136 lines
5.1 KiB
C++
136 lines
5.1 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H
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#define BT_DISCRETE_DYNAMICS_WORLD_MT_H
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#include "btDiscreteDynamicsWorld.h"
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#include "btSimulationIslandManagerMt.h"
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#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
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///
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/// btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of them.
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///
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/// Each solver in the pool is protected by a mutex. When solveGroup is called from a thread,
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/// the pool looks for a solver that isn't being used by another thread, locks it, and dispatches the
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/// call to the solver.
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/// So long as there are at least as many solvers as there are hardware threads, it should never need to
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/// spin wait.
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///
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class btConstraintSolverPoolMt : public btConstraintSolver
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{
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public:
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// create the solvers for me
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explicit btConstraintSolverPoolMt( int numSolvers );
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// pass in fully constructed solvers (destructor will delete them)
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btConstraintSolverPoolMt( btConstraintSolver** solvers, int numSolvers );
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virtual ~btConstraintSolverPoolMt();
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///solve a group of constraints
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virtual btScalar solveGroup( btCollisionObject** bodies,
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int numBodies,
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btPersistentManifold** manifolds,
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int numManifolds,
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btTypedConstraint** constraints,
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int numConstraints,
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const btContactSolverInfo& info,
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btIDebugDraw* debugDrawer,
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btDispatcher* dispatcher
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) BT_OVERRIDE;
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virtual void reset() BT_OVERRIDE;
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virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; }
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private:
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const static size_t kCacheLineSize = 128;
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struct ThreadSolver
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{
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btConstraintSolver* solver;
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btSpinMutex mutex;
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char _cachelinePadding[ kCacheLineSize - sizeof( btSpinMutex ) - sizeof( void* ) ]; // keep mutexes from sharing a cache line
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};
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btAlignedObjectArray<ThreadSolver> m_solvers;
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btConstraintSolverType m_solverType;
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ThreadSolver* getAndLockThreadSolver();
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void init( btConstraintSolver** solvers, int numSolvers );
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};
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///
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/// btDiscreteDynamicsWorldMt -- a version of DiscreteDynamicsWorld with some minor changes to support
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/// solving simulation islands on multiple threads.
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///
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/// Should function exactly like btDiscreteDynamicsWorld.
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/// Also 3 methods that iterate over all of the rigidbodies can run in parallel:
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/// - predictUnconstraintMotion
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/// - integrateTransforms
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/// - createPredictiveContacts
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///
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ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld
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{
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protected:
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btConstraintSolver* m_constraintSolverMt;
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virtual void solveConstraints(btContactSolverInfo& solverInfo) BT_OVERRIDE;
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virtual void predictUnconstraintMotion( btScalar timeStep ) BT_OVERRIDE;
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struct UpdaterCreatePredictiveContacts : public btIParallelForBody
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{
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btScalar timeStep;
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btRigidBody** rigidBodies;
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btDiscreteDynamicsWorldMt* world;
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void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
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{
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world->createPredictiveContactsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep );
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}
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};
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virtual void createPredictiveContacts( btScalar timeStep ) BT_OVERRIDE;
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struct UpdaterIntegrateTransforms : public btIParallelForBody
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{
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btScalar timeStep;
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btRigidBody** rigidBodies;
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btDiscreteDynamicsWorldMt* world;
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void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
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{
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world->integrateTransformsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep );
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}
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};
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virtual void integrateTransforms( btScalar timeStep ) BT_OVERRIDE;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
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btBroadphaseInterface* pairCache,
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btConstraintSolverPoolMt* constraintSolver, // Note this should be a solver-pool for multi-threading
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btConstraintSolver* constraintSolverMt, // single multi-threaded solver for large islands (or NULL)
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btCollisionConfiguration* collisionConfiguration
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);
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virtual ~btDiscreteDynamicsWorldMt();
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virtual int stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep ) BT_OVERRIDE;
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};
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#endif //BT_DISCRETE_DYNAMICS_WORLD_H
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