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Refactoring for parallel processing of islands, collision detection and constraint solving.

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This commit is contained in:
ejcoumans 2006-06-30 00:41:09 +00:00
parent 6e68cff650
commit 3a85557c29
22 changed files with 1359 additions and 345 deletions
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2
Bullet/BroadphaseCollision/BroadphaseInterface.h
View File

@ -33,7 +33,7 @@ public:
virtual void DestroyProxy(BroadphaseProxy* proxy)=0;
virtual void SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)=0;
virtual void CleanProxyFromPairs(BroadphaseProxy* proxy)=0;
virtual void DispatchAllCollisionPairs(Dispatcher& dispatcher,DispatcherInfo& dispatchInfo)=0;
};

63
Bullet/BroadphaseCollision/OverlappingPairCache.cpp
View File

@ -147,67 +147,4 @@ void OverlappingPairCache::RemoveOverlappingPairsContainingProxy(BroadphaseProxy
}
void OverlappingPairCache::DispatchAllCollisionPairs(Dispatcher& dispatcher,DispatcherInfo& dispatchInfo)
{
m_blockedForChanges = true;
int i;
int dispatcherId = dispatcher.GetUniqueId();
RefreshOverlappingPairs();
for (i=0;i<m_NumOverlapBroadphasePair;i++)
{
BroadphasePair& pair = m_OverlappingPairs[i];
if (dispatcherId>= 0)
{
//dispatcher will keep algorithms persistent in the collision pair
if (!pair.m_algorithms[dispatcherId])
{
pair.m_algorithms[dispatcherId] = dispatcher.FindAlgorithm(
*pair.m_pProxy0,
*pair.m_pProxy1);
}
if (pair.m_algorithms[dispatcherId])
{
if (dispatchInfo.m_dispatchFunc == DispatcherInfo::DISPATCH_DISCRETE)
{
pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
} else
{
float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
} else
{
//non-persistent algorithm dispatcher
CollisionAlgorithm* algo = dispatcher.FindAlgorithm(
*pair.m_pProxy0,
*pair.m_pProxy1);
if (algo)
{
if (dispatchInfo.m_dispatchFunc == DispatcherInfo::DISPATCH_DISCRETE)
{
algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
} else
{
float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}
m_blockedForChanges = false;
}

2
Bullet/BroadphaseCollision/OverlappingPairCache.h
View File

@ -74,7 +74,7 @@ class OverlappingPairCache : public BroadphaseInterface
return collides;
}
void DispatchAllCollisionPairs(Dispatcher& dispatcher,DispatcherInfo& dispatchInfo);
virtual void RefreshOverlappingPairs() =0;

42
Bullet/CollisionDispatch/CollisionCreateFunc.h Normal file
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@ -0,0 +1,42 @@
/*
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 COLLISION_CREATE_FUNC
#define COLLISION_CREATE_FUNC
#include <vector>
typedef std::vector<struct CollisionObject*> CollisionObjectArray;
class CollisionAlgorithm;
struct BroadphaseProxy;
struct CollisionAlgorithmCreateFunc
{
bool m_swapped;
CollisionAlgorithmCreateFunc()
:m_swapped(false)
{
}
virtual ~CollisionAlgorithmCreateFunc(){};
virtual CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
{
return 0;
}
};
#endif //COLLISION_CREATE_FUNC

67
Bullet/CollisionDispatch/CollisionDispatcher.cpp
View File

@ -24,6 +24,7 @@ subject to the following restrictions:
#include "CollisionShapes/CollisionShape.h"
#include "CollisionDispatch/CollisionObject.h"
#include <algorithm>
#include "BroadphaseCollision/OverlappingPairCache.h"
int gNumManifold = 0;
@ -293,3 +294,69 @@ void CollisionDispatcher::ReleaseManifoldResult(ManifoldResult*)
{
}
void CollisionDispatcher::DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo)
{
//m_blockedForChanges = true;
int i;
int dispatcherId = GetUniqueId();
pairCache->RefreshOverlappingPairs();
for (i=0;i<pairCache->GetNumOverlappingPairs();i++)
{
BroadphasePair& pair = pairCache->GetOverlappingPair(i);
if (dispatcherId>= 0)
{
//dispatcher will keep algorithms persistent in the collision pair
if (!pair.m_algorithms[dispatcherId])
{
pair.m_algorithms[dispatcherId] = FindAlgorithm(
*pair.m_pProxy0,
*pair.m_pProxy1);
}
if (pair.m_algorithms[dispatcherId])
{
if (dispatchInfo.m_dispatchFunc == DispatcherInfo::DISPATCH_DISCRETE)
{
pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
} else
{
float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
} else
{
//non-persistent algorithm dispatcher
CollisionAlgorithm* algo = FindAlgorithm(
*pair.m_pProxy0,
*pair.m_pProxy1);
if (algo)
{
if (dispatchInfo.m_dispatchFunc == DispatcherInfo::DISPATCH_DISCRETE)
{
algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
} else
{
float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}
//m_blockedForChanges = false;
}

