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Code Issues Releases Wiki Activity

fairly large refactoring of dispatcher/simulation island management, to allow for parallel simulation.

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This commit is contained in:
ejcoumans 2006-07-01 00:22:15 +00:00
parent 8e91b0cd68
commit 2d80bae6e3
16 changed files with 424 additions and 283 deletions
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8
Bullet/BroadphaseCollision/Dispatcher.h
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@ -21,6 +21,7 @@ struct BroadphaseProxy;
class RigidBody;
struct CollisionObject;
class ManifoldResult;
class OverlappingPairCache;
enum CollisionDispatcherId
{
@ -80,10 +81,17 @@ public:
virtual bool NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1) = 0;
virtual bool NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1)=0;
virtual ManifoldResult* GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold) =0;
virtual void ReleaseManifoldResult(ManifoldResult*)=0;
virtual void DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo)=0;
virtual int GetNumManifolds() const = 0;
virtual PersistentManifold* GetManifoldByIndexInternal(int index) = 0;
};

117
Bullet/CollisionDispatch/CollisionDispatcher.cpp
View File

@ -28,34 +28,7 @@ subject to the following restrictions:
int gNumManifold = 0;
void CollisionDispatcher::FindUnions()
{
if (m_useIslands)
{
for (int i=0;i<GetNumManifolds();i++)
{
const PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
//static objects (invmass 0.f) don't merge !
const CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
const CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
if (colObj0 && colObj1 && NeedsResponse(*colObj0,*colObj1))
{
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
m_unionFind.unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
}
@ -122,96 +95,6 @@ void CollisionDispatcher::ReleaseManifold(PersistentManifold* manifold)
}
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void CollisionDispatcher::BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback)
{
int numBodies = collisionObjects.size();
for (int islandId=0;islandId<numBodies;islandId++)
{
std::vector<PersistentManifold*> islandmanifold;
//int numSleeping = 0;
bool allSleeping = true;
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if (colObj0->GetActivationState()== ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
for (i=0;i<GetNumManifolds();i++)
{
PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
//filtering for response
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
{
if (((colObj0) && (colObj0)->m_islandTag1 == (islandId)) ||
((colObj1) && (colObj1)->m_islandTag1 == (islandId)))
{
if (NeedsResponse(*colObj0,*colObj1))
islandmanifold.push_back(manifold);
}
}
}
if (allSleeping)
{
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
colObj0->SetActivationState( ISLAND_SLEEPING );
}
}
} else
{
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
{
colObj0->SetActivationState( WANTS_DEACTIVATION);
}
}
}
/// Process the actual simulation, only if not sleeping/deactivated
if (islandmanifold.size())
{
callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());
}
}
}
}

25
Bullet/CollisionDispatch/CollisionDispatcher.h
View File

@ -18,7 +18,7 @@ subject to the following restrictions:
#include "BroadphaseCollision/Dispatcher.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "CollisionDispatch/UnionFind.h"
#include "CollisionDispatch/ManifoldResult.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
@ -40,7 +40,7 @@ class CollisionDispatcher : public Dispatcher
std::vector<PersistentManifold*> m_manifoldsPtr;
UnionFind m_unionFind;
bool m_useIslands;
@ -50,14 +50,9 @@ class CollisionDispatcher : public Dispatcher
public:
UnionFind& GetUnionFind() { return m_unionFind;}
struct IslandCallback
{
virtual ~IslandCallback() {};
virtual void ProcessIsland(PersistentManifold** manifolds,int numManifolds) = 0;
};
int GetNumManifolds() const
@ -75,14 +70,6 @@ public:
return m_manifoldsPtr[index];
}
void InitUnionFind(int n)
{
if (m_useIslands)
m_unionFind.reset(n);
}
void FindUnions();
int m_count;
CollisionDispatcher ();
@ -93,8 +80,6 @@ public:
virtual void ReleaseManifold(PersistentManifold* manifold);
virtual void BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback);
///allows the user to get contact point callbacks
virtual ManifoldResult* GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold);
@ -120,6 +105,8 @@ public:
virtual void DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo);
};
#endif //COLLISION__DISPATCHER_H

