Bullet Collision Detection & Physics Library: btCollisionDispatcherMt.cpp Source File

Bullet Collision Detection & Physics Library

btCollisionDispatcherMt.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #include "btCollisionDispatcherMt.h"
17 #include "LinearMath/btQuickprof.h"
18
19 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
20
21 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
22 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
23 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
24 #include "LinearMath/btPoolAllocator.h"
25 #include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
26 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
27
28 btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize)
29 : btCollisionDispatcher(config)
30 {
31 m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
32 m_batchUpdating = false;
33 m_grainSize = grainSize; // iterations per task
34 }
35
36 btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionObject* body0, const btCollisionObject* body1)
37 {
38 //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
39
40 btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold), body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
41 : gContactBreakingThreshold;
42
43 btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold());
44
45 void* mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
46 if (NULL == mem)
47 {
48 //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
49 if ((m_dispatcherFlags & CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION) == 0)
50 {
51 mem = btAlignedAlloc(sizeof(btPersistentManifold), 16);
52 }
53 else
54 {
55 btAssert(0);
56 //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
57 return 0;
58 }
59 }
60 btPersistentManifold* manifold = new (mem) btPersistentManifold(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
61 if (!m_batchUpdating)
62 {
63 // batch updater will update manifold pointers array after finishing, so
64 // only need to update array when not batch-updating
65 //btAssert( !btThreadsAreRunning() );
66 manifold->m_index1a = m_manifoldsPtr.size();
67 m_manifoldsPtr.push_back(manifold);
68 }
69 else
70 {
71 m_batchManifoldsPtr[btGetCurrentThreadIndex()].push_back(manifold);
72 }
73
74 return manifold;
75 }
76
77 void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold)
78 {
79 clearManifold(manifold);
80 //btAssert( !btThreadsAreRunning() );
81 if (!m_batchUpdating)
82 {
83 // batch updater will update manifold pointers array after finishing, so
84 // only need to update array when not batch-updating
85 int findIndex = manifold->m_index1a;
86 btAssert(findIndex < m_manifoldsPtr.size());
87 m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
88 m_manifoldsPtr[findIndex]->m_index1a = findIndex;
89 m_manifoldsPtr.pop_back();
90 }
91
92 manifold->~btPersistentManifold();
93 if (m_persistentManifoldPoolAllocator->validPtr(manifold))
94 {
95 m_persistentManifoldPoolAllocator->freeMemory(manifold);
96 }
97 else
98 {
99 btAlignedFree(manifold);
100 }
101 }
102
103 struct CollisionDispatcherUpdater : public btIParallelForBody
104 {
105 btBroadphasePair* mPairArray;
106 btNearCallback mCallback;
107 btCollisionDispatcher* mDispatcher;
108 const btDispatcherInfo* mInfo;
109
110 CollisionDispatcherUpdater()
111 {
112 mPairArray = NULL;
113 mCallback = NULL;
114 mDispatcher = NULL;
115 mInfo = NULL;
116 }
117 void forLoop(int iBegin, int iEnd) const
118 {
119 for (int i = iBegin; i < iEnd; ++i)
120 {
121 btBroadphasePair* pair = &mPairArray[i];
122 mCallback(*pair, *mDispatcher, *mInfo);
123 }
124 }
125 };
126
127 void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher)
128 {
129 const int pairCount = pairCache->getNumOverlappingPairs();
130 if (pairCount == 0)
131 {
132 return;
133 }
134 CollisionDispatcherUpdater updater;
135 updater.mCallback = getNearCallback();
136 updater.mPairArray = pairCache->getOverlappingPairArrayPtr();
137 updater.mDispatcher = this;
138 updater.mInfo = &info;
139
140 m_batchUpdating = true;
141 btParallelFor(0, pairCount, m_grainSize, updater);
142 m_batchUpdating = false;
143
144 // merge new manifolds, if any
145 for (int i = 0; i < m_batchManifoldsPtr.size(); ++i)
146 {
147 btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchManifoldsPtr[i];
148
149 for (int j = 0; j < batchManifoldsPtr.size(); ++j)
150 {
151 m_manifoldsPtr.push_back(batchManifoldsPtr[j]);
152 }
153
154 batchManifoldsPtr.resizeNoInitialize(0);
155 }
156
157 // update the indices (used when releasing manifolds)
158 for (int i = 0; i < m_manifoldsPtr.size(); ++i)
159 {
160 m_manifoldsPtr[i]->m_index1a = i;
161 }
162 }
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:47
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:46
btCollisionAlgorithm.h
btCollisionConfiguration.h
btCollisionDispatcherMt.h
btNearCallback
void(* btNearCallback)(btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)
user can override this nearcallback for collision filtering and more finegrained control over collisi...