23
Bullet/CollisionDispatch/CollisionDispatcher.h
View File

@ -22,28 +22,15 @@ subject to the following restrictions:
#include "CollisionDispatch/ManifoldResult.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include <vector>
class IDebugDraw;
typedef std::vector<struct CollisionObject*> CollisionObjectArray;
class OverlappingPairCache;
struct CollisionAlgorithmCreateFunc
{
bool m_swapped;
CollisionAlgorithmCreateFunc()
:m_swapped(false)
{
}
virtual ~CollisionAlgorithmCreateFunc(){};
#include "CollisionCreateFunc.h"
virtual CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
{
return 0;
}
};
///CollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
@ -131,7 +118,7 @@ public:
virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
virtual void DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo);
};

7
Bullet/CollisionDispatch/CollisionWorld.cpp
View File

@ -150,10 +150,13 @@ void CollisionWorld::PerformDiscreteCollisionDetection()
for (size_t i=0;i<m_collisionObjects.size();i++)
{
m_collisionObjects[i]->m_collisionShape->GetAabb(m_collisionObjects[i]->m_worldTransform,aabbMin,aabbMax);
m_broadphase->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
m_pairCache->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
}
m_broadphase->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);
CollisionDispatcher* dispatcher = GetDispatcher();
if (dispatcher)
dispatcher->DispatchAllCollisionPairs(m_pairCache,dispatchInfo);
}

16
Bullet/CollisionDispatch/CollisionWorld.h
View File

@ -70,6 +70,7 @@ class BroadphaseInterface;
#include "SimdTransform.h"
#include "CollisionObject.h"
#include "CollisionDispatcher.h" //for definition of CollisionObjectArray
#include "BroadphaseCollision/OverlappingPairCache.h"
#include <vector>
@ -85,13 +86,14 @@ class CollisionWorld
CollisionDispatcher* m_dispatcher;
BroadphaseInterface* m_broadphase;
OverlappingPairCache* m_pairCache;
public:
CollisionWorld(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
CollisionWorld(CollisionDispatcher* dispatcher,OverlappingPairCache* pairCache)
:m_dispatcher(dispatcher),
m_broadphase(broadphase)
m_pairCache(pairCache)
{
}
@ -102,9 +104,15 @@ public:
BroadphaseInterface* GetBroadphase()
{
return m_broadphase;
return m_pairCache;
}
OverlappingPairCache* GetPairCache()
{
return m_pairCache;
}
CollisionDispatcher* GetDispatcher()
{
return m_dispatcher;

4
Bullet/CollisionDispatch/ManifoldResult.h
View File

@ -21,6 +21,10 @@ subject to the following restrictions:
struct CollisionObject;
class PersistentManifold;
///ManifoldResult is a helper class to manage contact results.
class ManifoldResult : public DiscreteCollisionDetectorInterface::Result
{

9
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
View File

@ -27,6 +27,9 @@ subject to the following restrictions:
#include "Dynamics/RigidBody.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "ParallelIslandDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/Point2PointConstraint.h"
@ -128,13 +131,13 @@ int main(int argc,char** argv)
CollisionDispatcher* dispatcher = new CollisionDispatcher();
Dispatcher* dispatcher2 = new ParallelIslandDispatcher();
SimdVector3 worldAabbMin(-30000,-30000,-30000);
SimdVector3 worldAabbMax(30000,30000,30000);
//BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies,maxOverlap);
BroadphaseInterface* broadphase = new SimpleBroadphase(maxProxies,maxOverlap);
OverlappingPairCache* broadphase = new SimpleBroadphase(maxProxies,maxOverlap);
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
physicsEnvironmentPtr->setDeactivationTime(2.f);

