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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h | 131 |
1 files changed, 0 insertions, 131 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h deleted file mode 100644 index dccf35d7a7..0000000000 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h +++ /dev/null @@ -1,131 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans http://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_DISCRETE_DYNAMICS_WORLD_MT_H -#define BT_DISCRETE_DYNAMICS_WORLD_MT_H - -#include "btDiscreteDynamicsWorld.h" -#include "btSimulationIslandManagerMt.h" -#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" - -/// -/// btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of them. -/// -/// Each solver in the pool is protected by a mutex. When solveGroup is called from a thread, -/// the pool looks for a solver that isn't being used by another thread, locks it, and dispatches the -/// call to the solver. -/// So long as there are at least as many solvers as there are hardware threads, it should never need to -/// spin wait. -/// -class btConstraintSolverPoolMt : public btConstraintSolver -{ -public: - // create the solvers for me - explicit btConstraintSolverPoolMt(int numSolvers); - - // pass in fully constructed solvers (destructor will delete them) - btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers); - - virtual ~btConstraintSolverPoolMt(); - - ///solve a group of constraints - virtual btScalar solveGroup(btCollisionObject** bodies, - int numBodies, - btPersistentManifold** manifolds, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - const btContactSolverInfo& info, - btIDebugDraw* debugDrawer, - btDispatcher* dispatcher) BT_OVERRIDE; - - virtual void reset() BT_OVERRIDE; - virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; } - -private: - const static size_t kCacheLineSize = 128; - struct ThreadSolver - { - btConstraintSolver* solver; - btSpinMutex mutex; - char _cachelinePadding[kCacheLineSize - sizeof(btSpinMutex) - sizeof(void*)]; // keep mutexes from sharing a cache line - }; - btAlignedObjectArray<ThreadSolver> m_solvers; - btConstraintSolverType m_solverType; - - ThreadSolver* getAndLockThreadSolver(); - void init(btConstraintSolver** solvers, int numSolvers); -}; - -/// -/// btDiscreteDynamicsWorldMt -- a version of DiscreteDynamicsWorld with some minor changes to support -/// solving simulation islands on multiple threads. -/// -/// Should function exactly like btDiscreteDynamicsWorld. -/// Also 3 methods that iterate over all of the rigidbodies can run in parallel: -/// - predictUnconstraintMotion -/// - integrateTransforms -/// - createPredictiveContacts -/// -ATTRIBUTE_ALIGNED16(class) -btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld -{ -protected: - btConstraintSolver* m_constraintSolverMt; - - virtual void solveConstraints(btContactSolverInfo & solverInfo) BT_OVERRIDE; - - virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE; - - struct UpdaterCreatePredictiveContacts : public btIParallelForBody - { - btScalar timeStep; - btRigidBody** rigidBodies; - btDiscreteDynamicsWorldMt* world; - - void forLoop(int iBegin, int iEnd) const BT_OVERRIDE - { - world->createPredictiveContactsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep); - } - }; - virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE; - - struct UpdaterIntegrateTransforms : public btIParallelForBody - { - btScalar timeStep; - btRigidBody** rigidBodies; - btDiscreteDynamicsWorldMt* world; - - void forLoop(int iBegin, int iEnd) const BT_OVERRIDE - { - world->integrateTransformsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep); - } - }; - virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE; - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btDiscreteDynamicsWorldMt(btDispatcher * dispatcher, - btBroadphaseInterface * pairCache, - btConstraintSolverPoolMt * solverPool, // Note this should be a solver-pool for multi-threading - btConstraintSolver * constraintSolverMt, // single multi-threaded solver for large islands (or NULL) - btCollisionConfiguration * collisionConfiguration); - virtual ~btDiscreteDynamicsWorldMt(); - - virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE; -}; - -#endif //BT_DISCRETE_DYNAMICS_WORLD_H |