AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-13 21:30:09 +00:00
Code Issues Releases Wiki Activity

Merge pull request #2558 from Lopuska/crash_fix_btMt

Browse Source 
[crash fix for btCollisionDispatcherMt] a better approach to merge new manifolds when using the jobs CPU dispatcher
This commit is contained in:
erwincoumans 2020-01-11 13:54:34 -08:00 committed by GitHub
commit 61fa943994
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 15 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
View File

@ -28,6 +28,7 @@ subject to the following restrictions:
btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize)
: btCollisionDispatcher(config)
{
m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
m_batchUpdating = false;
m_grainSize = grainSize; // iterations per task
}
@ -65,6 +66,10 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionO
manifold->m_index1a = m_manifoldsPtr.size();
m_manifoldsPtr.push_back(manifold);
}
else
{
m_batchManifoldsPtr[btGetCurrentThreadIndex()].push_back(manifold);
}
return manifold;
}
@ -121,7 +126,7 @@ struct CollisionDispatcherUpdater : public btIParallelForBody
void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher)
{
int pairCount = pairCache->getNumOverlappingPairs();
const int pairCount = pairCache->getNumOverlappingPairs();
if (pairCount == 0)
{
return;
@ -136,16 +141,17 @@ void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache*
btParallelFor(0, pairCount, m_grainSize, updater);
m_batchUpdating = false;
// reconstruct the manifolds array to ensure determinism
m_manifoldsPtr.resizeNoInitialize(0);
btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
for (int i = 0; i < pairCount; ++i)
// merge new manifolds, if any
for (int i = 0; i < m_batchManifoldsPtr.size(); ++i)
{
if (btCollisionAlgorithm* algo = pairs[i].m_algorithm)
btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchManifoldsPtr[i];
for (int j = 0; j < batchManifoldsPtr.size(); ++j)
{
algo->getAllContactManifolds(m_manifoldsPtr);
m_manifoldsPtr.push_back(batchManifoldsPtr[j]);
}
batchManifoldsPtr.resizeNoInitialize(0);
}
// update the indices (used when releasing manifolds)

1
src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
View File

@ -30,6 +30,7 @@ public:
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE;
protected:
btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*> > m_batchManifoldsPtr;
bool m_batchUpdating;
int m_grainSize;
};