2
Demos/ColladaDemo/ColladaDemo.cpp
View File

@ -844,7 +844,7 @@ int main(int argc,char** argv)
CollisionDispatcher* dispatcher = new CollisionDispatcher();
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
//BroadphaseInterface* broadphase = new SimpleBroadphase();
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
physicsEnvironmentPtr->setDeactivationTime(2.f);

2
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
View File

@ -221,7 +221,7 @@ int main(int argc,char** argv)
CollisionDispatcher* dispatcher = new CollisionDispatcher();
BroadphaseInterface* broadphase = new SimpleBroadphase();
OverlappingPairCache* broadphase = new SimpleBroadphase();
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);

2
Demos/ConstraintDemo/ConstraintDemo.cpp
View File

@ -77,7 +77,7 @@ int main(int argc,char** argv)
CollisionDispatcher* dispatcher = new CollisionDispatcher();
BroadphaseInterface* broadphase = new SimpleBroadphase();
OverlappingPairCache* broadphase = new SimpleBroadphase();
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);

4
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
View File

@ -337,8 +337,8 @@ int main(int argc,char** argv)
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
//BroadphaseInterface* broadphase = new SimpleBroadphase();
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
//OverlappingPairCache* broadphase = new SimpleBroadphase();
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
physicsEnvironmentPtr->setDeactivationTime(2.f);

19
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
View File

@ -322,7 +322,7 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,OverlappingPairCache* pairCache)
:m_scalingPropagated(false),
m_numIterations(4),
m_numTimeSubSteps(1),
@ -336,18 +336,18 @@ m_enableSatCollisionDetection(false)
{
m_triggerCallbacks[i] = 0;
}
if (!dispatcher)
dispatcher = new CollisionDispatcher();
//if (!dispatcher)
// dispatcher = new CollisionDispatcher();
if(!broadphase)
if(!pairCache)
{
//todo: calculate/let user specify this world sizes
SimdVector3 worldMin(-10000,-10000,-10000);
SimdVector3 worldMax(10000,10000,10000);
broadphase = new AxisSweep3(worldMin,worldMax);
pairCache = new AxisSweep3(worldMin,worldMax);
//broadphase = new SimpleBroadphase();
}
@ -355,7 +355,7 @@ m_enableSatCollisionDetection(false)
setSolverType(1);//issues with quickstep and memory allocations
m_collisionWorld = new CollisionWorld(dispatcher,broadphase);
m_collisionWorld = new CollisionWorld(dispatcher,pairCache);
m_debugDrawer = 0;
m_gravity = SimdVector3(0.f,-10.f,0.f);
@ -654,7 +654,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
Profiler::endBlock("predictIntegratedTransform");
#endif //USE_QUICKPROF
BroadphaseInterface* scene = GetBroadphase();
OverlappingPairCache* scene = m_collisionWorld->GetPairCache();
//
@ -675,7 +675,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
scene->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);///numsubstep,g);
GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
#ifdef USE_QUICKPROF
@ -842,7 +842,8 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
scene->DispatchAllCollisionPairs( *GetDispatcher(),dispatchInfo);///numsubstep,g);
GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
toi = dispatchInfo.m_timeOfImpact;
}

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

@ -37,6 +37,7 @@ class Dispatcher;
class WrapperVehicle;
class PersistentManifold;
class BroadphaseInterface;
class OverlappingPairCache;
class IDebugDraw;
/// CcdPhysicsEnvironment is experimental mainloop for physics simulation using optional continuous collision detection.
@ -62,7 +63,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
public:
CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, OverlappingPairCache* pairCache=0);
virtual ~CcdPhysicsEnvironment();

295
Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.cpp Normal file
View File

