Bullet 2 threading refactor: moved parallel-for calls into core libs
This commit is contained in:
Lunkhound
@@ -15,6 +15,7 @@ SET(BulletCollision_SRCS
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CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
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CollisionDispatch/btBoxBoxDetector.cpp
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CollisionDispatch/btCollisionDispatcher.cpp
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CollisionDispatch/btCollisionDispatcherMt.cpp
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CollisionDispatch/btCollisionObject.cpp
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CollisionDispatch/btCollisionWorld.cpp
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CollisionDispatch/btCollisionWorldImporter.cpp
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@@ -123,6 +124,7 @@ SET(CollisionDispatch_HDRS
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CollisionDispatch/btCollisionConfiguration.h
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CollisionDispatch/btCollisionCreateFunc.h
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CollisionDispatch/btCollisionDispatcher.h
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CollisionDispatch/btCollisionDispatcherMt.h
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CollisionDispatch/btCollisionObject.h
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CollisionDispatch/btCollisionObjectWrapper.h
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CollisionDispatch/btCollisionWorld.h
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@@ -0,0 +1,164 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btCollisionDispatcherMt.h"
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#include "LinearMath/btQuickprof.h"
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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#include "LinearMath/btPoolAllocator.h"
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#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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btCollisionDispatcherMt::btCollisionDispatcherMt( btCollisionConfiguration* config, int grainSize )
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: btCollisionDispatcher( config )
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{
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m_batchUpdating = false;
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m_grainSize = grainSize; // iterations per task
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}
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btPersistentManifold* btCollisionDispatcherMt::getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 )
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{
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//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
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btScalar contactBreakingThreshold = ( m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD ) ?
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btMin( body0->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ), body1->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ) )
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: gContactBreakingThreshold;
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btScalar contactProcessingThreshold = btMin( body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold() );
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void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) );
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if ( NULL == mem )
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{
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//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
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if ( ( m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION ) == 0 )
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{
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mem = btAlignedAlloc( sizeof( btPersistentManifold ), 16 );
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}
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else
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{
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btAssert( 0 );
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//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
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return 0;
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}
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}
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btPersistentManifold* manifold = new( mem ) btPersistentManifold( body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold );
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if ( !m_batchUpdating )
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{
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// batch updater will update manifold pointers array after finishing, so
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// only need to update array when not batch-updating
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btAssert( !btThreadsAreRunning() );
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manifold->m_index1a = m_manifoldsPtr.size();
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m_manifoldsPtr.push_back( manifold );
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}
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return manifold;
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}
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void btCollisionDispatcherMt::releaseManifold( btPersistentManifold* manifold )
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{
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clearManifold( manifold );
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btAssert( !btThreadsAreRunning() );
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if ( !m_batchUpdating )
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{
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// batch updater will update manifold pointers array after finishing, so
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// only need to update array when not batch-updating
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int findIndex = manifold->m_index1a;
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btAssert( findIndex < m_manifoldsPtr.size() );
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m_manifoldsPtr.swap( findIndex, m_manifoldsPtr.size() - 1 );
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m_manifoldsPtr[ findIndex ]->m_index1a = findIndex;
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m_manifoldsPtr.pop_back();
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}
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manifold->~btPersistentManifold();
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if ( m_persistentManifoldPoolAllocator->validPtr( manifold ) )
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{
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m_persistentManifoldPoolAllocator->freeMemory( manifold );
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}
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else
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{
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btAlignedFree( manifold );
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}
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}
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struct CollisionDispatcherUpdater : public btIParallelForBody
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{
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btBroadphasePair* mPairArray;
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btNearCallback mCallback;
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btCollisionDispatcher* mDispatcher;
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const btDispatcherInfo* mInfo;
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CollisionDispatcherUpdater()
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{
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mPairArray = NULL;
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mCallback = NULL;
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mDispatcher = NULL;
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mInfo = NULL;
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}
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void forLoop( int iBegin, int iEnd ) const
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{
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for ( int i = iBegin; i < iEnd; ++i )
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{
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btBroadphasePair* pair = &mPairArray[ i ];
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mCallback( *pair, *mDispatcher, *mInfo );
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}
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}
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};
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void btCollisionDispatcherMt::dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher )
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{
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int pairCount = pairCache->getNumOverlappingPairs();
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if ( pairCount == 0 )
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{
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return;
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}
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CollisionDispatcherUpdater updater;
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updater.mCallback = getNearCallback();
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updater.mPairArray = pairCache->getOverlappingPairArrayPtr();
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updater.mDispatcher = this;
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updater.mInfo = &info;
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m_batchUpdating = true;
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btParallelFor( 0, pairCount, m_grainSize, updater );
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m_batchUpdating = false;
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// reconstruct the manifolds array to ensure determinism
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m_manifoldsPtr.resizeNoInitialize( 0 );
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btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
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for ( int i = 0; i < pairCount; ++i )
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{
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if (btCollisionAlgorithm* algo = pairs[ i ].m_algorithm)
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{
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algo->getAllContactManifolds( m_manifoldsPtr );
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}
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}
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// update the indices (used when releasing manifolds)
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for ( int i = 0; i < m_manifoldsPtr.size(); ++i )
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{
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m_manifoldsPtr[ i ]->m_index1a = i;
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}
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}
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@@ -0,0 +1,39 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_COLLISION_DISPATCHER_MT_H
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#define BT_COLLISION_DISPATCHER_MT_H
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "LinearMath/btThreads.h"
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class btCollisionDispatcherMt : public btCollisionDispatcher
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{
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public:
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btCollisionDispatcherMt( btCollisionConfiguration* config, int grainSize = 40 );
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virtual btPersistentManifold* getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 ) BT_OVERRIDE;
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virtual void releaseManifold( btPersistentManifold* manifold ) BT_OVERRIDE;
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virtual void dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher ) BT_OVERRIDE;
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protected:
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bool m_batchUpdating;
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int m_grainSize;
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};
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#endif //BT_COLLISION_DISPATCHER_MT_H
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