55
Bullet/CollisionDispatch/CollisionWorld.cpp
View File

@ -52,61 +52,10 @@ CollisionWorld::~CollisionWorld()
}
void CollisionWorld::UpdateActivationState()
{
m_dispatcher->InitUnionFind(m_collisionObjects.size());
// put the index into m_controllers into m_tag
{
std::vector<CollisionObject*>::iterator i;
int index = 0;
for (i=m_collisionObjects.begin();
!(i==m_collisionObjects.end()); i++)
{
CollisionObject* collisionObject= (*i);
collisionObject->m_islandTag1 = index;
collisionObject->m_hitFraction = 1.f;
index++;
}
}
// do the union find
m_dispatcher->FindUnions();
}
void CollisionWorld::StoreIslandActivationState()
{
// put the islandId ('find' value) into m_tag
{
UnionFind& unionFind = m_dispatcher->GetUnionFind();
std::vector<CollisionObject*>::iterator i;
int index = 0;
for (i=m_collisionObjects.begin();
!(i==m_collisionObjects.end()); i++)
{
CollisionObject* collisionObject= (*i);
if (collisionObject->mergesSimulationIslands())
{
collisionObject->m_islandTag1 = unionFind.find(index);
} else
{
collisionObject->m_islandTag1 = -1;
}
index++;
}
}
}
@ -153,7 +102,7 @@ void CollisionWorld::PerformDiscreteCollisionDetection()
m_pairCache->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
}
CollisionDispatcher* dispatcher = GetDispatcher();
Dispatcher* dispatcher = GetDispatcher();
if (dispatcher)
dispatcher->DispatchAllCollisionPairs(m_pairCache,dispatchInfo);

10
Bullet/CollisionDispatch/CollisionWorld.h
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@ -84,7 +84,7 @@ class CollisionWorld
std::vector<CollisionObject*> m_collisionObjects;
CollisionDispatcher* m_dispatcher;
CollisionDispatcher* m_dispatcher1;
OverlappingPairCache* m_pairCache;
@ -92,15 +92,13 @@ class CollisionWorld
public:
CollisionWorld(CollisionDispatcher* dispatcher,OverlappingPairCache* pairCache)
:m_dispatcher(dispatcher),
:m_dispatcher1(dispatcher),
m_pairCache(pairCache)
{
}
virtual ~CollisionWorld();
virtual void UpdateActivationState();
virtual void StoreIslandActivationState();
BroadphaseInterface* GetBroadphase()
{
@ -113,9 +111,9 @@ public:
}
CollisionDispatcher* GetDispatcher()
Dispatcher* GetDispatcher()
{
return m_dispatcher;
return m_dispatcher1;
}
///LocalShapeInfo gives extra information for complex shapes