@ -0,0 +1,295 @@
/*
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 "ParallelIslandDispatcher.h"
#include "BroadphaseCollision/CollisionAlgorithm.h"
#include "CollisionDispatch/ConvexConvexAlgorithm.h"
#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
#include "CollisionShapes/CollisionShape.h"
#include "CollisionDispatch/CollisionObject.h"
#include <algorithm>
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);
}
}
}
}
}
ParallelIslandDispatcher::ParallelIslandDispatcher ():
m_useIslands(true),
m_defaultManifoldResult(0,0,0),
m_count(0)
{
int i;
for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
{
for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
{
m_doubleDispatch[i][j] = 0;
}
}
};
PersistentManifold* ParallelIslandDispatcher::GetNewManifold(void* b0,void* b1)
{
gNumManifold2++;
//ASSERT(gNumManifold < 65535);
CollisionObject* body0 = (CollisionObject*)b0;
CollisionObject* body1 = (CollisionObject*)b1;
PersistentManifold* manifold = new PersistentManifold (body0,body1);
m_manifoldsPtr.push_back(manifold);
return manifold;
}
void ParallelIslandDispatcher::ClearManifold(PersistentManifold* manifold)
{
manifold->ClearManifold();
}
void ParallelIslandDispatcher::ReleaseManifold(PersistentManifold* manifold)
{
gNumManifold2--;
//printf("ReleaseManifold: gNumManifold2 %d\n",gNumManifold2);
ClearManifold(manifold);
std::vector<PersistentManifold*>::iterator i =
std::find(m_manifoldsPtr.begin(), m_manifoldsPtr.end(), manifold);
if (!(i == m_manifoldsPtr.end()))
{
std::swap(*i, m_manifoldsPtr.back());
m_manifoldsPtr.pop_back();
delete manifold;
}
}
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void ParallelIslandDispatcher::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());
}
}
}
}
CollisionAlgorithm* ParallelIslandDispatcher::InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
{
m_count++;
CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
CollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher = this;
if (body0->m_collisionShape->IsConvex() && body1->m_collisionShape->IsConvex() )
{
return new ConvexConvexAlgorithm(0,ci,&proxy0,&proxy1);
}
if (body0->m_collisionShape->IsConvex() && body1->m_collisionShape->IsConcave())
{
return new ConvexConcaveCollisionAlgorithm(ci,&proxy0,&proxy1);
}
if (body1->m_collisionShape->IsConvex() && body0->m_collisionShape->IsConcave())
{
return new ConvexConcaveCollisionAlgorithm(ci,&proxy1,&proxy0);
}
//failed to find an algorithm
return new EmptyAlgorithm(ci);
}
bool ParallelIslandDispatcher::NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1)
{
//here you can do filtering
bool hasResponse =
(!(colObj0.m_collisionFlags & CollisionObject::noContactResponse)) &&
(!(colObj1.m_collisionFlags & CollisionObject::noContactResponse));
hasResponse = hasResponse &&
(colObj0.IsActive() || colObj1.IsActive());
return hasResponse;
}
bool ParallelIslandDispatcher::NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
{
CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
assert(body0);
assert(body1);
bool needsCollision = true;
if ((body0->m_collisionFlags & CollisionObject::isStatic) &&
(body1->m_collisionFlags & CollisionObject::isStatic))
needsCollision = false;
if ((!body0->IsActive()) && (!body1->IsActive()))
needsCollision = false;
return needsCollision ;
}
///allows the user to get contact point callbacks
ManifoldResult* ParallelIslandDispatcher::GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold)
{
//in-place, this prevents parallel dispatching, but just adding a list would fix that.
ManifoldResult* manifoldResult = new (&m_defaultManifoldResult) ManifoldResult(obj0,obj1,manifold);
return manifoldResult;
}
///allows the user to get contact point callbacks
void ParallelIslandDispatcher::ReleaseManifoldResult(ManifoldResult*)
{
}

126
Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h Normal file
View File

@ -0,0 +1,126 @@
/*
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 PARALLEL_ISLAND_DISPATCHER_H
#define PARALLEL_ISLAND_DISPATCHER_H
#include "BroadphaseCollision/Dispatcher.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "CollisionDispatch/UnionFind.h"
#include "CollisionDispatch/ManifoldResult.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include <vector>
class IDebugDraw;
#include "CollisionDispatch/CollisionCreateFunc.h"
///ParallelIslandDispatcher dispatches entire simulation islands in parallel.
///For both collision detection and constraint solving.
///This development heads toward multi-core, CELL SPU and GPU approach
class ParallelIslandDispatcher : public Dispatcher
{
std::vector<PersistentManifold*> m_manifoldsPtr;
UnionFind m_unionFind;
bool m_useIslands;
ManifoldResult m_defaultManifoldResult;
CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
public:
UnionFind& GetUnionFind() { return m_unionFind;}
struct IslandCallback
{
virtual ~IslandCallback() {};
virtual void ProcessIsland(PersistentManifold** manifolds,int numManifolds) = 0;
};
int GetNumManifolds() const
{
return m_manifoldsPtr.size();
}
PersistentManifold* GetManifoldByIndexInternal(int index)
{
return m_manifoldsPtr[index];
}
const PersistentManifold* GetManifoldByIndexInternal(int index) const
{
return m_manifoldsPtr[index];
}
void InitUnionFind(int n)
{
if (m_useIslands)
m_unionFind.reset(n);
}
void FindUnions();
int m_count;
ParallelIslandDispatcher ();
virtual ~ParallelIslandDispatcher() {};
virtual PersistentManifold* GetNewManifold(void* b0,void* b1);
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);
///allows the user to get contact point callbacks
virtual void ReleaseManifoldResult(ManifoldResult*);
virtual void ClearManifold(PersistentManifold* manifold);
CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
{
CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
return algo;
}
CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
virtual bool NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
virtual bool NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);
virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
};
#endif //PARALLEL_ISLAND_DISPATCHER_H