Definition: btCollisionDispatcher.h:38
btCollisionObjectWrapper.h
btCollisionObject.h
btCollisionShape.h
gContactBreakingThreshold
btScalar gContactBreakingThreshold
Definition: btPersistentManifold.cpp:26
btMin
const T & btMin(const T &a, const T &b)
Definition: btMinMax.h:21
btOverlappingPairCache.h
btPoolAllocator.h
btQuickprof.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btGetTaskScheduler
btITaskScheduler * btGetTaskScheduler()
Definition: btThreads.cpp:407
btGetCurrentThreadIndex
unsigned int btGetCurrentThreadIndex()
Definition: btThreads.cpp:290
btParallelFor
void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody &body)
Definition: btThreads.cpp:412
btAlignedObjectArray< btPersistentManifold * >
btAlignedObjectArray::resizeNoInitialize
void resizeNoInitialize(int newsize)
resize changes the number of elements in the array.
Definition: btAlignedObjectArray.h:194
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btAlignedObjectArray::resize
void resize(int newsize, const T &fillData=T())
Definition: btAlignedObjectArray.h:203
btAlignedObjectArray::swap
void swap(int index0, int index1)
Definition: btAlignedObjectArray.h:382
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btAlignedObjectArray::pop_back
void pop_back()
Definition: btAlignedObjectArray.h:185
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:27
btCollisionDispatcherMt::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *body0, const btCollisionObject *body1) BT_OVERRIDE
Definition: btCollisionDispatcherMt.cpp:36
btCollisionDispatcherMt::m_batchManifoldsPtr
btAlignedObjectArray< btAlignedObjectArray< btPersistentManifold * > > m_batchManifoldsPtr
Definition: btCollisionDispatcherMt.h:33
btCollisionDispatcherMt::dispatchAllCollisionPairs
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &info, btDispatcher *dispatcher) BT_OVERRIDE
Definition: btCollisionDispatcherMt.cpp:127
btCollisionDispatcherMt::m_batchUpdating
bool m_batchUpdating
Definition: btCollisionDispatcherMt.h:34
btCollisionDispatcherMt::btCollisionDispatcherMt
btCollisionDispatcherMt(btCollisionConfiguration *config, int grainSize=40)
Definition: btCollisionDispatcherMt.cpp:28
btCollisionDispatcherMt::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold) BT_OVERRIDE
Definition: btCollisionDispatcherMt.cpp:77
btCollisionDispatcherMt::m_grainSize
int m_grainSize
Definition: btCollisionDispatcherMt.h:35
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
Definition: btCollisionDispatcher.h:43
btCollisionDispatcher::m_dispatcherFlags
int m_dispatcherFlags
Definition: btCollisionDispatcher.h:45
btCollisionDispatcher::getNearCallback
btNearCallback getNearCallback() const
Definition: btCollisionDispatcher.h:131
btCollisionDispatcher::clearManifold
virtual void clearManifold(btPersistentManifold *manifold)
Definition: btCollisionDispatcher.cpp:101
btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD
@ CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD
Definition: btCollisionDispatcher.h:65
btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION
@ CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION
Definition: btCollisionDispatcher.h:66
btCollisionDispatcher::m_manifoldsPtr
btAlignedObjectArray< btPersistentManifold * > m_manifoldsPtr
Definition: btCollisionDispatcher.h:47
btCollisionDispatcher::m_persistentManifoldPoolAllocator
btPoolAllocator * m_persistentManifoldPoolAllocator
Definition: btCollisionDispatcher.h:53
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btCollisionObject::getContactProcessingThreshold
btScalar getContactProcessingThreshold() const
Definition: btCollisionObject.h:192
btCollisionObject::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObject.h:228
btCollisionShape::getContactBreakingThreshold
virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const
Definition: btCollisionShape.cpp:42
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btIParallelForBody
Definition: btThreads.h:102
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:51
btOverlappingPairCache::getNumOverlappingPairs
virtual int getNumOverlappingPairs() const =0
btOverlappingPairCache::getOverlappingPairArrayPtr
virtual btBroadphasePair * getOverlappingPairArrayPtr()=0
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btPersistentManifold::m_index1a
int m_index1a
Definition: btPersistentManifold.h:88
btPoolAllocator::freeMemory
void freeMemory(void *ptr)
Definition: btPoolAllocator.h:100
btPoolAllocator::validPtr
bool validPtr(void *ptr)
Definition: btPoolAllocator.h:88
btPoolAllocator::allocate
void * allocate(int size)
Definition: btPoolAllocator.h:71
CollisionDispatcherUpdater
Definition: btCollisionDispatcherMt.cpp:104
CollisionDispatcherUpdater::CollisionDispatcherUpdater
CollisionDispatcherUpdater()
Definition: btCollisionDispatcherMt.cpp:110
CollisionDispatcherUpdater::forLoop
void forLoop(int iBegin, int iEnd) const
Definition: btCollisionDispatcherMt.cpp:117
CollisionDispatcherUpdater::mInfo
const btDispatcherInfo * mInfo
Definition: btCollisionDispatcherMt.cpp:108
CollisionDispatcherUpdater::mCallback
btNearCallback mCallback
Definition: btCollisionDispatcherMt.cpp:106
CollisionDispatcherUpdater::mPairArray
btBroadphasePair * mPairArray
Definition: btCollisionDispatcherMt.cpp:105
CollisionDispatcherUpdater::mDispatcher
btCollisionDispatcher * mDispatcher
Definition: btCollisionDispatcherMt.cpp:107
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:179
btDispatcherInfo
Definition: btDispatcher.h:31