add option to compile benchmark using BulletMultiThreaded (for now the option is only tested on Windows)

CMakeLists.txt

@@ -13,6 +13,12 @@ ENDIF (NOT CMAKE_BUILD_TYPE)
 
 OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" OFF)
+OPTION(USE_MULTITHREADED_BENCHMARK "Use Multithreaded Benchmark" OFF)
+
+IF (USE_MULTITHREADED_BENCHMARK)
+	ADD_DEFINITIONS(-DUSE_PARALLEL_SOLVER_BENCHMARK -DUSE_PARALLEL_DISPATCHER_BENCHMARK)
+ENDIF()
+
 OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" ON)
 OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" ON)
 

Demos/Benchmarks/BenchmarkDemo.cpp

@@ -34,7 +34,15 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
 
 
+#ifdef USE_PARALLEL_DISPATCHER_BENCHMARK
+#include "BulletMultiThreaded/Win32ThreadSupport.h"
+#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
 
+#endif
+
+#ifdef USE_PARALLEL_SOLVER_BENCHMARK
+#include "BulletMultiThreaded/btParallelConstraintSolver.h"
+#endif
 
 class btRaycastBar2
 {
@@ -285,20 +293,20 @@ void	BenchmarkDemo::initPhysics()
 	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
 
-#if 0
+#if USE_PARALLEL_DISPATCHER_BENCHMARK
-	SequentialThreadSupport::SequentialThreadConstructionInfo sci("spuCD",
-									processCollisionTask,
-									createCollisionLocalStoreMemory);
 
-	SequentialThreadSupport* seq = new SequentialThreadSupport(sci);
+	int maxNumOutstandingTasks = 4;
-	m_dispatcher = new	SpuGatheringCollisionDispatcher(seq,1,m_collisionConfiguration);
+	Win32ThreadSupport* threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(	"collision",processCollisionTask,	createCollisionLocalStoreMemory,maxNumOutstandingTasks));
+	//SequentialThreadSupport::SequentialThreadConstructionInfo sci("spuCD",	processCollisionTask,	createCollisionLocalStoreMemory);
+	//SequentialThreadSupport* seq = new SequentialThreadSupport(sci);
+	m_dispatcher = new	SpuGatheringCollisionDispatcher(threadSupportCollision,1,m_collisionConfiguration);
 #endif
 
 
 	///the maximum size of the collision world. Make sure objects stay within these boundaries
 	///Don't make the world AABB size too large, it will harm simulation quality and performance
-	btVector3 worldAabbMin(-10000,-10000,-10000);
+	btVector3 worldAabbMin(-1000,-1000,-1000);
-	btVector3 worldAabbMax(10000,10000,10000);
+	btVector3 worldAabbMax(1000,1000,1000);
 	
 	btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache();
 	m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache);
@@ -306,17 +314,21 @@ void	BenchmarkDemo::initPhysics()
 //	m_overlappingPairCache = new btDbvtBroadphase();
 	
 
-
 	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+#ifdef USE_PARALLEL_SOLVER_BENCHMARK
+	btSequentialImpulseConstraintSolver* sol = new btParallelConstraintSolver;
+#else
 	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
+#endif //USE_PARALLEL_DISPATCHER_BENCHMARK
+	
 	
 	m_solver = sol;
 
 	btDiscreteDynamicsWorld* dynamicsWorld;
 	m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
-	dynamicsWorld->getSimulationIslandManager()->setSplitIslands(false);
+	
-	dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
+	
-	dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = btScalar(0.01);
+	dynamicsWorld->getSolverInfo().m_numIterations = 4;
 
 
 	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
@@ -324,14 +336,14 @@ void	BenchmarkDemo::initPhysics()
 	if (m_benchmark<5)
 	{
 		///create a few basic rigid bodies
-	//	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(250.),btScalar(50.),btScalar(250.)));
-		btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),0);
+	//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),0);
 		
 		m_collisionShapes.push_back(groundShape);
 
 		btTransform groundTransform;
 		groundTransform.setIdentity();
-		groundTransform.setOrigin(btVector3(0,0,0));
+		groundTransform.setOrigin(btVector3(0,-50,0));
 
 		//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
 		{

Demos/Benchmarks/CMakeLists.txt

@@ -61,10 +61,17 @@ ELSE (USE_GLUT)
 	${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL 
 	)
 
+	IF (USE_MULTITHREADED_BENCHMARK)
+		LINK_LIBRARIES(
+		OpenGLSupport BulletMultiThreaded BulletDynamics  BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+		)
+	ELSE()
 		LINK_LIBRARIES(
 		OpenGLSupport BulletDynamics  BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 		)
 	
+	ENDIF()
+	
 	ADD_EXECUTABLE(AppBenchmarks
 		WIN32
 		../OpenGL/Win32AppMain.cpp

src/BulletMultiThreaded/CMakeLists.txt

@@ -30,6 +30,10 @@ ADD_LIBRARY(BulletMultiThreaded
 		SpuGatheringCollisionDispatcher.cpp
 		SpuContactManifoldCollisionAlgorithm.cpp
 		SpuContactManifoldCollisionAlgorithm.h
+		
+		btParallelConstraintSolver.cpp
+		btParallelConstraintSolver.h
+		
 		SpuNarrowPhaseCollisionTask/Box.h
 		SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp
 		SpuNarrowPhaseCollisionTask/boxBoxDistance.h

src/BulletMultiThreaded/btParallelConstraintSolver.cpp

@@ -0,0 +1,74 @@
+/*
+   Copyright (C) 2010 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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.
+
+*/
+
+#include "btParallelConstraintSolver.h"
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+
+btParallelConstraintSolver::btParallelConstraintSolver()
+{
+
+	//initialize MiniCL here
+
+}
+	
+btParallelConstraintSolver::~btParallelConstraintSolver()
+{
+	//exit MiniCL
+
+}
+
+	
+btScalar btParallelConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+{
+	{
+			int i;
+			btPersistentManifold* manifold = 0;
+//			btCollisionObject* colObj0=0,*colObj1=0;
+
+
+			for (i=0;i<numManifolds;i++)
+			{
+				manifold = manifoldPtr[i];
+				convertContact(manifold,infoGlobal);
+			}
+		
+	}
+
+	btContactSolverInfo info = infoGlobal;
+
+
+
+	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
+	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
+
+	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
+	m_orderTmpConstraintPool.resize(numConstraintPool);
+	m_orderFrictionConstraintPool.resize(numFrictionPool);
+	{
+		int i;
+		for (i=0;i<numConstraintPool;i++)
+		{
+			m_orderTmpConstraintPool[i] = i;
+		}
+		for (i=0;i<numFrictionPool;i++)
+		{
+			m_orderFrictionConstraintPool[i] = i;
+		}
+	}
+
+	return 0.f;
+}
+

src/BulletMultiThreaded/btParallelConstraintSolver.h

@@ -0,0 +1,42 @@
+/*
+   Copyright (C) 2010 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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.
+
+*/
+
+#ifndef __BT_PARALLEL_CONSTRAINT_SOLVER_H
+#define __BT_PARALLEL_CONSTRAINT_SOLVER_H
+
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+									      
+class btParallelConstraintSolver : public btSequentialImpulseConstraintSolver
+{
+protected:
+
+public:
+
+	btParallelConstraintSolver();
+	
+	virtual ~btParallelConstraintSolver();
+
+	//virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
+	
+	btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+
+
+
+};
+
+
+
+#endif //__BT_PARALLEL_CONSTRAINT_SOLVER_H