200
Bullet/CollisionDispatch/SimulationIslandManager.cpp Normal file
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@ -0,0 +1,200 @@
#include "SimulationIslandManager.h"
#include "BroadphaseCollision/Dispatcher.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "CollisionDispatch/CollisionObject.h"
#include "CollisionDispatch/CollisionWorld.h"
SimulationIslandManager::SimulationIslandManager()
{
}
void SimulationIslandManager::InitUnionFind(int n)
{
m_unionFind.reset(n);
}
void SimulationIslandManager::FindUnions(Dispatcher* dispatcher)
{
{
for (int i=0;i<dispatcher->GetNumManifolds();i++)
{
const PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
//static objects (invmass 0.f) don't merge !
const CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
const CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
if (colObj0 && colObj1 && dispatcher->NeedsResponse(*colObj0,*colObj1))
{
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
m_unionFind.unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
}
void SimulationIslandManager::UpdateActivationState(CollisionWorld* colWorld,Dispatcher* dispatcher)
{
InitUnionFind(colWorld->GetCollisionObjectArray().size());
// put the index into m_controllers into m_tag
{
std::vector<CollisionObject*>::iterator i;
int index = 0;
for (i=colWorld->GetCollisionObjectArray().begin();
!(i==colWorld->GetCollisionObjectArray().end()); i++)
{
CollisionObject* collisionObject= (*i);
collisionObject->m_islandTag1 = index;
collisionObject->m_hitFraction = 1.f;
index++;
}
}
// do the union find
FindUnions(dispatcher);
}
void SimulationIslandManager::StoreIslandActivationState(CollisionWorld* colWorld)
{
// put the islandId ('find' value) into m_tag
{
std::vector<CollisionObject*>::iterator i;
int index = 0;
for (i=colWorld->GetCollisionObjectArray().begin();
!(i==colWorld->GetCollisionObjectArray().end()); i++)
{
CollisionObject* collisionObject= (*i);
if (collisionObject->mergesSimulationIslands())
{
collisionObject->m_islandTag1 = m_unionFind.find(index);
} else
{
collisionObject->m_islandTag1 = -1;
}
index++;
}
}
}
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback)
{
int numBodies = collisionObjects.size();
for (int islandId=0;islandId<numBodies;islandId++)
{
std::vector<PersistentManifold*> islandmanifold;
//int numSleeping = 0;
bool allSleeping = true;
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if (colObj0->GetActivationState()== ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
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());
{
if (((colObj0) && (colObj0)->m_islandTag1 == (islandId)) ||
((colObj1) && (colObj1)->m_islandTag1 == (islandId)))
{
if (dispatcher->NeedsResponse(*colObj0,*colObj1))
islandmanifold.push_back(manifold);
}
}
}
if (allSleeping)
{
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
colObj0->SetActivationState( ISLAND_SLEEPING );
}
}
} else
{
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
{
colObj0->SetActivationState( WANTS_DEACTIVATION);
}
}
}
/// Process the actual simulation, only if not sleeping/deactivated
if (islandmanifold.size())
{
callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());
}
}
}
}

58
Bullet/CollisionDispatch/SimulationIslandManager.h Normal file
View File

@ -0,0 +1,58 @@
/*
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.
*/
#ifndef SIMULATION_ISLAND_MANAGER_H
#define SIMULATION_ISLAND_MANAGER_H
#include "CollisionDispatch/UnionFind.h"
#include "CollisionCreateFunc.h"
class CollisionWorld;
class Dispatcher;
///SimulationIslandManager creates and handles simulation islands, using UnionFind
class SimulationIslandManager
{
UnionFind m_unionFind;
public:
SimulationIslandManager();
void InitUnionFind(int n);
UnionFind& GetUnionFind() { return m_unionFind;}
virtual void UpdateActivationState(CollisionWorld* colWorld,Dispatcher* dispatcher);
virtual void StoreIslandActivationState(CollisionWorld* world);
void FindUnions(Dispatcher* dispatcher);
struct IslandCallback
{
virtual ~IslandCallback() {};
virtual void ProcessIsland(class PersistentManifold** manifolds,int numManifolds) = 0;
};
void BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback);
};
#endif //SIMULATION_ISLAND_MANAGER_H

6
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
View File

@ -13,6 +13,9 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define USE_PARALLEL_DISPATCHER 1
#include "CcdPhysicsEnvironment.h"
#include "ParallelPhysicsEnvironment.h"
@ -89,6 +92,7 @@ const int maxNumObjects = 32760;
MyMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
int shapeIndex[maxNumObjects];
#ifdef USE_PARALLEL_DISPATCHER
ParallelPhysicsEnvironment* physicsEnvironmentPtr = 0;
#else
@ -308,6 +312,8 @@ int main(int argc,char** argv)
clientResetScene();
physicsEnvironmentPtr->SyncMotionStates(0.f);
{
//physObjects[i]->SetAngularVelocity(0,0,-2,true);

