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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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4
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -82,7 +82,7 @@ const int maxOverlap = 65535;
#ifdef _DEBUG
const int numObjects = 20;
const int numObjects = 120;
#else
const int numObjects = 120;
#endif
@@ -314,7 +314,7 @@ int main(int argc,char** argv)
clientResetScene();
physicsEnvironmentPtr->SyncMotionStates(0.f);
if (createConstraint)
{
//physObjects[i]->SetAngularVelocity(0,0,-2,true);
int constraintId;

4
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
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@@ -49,12 +49,14 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
SimdVector3 m_gravity;
IDebugDraw* m_debugDrawer;
protected:
//solver iterations
int m_numIterations;
//timestep subdivisions
int m_numTimeSubSteps;
protected:
int m_ccdMode;
int m_solverType;

50
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);
@@ -114,13 +119,27 @@ 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
for (i=0;i<dispatcher->GetNumManifolds();i++)
@@ -142,17 +161,34 @@ bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
}
}
#ifdef USE_QUICKPROF
Profiler::endBlock("BuildIslands");
#endif //USE_QUICKPROF
#ifdef USE_QUICKPROF
Profiler::beginBlock("SimulateIsland");
#endif //USE_QUICKPROF
TypedConstraint** constraintBase = 0;
if (m_constraints.size())
constraintBase = &m_constraints[0];
//Each simulation island can be processed in parallel
//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;
}

1
Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.h
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@@ -37,6 +37,7 @@ class ParallelPhysicsEnvironment : public CcdPhysicsEnvironment
/// Perform an integration step of duration 'timeStep'.
virtual bool proceedDeltaTimeOneStep(float timeStep);
//void BuildSimulationIslands();
};

129
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
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@@ -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();
@@ -146,21 +128,19 @@ 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
//
int i;
int numConstraints = m_constraints.size();
int numConstraints = m_constraintIndices.size();
//point to point constraints
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = m_constraints[i];
TypedConstraint* constraint = constraintsBaseAddress[m_constraintIndices[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
@@ -185,53 +167,9 @@ 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;
@@ -275,7 +213,7 @@ bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broa
float toi = 1.f;
//experimental continuous collision detection
/* if (m_ccdMode == 3)
{
@@ -386,7 +324,6 @@ bool SimulationIsland::Simulate(Dispatcher* dispatcher,BroadphaseInterface* broa
#ifdef USE_QUICKPROF
Profiler::endBlock("SyncMotionStates");
Profiler::endProfilingCycle();
#endif //USE_QUICKPROF

6
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.h
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@@ -30,9 +30,11 @@ class SimulationIsland
public:
std::vector<class CcdPhysicsController*> m_controllers;
std::vector<class PersistentManifold*> m_manifolds;
std::vector<class BroadphasePair> m_overlappingPairs;
bool Simulate(Dispatcher* dispatcher,BroadphaseInterface* broadphase, class ConstraintSolver* solver, float timeStep);
std::vector<int> m_overlappingPairIndices;
std::vector<int> m_constraintIndices;
bool Simulate(int numSolverIterations,class TypedConstraint** constraintsBaseAddress,struct BroadphasePair* overlappingPairBaseAddress, Dispatcher* dispatcher,BroadphaseInterface* broadphase, class ConstraintSolver* solver, float timeStep);
int GetNumControllers()