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Bullet 2 threading refactor: moved parallel-for calls into core libs

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This commit is contained in:
Lunkhound
2017-05-22 00:47:11 -07:00
parent 2f3844e5db
commit dfe184e8d3
14 changed files with 1012 additions and 847 deletions
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39
src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
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@@ -15,6 +15,7 @@ subject to the following restrictions:
#include "LinearMath/btScalar.h"
#include "LinearMath/btThreads.h"
#include "btSimulationIslandManagerMt.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -44,7 +45,7 @@ btSimulationIslandManagerMt::btSimulationIslandManagerMt()
{
m_minimumSolverBatchSize = calcBatchCost(0, 128, 0);
m_batchIslandMinBodyCount = 32;
m_islandDispatch = defaultIslandDispatch;
m_islandDispatch = parallelIslandDispatch;
m_batchIsland = NULL;
}
@@ -545,7 +546,7 @@ void btSimulationIslandManagerMt::mergeIslands()
}
void btSimulationIslandManagerMt::defaultIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
{
// serial dispatch
btAlignedObjectArray<Island*>& islands = *islandsPtr;
@@ -565,6 +566,40 @@ void btSimulationIslandManagerMt::defaultIslandDispatch( btAlignedObjectArray<Is
}
}
struct UpdateIslandDispatcher : public btIParallelForBody
{
btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr;
btSimulationIslandManagerMt::IslandCallback* callback;
void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
{
for ( int i = iBegin; i < iEnd; ++i )
{
btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ];
btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL;
btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL;
callback->processIsland( &island->bodyArray[ 0 ],
island->bodyArray.size(),
manifolds,
island->manifoldArray.size(),
constraintsPtr,
island->constraintArray.size(),
island->id
);
}
}
};
void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
{
int grainSize = 1; // iterations per task
UpdateIslandDispatcher dispatcher;
dispatcher.islandsPtr = islandsPtr;
dispatcher.callback = callback;
btParallelFor( 0, islandsPtr->size(), grainSize, dispatcher );
}
///@todo: this is random access, it can be walked 'cache friendly'!
void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatcher,
btCollisionWorld* collisionWorld,