87df3d0f32
Some dynamic memory allocations have been replace by pool allocation or stack allocations. quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360) Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change): Example: btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
76 lines
2.8 KiB
C++
76 lines
2.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library - Parallel solver
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Copyright (c) 2007 Starbreeze Studios
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Written by: Marten Svanfeldt
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*/
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#ifndef SPU_PARALLELSOLVER_H
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#define SPU_PARALLELSOLVER_H
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#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
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#include "btThreadSupportInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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class SolverTaskScheduler
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{
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protected:
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class btThreadSupportInterface* m_threadInterface;
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unsigned int m_maxNumOutstandingTasks;
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unsigned int m_currentTask;
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unsigned int m_numBusyTasks;
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btAlignedObjectArray<struct SpuSolverTaskDesc> m_taskDescriptors;
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btAlignedObjectArray<bool> m_taskBusy;
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public:
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SolverTaskScheduler (btThreadSupportInterface* threadIf, int maxOutstandingTasks);
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~SolverTaskScheduler ();
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struct SpuSolverTaskDesc* getTask ();
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void issueTask();
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void flushTasks();
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unsigned int getMaxOutstandingTasks()
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{
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return m_maxNumOutstandingTasks;
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}
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};
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class btParallelSequentialImpulseSolver : public btConstraintSolver
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{
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protected:
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struct SpuSolverHash* m_solverHash;
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btAlignedObjectArray<struct ManifoldCellHolder> m_sortedManifolds;
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btAlignedObjectArray<struct ConstraintCellHolder> m_sortedConstraints;
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btAlignedObjectArray<class btRigidBody*> m_allObjects;
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int m_numberOfContacts;
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SolverTaskScheduler m_taskScheduler;
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public:
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btParallelSequentialImpulseSolver (btThreadSupportInterface* threadIf, int maxOutstandingTasks);
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virtual ~btParallelSequentialImpulseSolver();
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virtual void prepareSolve (int numBodies, int numManifolds);
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virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
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virtual void allSolved (const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc);
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virtual void reset ();
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};
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#endif
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