158 lines
4.7 KiB
C++
158 lines
4.7 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
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 "ParallelPhysicsEnvironment.h"
|
|
#include "CcdPhysicsController.h"
|
|
#include "ParallelIslandDispatcher.h"
|
|
#include "CollisionDispatch/CollisionWorld.h"
|
|
#include "ConstraintSolver/TypedConstraint.h"
|
|
#include "CollisionDispatch/SimulationIslandManager.h"
|
|
#include "SimulationIsland.h"
|
|
|
|
|
|
ParallelPhysicsEnvironment::ParallelPhysicsEnvironment(ParallelIslandDispatcher* dispatcher, OverlappingPairCache* pairCache):
|
|
CcdPhysicsEnvironment(dispatcher,pairCache)
|
|
{
|
|
|
|
}
|
|
|
|
ParallelPhysicsEnvironment::~ParallelPhysicsEnvironment()
|
|
{
|
|
|
|
}
|
|
|
|
|
|
|
|
/// Perform an integration step of duration 'timeStep'.
|
|
bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
|
|
{
|
|
OverlappingPairCache* scene = m_collisionWorld->GetPairCache();
|
|
scene->RefreshOverlappingPairs();
|
|
|
|
|
|
#ifdef USE_QUICKPROF
|
|
Profiler::beginBlock("IslandUnionFind");
|
|
#endif //USE_QUICKPROF
|
|
|
|
GetSimulationIslandManager()->UpdateActivationState(GetCollisionWorld(),GetCollisionWorld()->GetDispatcher());
|
|
|
|
{
|
|
int i;
|
|
int numConstraints = m_constraints.size();
|
|
for (i=0;i< numConstraints ; i++ )
|
|
{
|
|
TypedConstraint* constraint = m_constraints[i];
|
|
|
|
const RigidBody* colObj0 = &constraint->GetRigidBodyA();
|
|
const RigidBody* colObj1 = &constraint->GetRigidBodyB();
|
|
|
|
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
|
|
((colObj1) && ((colObj1)->mergesSimulationIslands())))
|
|
{
|
|
if (colObj0->IsActive() || colObj1->IsActive())
|
|
{
|
|
|
|
GetSimulationIslandManager()->GetUnionFind().unite((colObj0)->m_islandTag1,
|
|
(colObj1)->m_islandTag1);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
GetSimulationIslandManager()->StoreIslandActivationState(GetCollisionWorld());
|
|
|
|
#ifdef USE_QUICKPROF
|
|
Profiler::endBlock("IslandUnionFind");
|
|
#endif //USE_QUICKPROF
|
|
|
|
|
|
///calculate simulation islands
|
|
|
|
#ifdef USE_QUICKPROF
|
|
Profiler::beginBlock("BuildIslands");
|
|
#endif //USE_QUICKPROF
|
|
|
|
std::vector<SimulationIsland> simulationIslands;
|
|
simulationIslands.resize(GetNumControllers());
|
|
|
|
int k;
|
|
for (k=0;k<GetNumControllers();k++)
|
|
{
|
|
CcdPhysicsController* ctrl = m_controllers[k];
|
|
int tag = ctrl->GetRigidBody()->m_islandTag1;
|
|
if (tag>=0)
|
|
{
|
|
simulationIslands[tag].m_controllers.push_back(ctrl);
|
|
}
|
|
}
|
|
|
|
Dispatcher* dispatcher = GetCollisionWorld()->GetDispatcher();
|
|
|
|
|
|
|
|
int i;
|
|
for (int i=0;i< scene->GetNumOverlappingPairs();i++)
|
|
{
|
|
BroadphasePair* pair = &scene->GetOverlappingPair(i);
|
|
|
|
CollisionObject* col0 = static_cast<CollisionObject*>(pair->m_pProxy0->m_clientObject);
|
|
CollisionObject* col1 = static_cast<CollisionObject*>(pair->m_pProxy1->m_clientObject);
|
|
|
|
if (col0->m_islandTag1 > col1->m_islandTag1)
|
|
{
|
|
simulationIslands[col0->m_islandTag1].m_overlappingPairs.push_back(*pair);
|
|
} else
|
|
{
|
|
simulationIslands[col1->m_islandTag1].m_overlappingPairs.push_back(*pair);
|
|
}
|
|
}
|
|
|
|
//add all overlapping pairs for each island
|
|
|
|
for (i=0;i<dispatcher->GetNumManifolds();i++)
|
|
{
|
|
PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
|
|
|
|
//filtering for response
|
|
|
|
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
|
|
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
|
|
{
|
|
int islandTag = colObj0->m_islandTag1;
|
|
if (colObj1->m_islandTag1 > islandTag)
|
|
islandTag = colObj1->m_islandTag1;
|
|
|
|
if (dispatcher->NeedsResponse(*colObj0,*colObj1))
|
|
simulationIslands[islandTag].m_manifolds.push_back(manifold);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
//Each simulation island can be processed in parallel
|
|
for (k=0;k<simulationIslands.size();k++)
|
|
{
|
|
if (simulationIslands[k].m_controllers.size())
|
|
{
|
|
simulationIslands[k].Simulate(dispatcher,GetBroadphase(),m_solver,timeStep);
|
|
}
|
|
}
|
|
return true;
|
|
|
|
} |