406
Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp Normal file
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@ -0,0 +1,406 @@
/*
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"
ParallelPhysicsEnvironment::ParallelPhysicsEnvironment(ParallelIslandDispatcher* dispatcher, OverlappingPairCache* pairCache):
CcdPhysicsEnvironment(0,pairCache)
{
}
ParallelPhysicsEnvironment::~ParallelPhysicsEnvironment()
{
}
/// Perform an integration step of duration 'timeStep'.
bool ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
{
/*
//printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
if (SimdFuzzyZero(timeStep))
return true;
if (m_debugDrawer)
{
gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation);
}
#ifdef USE_QUICKPROF
Profiler::beginBlock("SyncMotionStates");
#endif //USE_QUICKPROF
//this is needed because scaling is not known in advance, and scaling has to propagate to the shape
if (!m_scalingPropagated)
{
SyncMotionStates(timeStep);
m_scalingPropagated = true;
}
#ifdef USE_QUICKPROF
Profiler::endBlock("SyncMotionStates");
Profiler::beginBlock("predictIntegratedTransform");
#endif //USE_QUICKPROF
{
// std::vector<CcdPhysicsController*>::iterator i;
int k;
for (k=0;k<GetNumControllers();k++)
{
CcdPhysicsController* ctrl = m_controllers[k];
// SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
if (body->IsActive())
{
if (!body->IsStatic())
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
}
}
}
}
#ifdef USE_QUICKPROF
Profiler::endBlock("predictIntegratedTransform");
#endif //USE_QUICKPROF
BroadphaseInterface* scene = GetBroadphase();
//
// collision detection (?)
//
#ifdef USE_QUICKPROF
Profiler::beginBlock("DispatchAllCollisionPairs");
#endif //USE_QUICKPROF
int numsubstep = m_numIterations;
DispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
scene->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);///numsubstep,g);
#ifdef USE_QUICKPROF
Profiler::endBlock("DispatchAllCollisionPairs");
#endif //USE_QUICKPROF
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
#ifdef USE_QUICKPROF
Profiler::beginBlock("SolveConstraint");
#endif //USE_QUICKPROF
//solve the regular constraints (point 2 point, hinge, etc)
for (int g=0;g<numsubstep;g++)
{
//
// constraint solving
//
int i;
int numConstraints = m_constraints.size();
//point to point constraints
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = m_constraints[i];
constraint->BuildJacobian();
constraint->SolveConstraint( timeStep );
}
}
#ifdef USE_QUICKPROF
Profiler::endBlock("SolveConstraint");
#endif //USE_QUICKPROF
//solve the vehicles
#ifdef NEW_BULLET_VEHICLE_SUPPORT
//vehicles
int numVehicles = m_wrapperVehicles.size();
for (int i=0;i<numVehicles;i++)
{
WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
RaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
vehicle->UpdateVehicle( timeStep);
}
#endif //NEW_BULLET_VEHICLE_SUPPORT
struct InplaceSolverIslandCallback : public ParallelIslandDispatcher::IslandCallback
{
ContactSolverInfo& m_solverInfo;
ConstraintSolver* m_solver;
IDebugDraw* m_debugDrawer;
InplaceSolverIslandCallback(
ContactSolverInfo& solverInfo,
ConstraintSolver* solver,
IDebugDraw* debugDrawer)
:m_solverInfo(solverInfo),
m_solver(solver),
m_debugDrawer(debugDrawer)
{
}
virtual void ProcessIsland(PersistentManifold** manifolds,int numManifolds)
{
m_solver->SolveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
}
};
m_solverInfo.m_friction = 0.9f;
m_solverInfo.m_numIterations = m_numIterations;
m_solverInfo.m_timeStep = timeStep;
m_solverInfo.m_restitution = 0.f;//m_restitution;
InplaceSolverIslandCallback solverCallback(
m_solverInfo,
m_solver,
m_debugDrawer);
#ifdef USE_QUICKPROF
