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Merge pull request #4020 from QiaodongCui/master

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Fix btCollisionDispatcherMt compound compound bugs
This commit is contained in:
erwincoumans 2021-11-12 05:29:27 +00:00 committed by GitHub
commit 40aeecb72e
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2 changed files with 19 additions and 1 deletions
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19
src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
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@ -29,6 +29,8 @@ btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* confi
: btCollisionDispatcher(config)
{
m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
m_batchReleasePtr.resize(btGetTaskScheduler()->getNumThreads());
m_batchUpdating = false;
m_grainSize = grainSize; // iterations per task
}
@ -76,10 +78,11 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionO
void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold)
{
clearManifold(manifold);
//btAssert( !btThreadsAreRunning() );
if (!m_batchUpdating)
{
clearManifold(manifold);
// batch updater will update manifold pointers array after finishing, so
// only need to update array when not batch-updating
int findIndex = manifold->m_index1a;
@ -87,6 +90,9 @@ void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold)
m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
m_manifoldsPtr[findIndex]->m_index1a = findIndex;
m_manifoldsPtr.pop_back();
} else {
m_batchReleasePtr[btGetCurrentThreadIndex()].push_back(manifold);
return;
}
manifold->~btPersistentManifold();
@ -154,6 +160,17 @@ void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache*
batchManifoldsPtr.resizeNoInitialize(0);
}
// remove batched remove manifolds.
for (int i = 0; i < m_batchReleasePtr.size(); ++i)
{
btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchReleasePtr[i];
for (int j = 0; j < batchManifoldsPtr.size(); ++j)
{
releaseManifold(batchManifoldsPtr[j]);
}
batchManifoldsPtr.resizeNoInitialize(0);
}
// update the indices (used when releasing manifolds)
for (int i = 0; i < m_manifoldsPtr.size(); ++i)
{

1
src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
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@ -31,6 +31,7 @@ public:
protected:
btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*> > m_batchManifoldsPtr;
btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*> > m_batchReleasePtr;
bool m_batchUpdating;
int m_grainSize;
};