Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

163
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
View File

@@ -21,51 +21,15 @@ subject to the following restrictions:
#include "BroadphaseCollision/Dispatcher.h"
#include "ConstraintSolver/ContactSolverInfo.h"
#include "ConstraintSolver/ConstraintSolver.h"
#include "ConstraintSolver/TypedConstraint.h"
extern float gContactBreakingTreshold;
bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broadphase,class ConstraintSolver* solver,float timeStep)
bool SimulationIsland::Simulate(int numSolverIterations,TypedConstraint** constraintsBaseAddress,BroadphasePair* overlappingPairBaseAddress, Dispatcher* dispatcher,BroadphaseInterface* broadphase,class ConstraintSolver* solver,float timeStep)
{
//then execute all stuff below for each simulation island
#ifdef USE_QUICKPROF
Profiler::endBlock("BuildIslands");
#endif //USE_QUICKPROF
///build simulation islands, and add them to a job queue, which can be processed in parallel
///or on the GPU
//printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
if (SimdFuzzyZero(timeStep))
return true;
// if (m_debugDrawer)
// {
// gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation);
// }
#ifdef USE_QUICKPROF
Profiler::beginBlock("SyncMotionStates");
#endif //USE_QUICKPROF
//this is needed because scaling is not known in advance, and scaling has to propagate to the shape
//if (!m_scalingPropagated)
//{
// SyncMotionStates(timeStep);
// m_scalingPropagated = true;
//}
#ifdef USE_QUICKPROF
Profiler::endBlock("SyncMotionStates");
Profiler::beginBlock("predictIntegratedTransform");
#endif //USE_QUICKPROF
@@ -119,10 +83,28 @@ bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broa
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_enableSatConvex = false;//m_enableSatCollisionDetection;
//pairCache->RefreshOverlappingPairs();
if (m_overlappingPairs.size())
std::vector<BroadphasePair> overlappingPairs;
overlappingPairs.resize(this->m_overlappingPairIndices.size());
//gather overlapping pair info
int i;
for (i=0;i<m_overlappingPairIndices.size();i++)
{
dispatcher->DispatchAllCollisionPairs(&m_overlappingPairs[0],m_overlappingPairs.size(),dispatchInfo);///numsubstep,g);
overlappingPairs[i] = overlappingPairBaseAddress[m_overlappingPairIndices[i]];
}
//pairCache->RefreshOverlappingPairs();
if (overlappingPairs.size())
{
dispatcher->DispatchAllCollisionPairs(&overlappingPairs[0],overlappingPairs.size(),dispatchInfo);///numsubstep,g);
}
//scatter overlapping pair info, mainly the created algorithms/contact caches
for (i=0;i<m_overlappingPairIndices.size();i++)
{
overlappingPairBaseAddress[m_overlappingPairIndices[i]] = overlappingPairs[i];
}
@@ -130,7 +112,7 @@ bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broa
Profiler::endBlock("DispatchAllCollisionPairs");
#endif //USE_QUICKPROF
/*
int numRigidBodies = m_controllers.size();
@@ -146,25 +128,23 @@ bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broa
//solve the regular constraints (point 2 point, hinge, etc)
for (int g=0;g<numsubstep;g++)
for (int g=0;g<numSolverIterations;g++)
{
//
// constraint solving
//
//
// constraint solving
//
int i;
int numConstraints = m_constraintIndices.size();
int i;
int numConstraints = m_constraints.size();
//point to point constraints
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = constraintsBaseAddress[m_constraintIndices[i]];
constraint->BuildJacobian();
constraint->SolveConstraint( timeStep );
//point to point constraints
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = m_constraints[i];
constraint->BuildJacobian();
constraint->SolveConstraint( timeStep );
}
}
}
@@ -173,6 +153,8 @@ bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broa
Profiler::endBlock("SolveConstraint");
#endif //USE_QUICKPROF
/*
//solve the vehicles
#ifdef NEW_BULLET_VEHICLE_SUPPORT
@@ -185,54 +167,10 @@ bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broa
vehicle->UpdateVehicle( timeStep);
}
#endif //NEW_BULLET_VEHICLE_SUPPORT
*/
struct InplaceSolverIslandCallback : public ParallelIslandDispatcher::IslandCallback
{
ContactSolverInfo& m_solverInfo;
ConstraintSolver* m_solver;
IDebugDraw* m_debugDrawer;
InplaceSolverIslandCallback(
ContactSolverInfo& solverInfo,
ConstraintSolver* solver,
IDebugDraw* debugDrawer)
:m_solverInfo(solverInfo),
m_solver(solver),
m_debugDrawer(debugDrawer)
{
}
virtual void ProcessIsland(PersistentManifold** manifolds,int numManifolds)
{
m_solver->SolveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
}
};
m_solverInfo.m_friction = 0.9f;
m_solverInfo.m_numIterations = m_numIterations;
m_solverInfo.m_timeStep = timeStep;
m_solverInfo.m_restitution = 0.f;//m_restitution;
InplaceSolverIslandCallback solverCallback(
m_solverInfo,
m_solver,
m_debugDrawer);
#ifdef USE_QUICKPROF
Profiler::beginBlock("BuildAndProcessIslands");
#endif //USE_QUICKPROF
/// solve all the contact points and contact friction
GetDispatcher()->BuildAndProcessIslands(m_collisionWorld->GetCollisionObjectArray(),&solverCallback);
#ifdef USE_QUICKPROF
Profiler::endBlock("BuildAndProcessIslands");
/*
Profiler::beginBlock("CallbackTriggers");
#endif //USE_QUICKPROF
@@ -249,7 +187,7 @@ bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broa
ContactSolverInfo solverInfo;
solverInfo.m_friction = 0.9f;
solverInfo.m_numIterations = 10;//m_numIterations;
solverInfo.m_numIterations = numSolverIterations;
solverInfo.m_timeStep = timeStep;
solverInfo.m_restitution = 0.f;//m_restitution;
@@ -275,17 +213,17 @@ bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broa
float toi = 1.f;
//experimental continuous collision detection
/* if (m_ccdMode == 3)
{
DispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
DispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
// GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
toi = dispatchInfo.m_timeOfImpact;
// GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
toi = dispatchInfo.m_timeOfImpact;
}
*/
@@ -386,7 +324,6 @@ bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broa
#ifdef USE_QUICKPROF
Profiler::endBlock("SyncMotionStates");
Profiler::endProfilingCycle();
#endif //USE_QUICKPROF