuParallellSolverTask.h"
@@ -108,6 +109,8 @@ void btParallelSequentialImpulseSolver::prepareSolve(int numBodies, int numManif
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)
{
PROFILE("parallel_solveGroup");
if (!numManifolds && !numConstraints)
return 0;
int i;
@@ -259,6 +262,8 @@ btAlignedObjectArray<SpuSolverConstraint> solverConstraintPool_persist;
void btParallelSequentialImpulseSolver::allSolved (const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc)
{
PROFILE("parallel_allSolved");
if (!m_numberOfContacts && !m_sortedConstraints.size())
{
m_sortedManifolds.clear();
@@ -348,6 +353,8 @@ void btParallelSequentialImpulseSolver::allSolved (const btContactSolverInfo& in
// Setup all the moving rigid bodies
{
PROFILE("setup moving rigidbodies");
int bodiesPerTask = PARALLEL_SOLVER_BODIES_PER_TASK;
int bodiesToSchedule = numBodies;
int startBody = 0;
@@ -409,33 +416,37 @@ void btParallelSequentialImpulseSolver::allSolved (const btContactSolverInfo& in
m_taskScheduler.flushTasks();
}
btSpinlock::SpinVariable* spinVar = (btSpinlock::SpinVariable*)btAlignedAlloc(sizeof(btSpinlock::SpinVariable), 128);
for (int iter = 0; iter < info.m_numIterations; ++iter)
{
btSpinlock lock (spinVar);
lock.Init();
PROFILE("parallel_solve_iterations");
// Clear the "processed cells" part of the hash
memcpy(m_solverHash->m_currentMask[0], emptyCellMask, sizeof(uint32_t)*SPU_HASH_NUMCELLDWORDS);
for (int task = 0; task < m_taskScheduler.getMaxOutstandingTasks(); ++task)
btSpinlock::SpinVariable* spinVar = (btSpinlock::SpinVariable*)btAlignedAlloc(sizeof(btSpinlock::SpinVariable), 128);
for (int iter = 0; iter < info.m_numIterations; ++iter)
{
SpuSolverTaskDesc* desc = m_taskScheduler.getTask();
desc->m_solverCommand = CMD_SOLVER_SOLVE_ITERATE;
btSpinlock lock (spinVar);
lock.Init();
desc->m_solverData.m_solverHash = m_solverHash;
desc->m_solverData.m_solverBodyList = solverBodyPool;
desc->m_solverData.m_solverBodyOffsetList = solverBodyOffsetList;
desc->m_solverData.m_solverInternalConstraintList = solverInternalConstraintPool;
desc->m_solverData.m_solverConstraintList = solverConstraintPool;
// Clear the "processed cells" part of the hash
memcpy(m_solverHash->m_currentMask[0], emptyCellMask, sizeof(uint32_t)*SPU_HASH_NUMCELLDWORDS);
desc->m_commandData.m_iterate.m_spinLockVar = spinVar;
for (int task = 0; task < m_taskScheduler.getMaxOutstandingTasks(); ++task)
{
SpuSolverTaskDesc* desc = m_taskScheduler.getTask();
desc->m_solverCommand = CMD_SOLVER_SOLVE_ITERATE;
m_taskScheduler.issueTask();
}
m_taskScheduler.flushTasks();
desc->m_solverData.m_solverHash = m_solverHash;
desc->m_solverData.m_solverBodyList = solverBodyPool;
desc->m_solverData.m_solverBodyOffsetList = solverBodyOffsetList;
desc->m_solverData.m_solverInternalConstraintList = solverInternalConstraintPool;
desc->m_solverData.m_solverConstraintList = solverConstraintPool;
desc->m_commandData.m_iterate.m_spinLockVar = spinVar;
m_taskScheduler.issueTask();
}
m_taskScheduler.flushTasks();
}
btAlignedFree((void*)spinVar);
}
btAlignedFree((void*)spinVar);
// Write back velocity
{