1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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
btCollisionDispatcherMt(btCollisionConfiguration * config,int grainSize)28 btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize)
29 : btCollisionDispatcher(config)
30 {
31 m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
32 m_batchReleasePtr.resize(btGetTaskScheduler()->getNumThreads());
33
34 m_batchUpdating = false;
35 m_grainSize = grainSize; // iterations per task
36 }
37
getNewManifold(const btCollisionObject * body0,const btCollisionObject * body1)38 btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionObject* body0, const btCollisionObject* body1)
39 {
40 //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
41
42 btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold), body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
43 : gContactBreakingThreshold;
44
45 btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold());
46
47 void* mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
48 if (NULL == mem)
49 {
50 //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
51 if ((m_dispatcherFlags & CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION) == 0)
52 {
53 mem = btAlignedAlloc(sizeof(btPersistentManifold), 16);
54 }
55 else
56 {
57 btAssert(0);
58 //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
59 return 0;
60 }
61 }
62 btPersistentManifold* manifold = new (mem) btPersistentManifold(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
63 if (!m_batchUpdating)
64 {
65 // batch updater will update manifold pointers array after finishing, so
66 // only need to update array when not batch-updating
67 //btAssert( !btThreadsAreRunning() );
68 manifold->m_index1a = m_manifoldsPtr.size();
69 m_manifoldsPtr.push_back(manifold);
70 }
71 else
72 {
73 m_batchManifoldsPtr[btGetCurrentThreadIndex()].push_back(manifold);
74 }
75
76 return manifold;
77 }
78
releaseManifold(btPersistentManifold * manifold)79 void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold)
80 {
81 //btAssert( !btThreadsAreRunning() );
82
83 if (!m_batchUpdating)
84 {
85 clearManifold(manifold);
86 // batch updater will update manifold pointers array after finishing, so
87 // only need to update array when not batch-updating
88 int findIndex = manifold->m_index1a;
89 btAssert(findIndex < m_manifoldsPtr.size());
90 m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
91 m_manifoldsPtr[findIndex]->m_index1a = findIndex;
92 m_manifoldsPtr.pop_back();
93 } else {
94 m_batchReleasePtr[btGetCurrentThreadIndex()].push_back(manifold);
95 return;
96 }
97
98 manifold->~btPersistentManifold();
99 if (m_persistentManifoldPoolAllocator->validPtr(manifold))
100 {
101 m_persistentManifoldPoolAllocator->freeMemory(manifold);
102 }
103 else
104 {
105 btAlignedFree(manifold);
106 }
107 }
108
109 struct CollisionDispatcherUpdater : public btIParallelForBody
110 {
111 btBroadphasePair* mPairArray;
112 btNearCallback mCallback;
113 btCollisionDispatcher* mDispatcher;
114 const btDispatcherInfo* mInfo;
115
CollisionDispatcherUpdaterCollisionDispatcherUpdater116 CollisionDispatcherUpdater()
117 {
118 mPairArray = NULL;
119 mCallback = NULL;
120 mDispatcher = NULL;
121 mInfo = NULL;
122 }
forLoopCollisionDispatcherUpdater123 void forLoop(int iBegin, int iEnd) const
124 {
125 for (int i = iBegin; i < iEnd; ++i)
126 {
127 btBroadphasePair* pair = &mPairArray[i];
128 mCallback(*pair, *mDispatcher, *mInfo);
129 }
130 }
131 };
132
dispatchAllCollisionPairs(btOverlappingPairCache * pairCache,const btDispatcherInfo & info,btDispatcher * dispatcher)133 void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher)
134 {
135 const int pairCount = pairCache->getNumOverlappingPairs();
136 if (pairCount == 0)
137 {
138 return;
139 }
140 CollisionDispatcherUpdater updater;
141 updater.mCallback = getNearCallback();
142 updater.mPairArray = pairCache->getOverlappingPairArrayPtr();
143 updater.mDispatcher = this;
144 updater.mInfo = &info;
145
146 m_batchUpdating = true;
147 btParallelFor(0, pairCount, m_grainSize, updater);
148 m_batchUpdating = false;
149
150 // merge new manifolds, if any
151 for (int i = 0; i < m_batchManifoldsPtr.size(); ++i)
152 {
153 btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchManifoldsPtr[i];
154
155 for (int j = 0; j < batchManifoldsPtr.size(); ++j)
156 {
157 m_manifoldsPtr.push_back(batchManifoldsPtr[j]);
158 }
159
160 batchManifoldsPtr.resizeNoInitialize(0);
161 }
162
163 // remove batched remove manifolds.
164 for (int i = 0; i < m_batchReleasePtr.size(); ++i)
165 {
166 btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchReleasePtr[i];
167 for (int j = 0; j < batchManifoldsPtr.size(); ++j)
168 {
169 releaseManifold(batchManifoldsPtr[j]);
170 }
171 batchManifoldsPtr.resizeNoInitialize(0);
172 }
173
174 // update the indices (used when releasing manifolds)
175 for (int i = 0; i < m_manifoldsPtr.size(); ++i)
176 {
177 m_manifoldsPtr[i]->m_index1a = i;
178 }
179 }
180