added parallel solver (work in progress) and made modifications to demo/constraints to allow for getting the type without using virtual functions (needed on CELL SPU processors)

2007-08-12 17:27:33 +00:00
parent 37e2b3db0a
commit ec22825e65
22 changed files with 1878 additions and 1018 deletions
--- a/Extras/BulletMultiThreaded/SpuParallelSolver.h
+++ b/Extras/BulletMultiThreaded/SpuParallelSolver.h
@@ -0,0 +1,75 @@
+/*
+Bullet Continuous Collision Detection and Physics Library - Parallel solver
+Copyright (c) 2007 Starbreeze Studios
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Written by: Marten Svanfeldt
+*/
+
+#ifndef SPU_PARALLELSOLVER_H
+#define SPU_PARALLELSOLVER_H
+
+#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
+#include "btThreadSupportInterface.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+class SolverTaskScheduler
+{
+protected:
+	class	btThreadSupportInterface*	m_threadInterface;
+	unsigned int						m_maxNumOutstandingTasks;
+
+	unsigned int						m_currentTask;
+	unsigned int						m_numBusyTasks;
+
+	btAlignedObjectArray<struct SpuSolverTaskDesc>	m_taskDescriptors;
+	btAlignedObjectArray<bool>						m_taskBusy;
+
+public:
+	SolverTaskScheduler (btThreadSupportInterface* threadIf, int maxOutstandingTasks);
+	~SolverTaskScheduler ();
+
+	struct SpuSolverTaskDesc* getTask ();
+
+	void issueTask();
+	void flushTasks();
+
+	unsigned int getMaxOutstandingTasks()
+	{
+		return m_maxNumOutstandingTasks;
+	}
+};
+
+class btParallelSequentialImpulseSolver : public btConstraintSolver
+{
+protected:
+
+	struct SpuSolverHash*						m_solverHash;
+	btAlignedObjectArray<struct ManifoldCellHolder>				m_sortedManifolds;
+	btAlignedObjectArray<struct ConstraintCellHolder>				m_sortedConstraints;
+	btAlignedObjectArray<class btRigidBody*>	m_allObjects;
+
+	int											m_numberOfContacts;	
+
+	SolverTaskScheduler							m_taskScheduler;
+
+public:
+	btParallelSequentialImpulseSolver (btThreadSupportInterface* threadIf, int maxOutstandingTasks);
+	virtual ~btParallelSequentialImpulseSolver();
+
+	virtual void prepareSolve (int numBodies, int numManifolds);
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc);
+	virtual void allSolved (const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc);
+	virtual void reset ();
+};
+
+#endif