Profiler::beginBlock("BuildAndProcessIslands");
#endif //USE_QUICKPROF
/// solve all the contact points and contact friction
GetDispatcher()->BuildAndProcessIslands(m_collisionWorld->GetCollisionObjectArray(),&solverCallback);
#ifdef USE_QUICKPROF
Profiler::endBlock("BuildAndProcessIslands");
Profiler::beginBlock("CallbackTriggers");
#endif //USE_QUICKPROF
CallbackTriggers();
#ifdef USE_QUICKPROF
Profiler::endBlock("CallbackTriggers");
Profiler::beginBlock("proceedToTransform");
#endif //USE_QUICKPROF
{
{
UpdateAabbs(timeStep);
float toi = 1.f;
if (m_ccdMode == 3)
{
DispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
scene->DispatchAllCollisionPairs( *GetDispatcher(),dispatchInfo);///numsubstep,g);
toi = dispatchInfo.m_timeOfImpact;
}
//
// integrating solution
//
{
std::vector<CcdPhysicsController*>::iterator i;
for (i=m_controllers.begin();
!(i==m_controllers.end()); i++)
{
CcdPhysicsController* ctrl = *i;
SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
if (body->IsActive())
{
if (!body->IsStatic())
{
body->predictIntegratedTransform(timeStep* toi, predictedTrans);
body->proceedToTransform( predictedTrans);
}
}
}
}
//
// disable sleeping physics objects
//
std::vector<CcdPhysicsController*> m_sleepingControllers;
std::vector<CcdPhysicsController*>::iterator i;
for (i=m_controllers.begin();
!(i==m_controllers.end()); i++)
{
CcdPhysicsController* ctrl = (*i);
RigidBody* body = ctrl->GetRigidBody();
ctrl->UpdateDeactivation(timeStep);
if (ctrl->wantsSleeping())
{
if (body->GetActivationState() == ACTIVE_TAG)
body->SetActivationState( WANTS_DEACTIVATION );
} else
{
if (body->GetActivationState() != DISABLE_DEACTIVATION)
body->SetActivationState( ACTIVE_TAG );
}
if (useIslands)
{
if (body->GetActivationState() == ISLAND_SLEEPING)
{
m_sleepingControllers.push_back(ctrl);
}
} else
{
if (ctrl->wantsSleeping())
{
m_sleepingControllers.push_back(ctrl);
}
}
}
}
#ifdef USE_QUICKPROF
Profiler::endBlock("proceedToTransform");
Profiler::beginBlock("SyncMotionStates");
#endif //USE_QUICKPROF
SyncMotionStates(timeStep);
#ifdef USE_QUICKPROF
Profiler::endBlock("SyncMotionStates");
Profiler::endProfilingCycle();
#endif //USE_QUICKPROF
#ifdef NEW_BULLET_VEHICLE_SUPPORT
//sync wheels for vehicles
int numVehicles = m_wrapperVehicles.size();
for (int i=0;i<numVehicles;i++)
{
WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
wrapperVehicle->SyncWheels();
}
#endif //NEW_BULLET_VEHICLE_SUPPORT
}
*/
return true;
}

42
Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.h Normal file
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@ -0,0 +1,42 @@
/*
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 PARALLELPHYSICSENVIRONMENT
#define PARALLELPHYSICSENVIRONMENT
#include "CcdPhysicsEnvironment.h"
class ParallelIslandDispatcher;
/// ParallelPhysicsEnvironment is experimental parallel mainloop for physics simulation
/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
/// It stores rigidbodies,constraints, materials etc.
/// A derived class may be able to 'construct' entities by loading and/or converting
class ParallelPhysicsEnvironment : public CcdPhysicsEnvironment
{
public:
ParallelPhysicsEnvironment(ParallelIslandDispatcher* dispatcher=0, OverlappingPairCache* pairCache=0);
virtual ~ParallelPhysicsEnvironment();
/// Perform an integration step of duration 'timeStep'.
bool proceedDeltaTimeOneStep(float timeStep);
};
#endif //PARALLELPHYSICSENVIRONMENT

262
msvc/8/libbulletccdphysics.vcproj
View File

@ -1,15 +1,17 @@
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306
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@ -1,15 +1,17 @@
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