7
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
View File

@ -120,9 +120,11 @@ void clientDisplay(void) {
if (collisionWorld)
collisionWorld->PerformDiscreteCollisionDetection();
///one way to draw all the contact points is iterating over contact manifolds / points:
int i;
/*
///one way to draw all the contact points is iterating over contact manifolds / points:
int numManifolds = collisionWorld->GetDispatcher()->GetNumManifolds();
for (i=0;i<numManifolds;i++)
{
@ -147,6 +149,7 @@ void clientDisplay(void) {
glEnd();
}
}
*/
//GL_ShapeDrawer::DrawCoordSystem();

47
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
View File

@ -30,8 +30,7 @@ subject to the following restrictions:
#include "CollisionShapes/ConvexShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionDispatch/SimulationIslandManager.h"
#include "BroadphaseCollision/Dispatcher.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
@ -55,7 +54,7 @@ subject to the following restrictions:
#include "PHY_IMotionState.h"
#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
#include "CollisionDispatch/UnionFind.h"
#include "CollisionShapes/SphereShape.h"
@ -360,6 +359,8 @@ m_enableSatCollisionDetection(false)
m_debugDrawer = 0;
m_gravity = SimdVector3(0.f,-10.f,0.f);
m_islandManager = new SimulationIslandManager();
}
@ -675,7 +676,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
#ifdef USE_QUICKPROF
@ -685,7 +686,8 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
int numRigidBodies = m_controllers.size();
m_collisionWorld->UpdateActivationState();
m_islandManager->UpdateActivationState(GetCollisionWorld(),GetCollisionWorld()->GetDispatcher());
{
int i;
@ -702,15 +704,15 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
{
if (colObj0->IsActive() || colObj1->IsActive())
{
GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
m_islandManager->GetUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
m_collisionWorld->StoreIslandActivationState();
m_islandManager->StoreIslandActivationState(GetCollisionWorld());
//contacts
@ -762,7 +764,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
#endif //NEW_BULLET_VEHICLE_SUPPORT
struct InplaceSolverIslandCallback : public CollisionDispatcher::IslandCallback
struct InplaceSolverIslandCallback : public SimulationIslandManager::IslandCallback
{
ContactSolverInfo& m_solverInfo;
@ -803,7 +805,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
#endif //USE_QUICKPROF
/// solve all the contact points and contact friction
GetDispatcher()->BuildAndProcessIslands(m_collisionWorld->GetCollisionObjectArray(),&solverCallback);
m_islandManager->BuildAndProcessIslands(GetCollisionWorld()->GetDispatcher(),m_collisionWorld->GetCollisionObjectArray(),&solverCallback);
#ifdef USE_QUICKPROF
Profiler::endBlock("BuildAndProcessIslands");
@ -842,7 +844,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
toi = dispatchInfo.m_timeOfImpact;
@ -1426,15 +1428,6 @@ BroadphaseInterface* CcdPhysicsEnvironment::GetBroadphase()
const CollisionDispatcher* CcdPhysicsEnvironment::GetDispatcher() const
{
return m_collisionWorld->GetDispatcher();
}
CollisionDispatcher* CcdPhysicsEnvironment::GetDispatcher()
{
return m_collisionWorld->GetDispatcher();
}
CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
{
@ -1449,6 +1442,8 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
//first delete scene, then dispatcher, because pairs have to release manifolds on the dispatcher
//delete m_dispatcher;
delete m_collisionWorld;
delete m_islandManager;
}
@ -1465,15 +1460,9 @@ CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index)
}
int CcdPhysicsEnvironment::GetNumManifolds() const
{
return GetDispatcher()->GetNumManifolds();
}
const PersistentManifold* CcdPhysicsEnvironment::GetManifold(int index) const
{
return GetDispatcher()->GetManifoldByIndexInternal(index);
}
TypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId)
{
@ -1566,6 +1555,7 @@ void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctr
void CcdPhysicsEnvironment::CallbackTriggers()
{
/*
CcdPhysicsController* ctrl0=0,*ctrl1=0;
if (m_triggerCallbacks[PHY_OBJECT_RESPONSE])
@ -1603,6 +1593,7 @@ void CcdPhysicsEnvironment::CallbackTriggers()
}
*/
}

