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Added basic gather/scatter to simulation island (for ParallelIslandDispatcher/ParallelPhysicsEnvironment.

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This commit is contained in:
ejcoumans
2006-07-02 05:33:35 +00:00
parent a359212fb3
commit e190b3cb79
6 changed files with 104 additions and 126 deletions
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52
Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp
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@@ -40,9 +40,12 @@ ParallelPhysicsEnvironment::~ParallelPhysicsEnvironment()
/// Perform an integration step of duration 'timeStep'.
bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
{
// Make sure the broadphase / overlapping AABB paircache is up-to-date
OverlappingPairCache* scene = m_collisionWorld->GetPairCache();
scene->RefreshOverlappingPairs();
// Find the connected sets that can be simulated in parallel
// Using union find
#ifdef USE_QUICKPROF
Profiler::beginBlock("IslandUnionFind");
@@ -73,6 +76,7 @@ bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
}
}
//Store the island id in each body
GetSimulationIslandManager()->StoreIslandActivationState(GetCollisionWorld());
#ifdef USE_QUICKPROF
@@ -80,7 +84,8 @@ bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
#endif //USE_QUICKPROF
///calculate simulation islands
///build simulation islands
#ifdef USE_QUICKPROF
Profiler::beginBlock("BuildIslands");
@@ -103,9 +108,9 @@ bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
Dispatcher* dispatcher = GetCollisionWorld()->GetDispatcher();
//this is a brute force approach, will rethink later about more subtle ways
int i;
for (int i=0;i< scene->GetNumOverlappingPairs();i++)
for (i=0;i< scene->GetNumOverlappingPairs();i++)
{
BroadphasePair* pair = &scene->GetOverlappingPair(i);
@@ -114,12 +119,26 @@ bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
if (col0->m_islandTag1 > col1->m_islandTag1)
{
simulationIslands[col0->m_islandTag1].m_overlappingPairs.push_back(*pair);
simulationIslands[col0->m_islandTag1].m_overlappingPairIndices.push_back(i);
} else
{
simulationIslands[col1->m_islandTag1].m_overlappingPairs.push_back(*pair);
simulationIslands[col1->m_islandTag1].m_overlappingPairIndices.push_back(i);
}
}
//store constraint indices for each island
for (i=0;i<m_constraints.size();i++)
{
TypedConstraint& constraint = *m_constraints[i];
if (constraint.GetRigidBodyA().m_islandTag1 > constraint.GetRigidBodyB().m_islandTag1)
{
simulationIslands[constraint.GetRigidBodyA().m_islandTag1].m_constraintIndices.push_back(i);
} else
{
simulationIslands[constraint.GetRigidBodyB().m_islandTag1].m_constraintIndices.push_back(i);
}
}
//add all overlapping pairs for each island
@@ -141,18 +160,35 @@ bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
}
}
#ifdef USE_QUICKPROF
Profiler::endBlock("BuildIslands");
#endif //USE_QUICKPROF
#ifdef USE_QUICKPROF
Profiler::beginBlock("SimulateIsland");
#endif //USE_QUICKPROF
//Each simulation island can be processed in parallel
TypedConstraint** constraintBase = 0;
if (m_constraints.size())
constraintBase = &m_constraints[0];
//Each simulation island can be processed in parallel (will be put on a job queue)
for (k=0;k<simulationIslands.size();k++)
{
if (simulationIslands[k].m_controllers.size())
{
simulationIslands[k].Simulate(dispatcher,GetBroadphase(),m_solver,timeStep);
simulationIslands[k].Simulate(m_numIterations, constraintBase ,&scene->GetOverlappingPair(0),dispatcher,GetBroadphase(),m_solver,timeStep);
}
}
#ifdef USE_QUICKPROF
Profiler::endBlock("SimulateIsland");
#endif //USE_QUICKPROF
return true;
}