113 lines
4.5 KiB
C++
113 lines
4.5 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
|
|
|
|
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 BT_SIMULATION_ISLAND_MANAGER_MT_H
|
|
#define BT_SIMULATION_ISLAND_MANAGER_MT_H
|
|
|
|
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
|
|
|
|
class btTypedConstraint;
|
|
class btConstraintSolver;
|
|
struct btContactSolverInfo;
|
|
class btIDebugDraw;
|
|
|
|
///
|
|
/// SimulationIslandManagerMt -- Multithread capable version of SimulationIslandManager
|
|
/// Splits the world up into islands which can be solved in parallel.
|
|
/// In order to solve islands in parallel, an IslandDispatch function
|
|
/// must be provided which will dispatch calls to multiple threads.
|
|
/// The amount of parallelism that can be achieved depends on the number
|
|
/// of islands. If only a single island exists, then no parallelism is
|
|
/// possible.
|
|
///
|
|
class btSimulationIslandManagerMt : public btSimulationIslandManager
|
|
{
|
|
public:
|
|
struct Island
|
|
{
|
|
// a simulation island consisting of bodies, manifolds and constraints,
|
|
// to be passed into a constraint solver.
|
|
btAlignedObjectArray<btCollisionObject*> bodyArray;
|
|
btAlignedObjectArray<btPersistentManifold*> manifoldArray;
|
|
btAlignedObjectArray<btTypedConstraint*> constraintArray;
|
|
int id; // island id
|
|
bool isSleeping;
|
|
|
|
void append(const Island& other); // add bodies, manifolds, constraints to my own
|
|
};
|
|
struct SolverParams
|
|
{
|
|
btConstraintSolver* m_solverPool;
|
|
btConstraintSolver* m_solverMt;
|
|
btContactSolverInfo* m_solverInfo;
|
|
btIDebugDraw* m_debugDrawer;
|
|
btDispatcher* m_dispatcher;
|
|
};
|
|
static void solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams);
|
|
|
|
typedef void (*IslandDispatchFunc)(btAlignedObjectArray<Island*>* islands, const SolverParams& solverParams);
|
|
static void serialIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams);
|
|
static void parallelIslandDispatch(btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams);
|
|
|
|
protected:
|
|
btAlignedObjectArray<Island*> m_allocatedIslands; // owner of all Islands
|
|
btAlignedObjectArray<Island*> m_activeIslands; // islands actively in use
|
|
btAlignedObjectArray<Island*> m_freeIslands; // islands ready to be reused
|
|
btAlignedObjectArray<Island*> m_lookupIslandFromId; // big lookup table to map islandId to Island pointer
|
|
Island* m_batchIsland;
|
|
int m_minimumSolverBatchSize;
|
|
int m_batchIslandMinBodyCount;
|
|
IslandDispatchFunc m_islandDispatch;
|
|
|
|
Island* getIsland(int id);
|
|
virtual Island* allocateIsland(int id, int numBodies);
|
|
virtual void initIslandPools();
|
|
virtual void addBodiesToIslands(btCollisionWorld* collisionWorld);
|
|
virtual void addManifoldsToIslands(btDispatcher* dispatcher);
|
|
virtual void addConstraintsToIslands(btAlignedObjectArray<btTypedConstraint*>& constraints);
|
|
virtual void mergeIslands();
|
|
|
|
public:
|
|
btSimulationIslandManagerMt();
|
|
virtual ~btSimulationIslandManagerMt();
|
|
|
|
virtual void buildAndProcessIslands(btDispatcher* dispatcher,
|
|
btCollisionWorld* collisionWorld,
|
|
btAlignedObjectArray<btTypedConstraint*>& constraints,
|
|
const SolverParams& solverParams);
|
|
|
|
virtual void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld);
|
|
|
|
int getMinimumSolverBatchSize() const
|
|
{
|
|
return m_minimumSolverBatchSize;
|
|
}
|
|
void setMinimumSolverBatchSize(int sz)
|
|
{
|
|
m_minimumSolverBatchSize = sz;
|
|
}
|
|
IslandDispatchFunc getIslandDispatchFunction() const
|
|
{
|
|
return m_islandDispatch;
|
|
}
|
|
// allow users to set their own dispatch function for multithreaded dispatch
|
|
void setIslandDispatchFunction(IslandDispatchFunc func)
|
|
{
|
|
m_islandDispatch = func;
|
|
}
|
|
};
|
|
|
|
#endif //BT_SIMULATION_ISLAND_MANAGER_H
|