24
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
View File

@ -24,7 +24,7 @@ class CcdPhysicsController;
class TypedConstraint;
class SimulationIslandManager;
class CollisionDispatcher;
class Dispatcher;
//#include "BroadphaseInterface.h"
@ -61,6 +61,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
ContactSolverInfo m_solverInfo;
SimulationIslandManager* m_islandManager;
public:
CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, OverlappingPairCache* pairCache=0);
@ -160,9 +161,9 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
BroadphaseInterface* GetBroadphase();
CollisionDispatcher* GetDispatcher();
const CollisionDispatcher* GetDispatcher() const;
bool IsSatCollisionDetectionEnabled() const
{
@ -180,16 +181,29 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
CcdPhysicsController* GetPhysicsController( int index);
int GetNumManifolds() const;
const PersistentManifold* GetManifold(int index) const;
std::vector<TypedConstraint*> m_constraints;
void SyncMotionStates(float timeStep);
class CollisionWorld* GetCollisionWorld()
{
return m_collisionWorld;
}
const class CollisionWorld* GetCollisionWorld() const
{
return m_collisionWorld;
}
private:
void SyncMotionStates(float timeStep);
std::vector<CcdPhysicsController*> m_controllers;

33
Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.cpp
View File

@ -27,34 +27,7 @@ subject to the following restrictions:
static int gNumManifold2 = 0;
void ParallelIslandDispatcher::FindUnions()
{
if (m_useIslands)
{
for (int i=0;i<GetNumManifolds();i++)
{
const PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
//static objects (invmass 0.f) don't merge !
const CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
const CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
if (colObj0 && colObj1 && NeedsResponse(*colObj0,*colObj1))
{
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
m_unionFind.unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
}
@ -293,3 +266,9 @@ void ParallelIslandDispatcher::ReleaseManifoldResult(ManifoldResult*)
{
}
void ParallelIslandDispatcher::DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo)
{
}

3
Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h
View File

@ -117,6 +117,9 @@ public:
virtual bool NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);
virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
virtual void DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo);

68
Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp
View File

@ -18,6 +18,9 @@ subject to the following restrictions:
#include "ParallelPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "ParallelIslandDispatcher.h"
#include "CollisionDispatch/CollisionWorld.h"
#include "ConstraintSolver/TypedConstraint.h"
ParallelPhysicsEnvironment::ParallelPhysicsEnvironment(ParallelIslandDispatcher* dispatcher, OverlappingPairCache* pairCache):
@ -37,6 +40,44 @@ ParallelPhysicsEnvironment::~ParallelPhysicsEnvironment()
bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
{
#ifdef USE_QUICKPROF
Profiler::beginBlock("CalcSimulationIslands");
#endif //USE_QUICKPROF
/*
GetCollisionWorld()->UpdateActivationState();
{
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())
{
GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
GetCollisionWorld()->StoreIslandActivationState();
*/
#ifdef USE_QUICKPROF
Profiler::endBlock("CalcSimulationIslands");
#endif //USE_QUICKPROF
/*
//printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
@ -127,32 +168,7 @@ bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
int numRigidBodies = m_controllers.size();
m_collisionWorld->UpdateActivationState();
{
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())
{
GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
m_collisionWorld->StoreIslandActivationState();
//contacts

17
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp Normal file
View File

@ -0,0 +1,17 @@
/*
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 "SimulationIsland.h"

29
Extras/PhysicsInterface/CcdPhysics/SimulationIsland.h Normal file
View File

@ -0,0 +1,29 @@
/*
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.
*/
#ifndef SIMULATION_ISLAND_H
#define SIMULATION_ISLAND_H
///SimulationIsland groups all computations and data (for collision detection and dynamics) that can execute in parallel with other SimulationIsland's
///The ParallelPhysicsEnvironment and ParallelIslandDispatcher will dispatch SimulationIsland's
///At the start of the simulation timestep the simulation islands are re-calculated
///During one timestep there is no merging or splitting of Simulation Islands
class SimulationIsland
{
public:
};
#endif //SIMULATION_ISLAND_H