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