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-rw-r--r--thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp353
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diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
deleted file mode 100644
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--- a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
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@@ -1,353 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com
-
-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.
-*/
-
-#if BT_THREADSAFE && !defined(_WIN32)
-
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btThreads.h"
-#include "LinearMath/btMinMax.h"
-#include "btThreadSupportInterface.h"
-
-#include <stdio.h>
-#include <errno.h>
-#include <unistd.h>
-
-#ifndef _XOPEN_SOURCE
-#define _XOPEN_SOURCE 600 //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html
-#endif //_XOPEN_SOURCE
-#include <pthread.h>
-#include <semaphore.h>
-#include <unistd.h> //for sysconf
-
-///
-/// getNumHardwareThreads()
-///
-///
-/// https://stackoverflow.com/questions/150355/programmatically-find-the-number-of-cores-on-a-machine
-///
-#if __cplusplus >= 201103L
-
-#include <thread>
-
-int btGetNumHardwareThreads()
-{
- return btMax(1u, btMin(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency()));
-}
-
-#else
-
-int btGetNumHardwareThreads()
-{
- return btMax(1, btMin<int>(BT_MAX_THREAD_COUNT, sysconf(_SC_NPROCESSORS_ONLN)));
-}
-
-#endif
-
-// btThreadSupportPosix helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
-class btThreadSupportPosix : public btThreadSupportInterface
-{
-public:
- struct btThreadStatus
- {
- int m_taskId;
- int m_commandId;
- int m_status;
-
- ThreadFunc m_userThreadFunc;
- void* m_userPtr; //for taskDesc etc
-
- pthread_t thread;
- //each tread will wait until this signal to start its work
- sem_t* startSemaphore;
- btCriticalSection* m_cs;
- // this is a copy of m_mainSemaphore,
- //each tread will signal once it is finished with its work
- sem_t* m_mainSemaphore;
- unsigned long threadUsed;
- };
-
-private:
- typedef unsigned long long UINT64;
-
- btAlignedObjectArray<btThreadStatus> m_activeThreadStatus;
- // m_mainSemaphoresemaphore will signal, if and how many threads are finished with their work
- sem_t* m_mainSemaphore;
- int m_numThreads;
- UINT64 m_startedThreadsMask;
- void startThreads(const ConstructionInfo& threadInfo);
- void stopThreads();
- int waitForResponse();
- btCriticalSection* m_cs;
-public:
- btThreadSupportPosix(const ConstructionInfo& threadConstructionInfo);
- virtual ~btThreadSupportPosix();
-
- virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; }
- // TODO: return the number of logical processors sharing the first L3 cache
- virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return m_numThreads + 1; }
- // TODO: detect if CPU has hyperthreading enabled
- virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return 1; }
-
- virtual void runTask(int threadIndex, void* userData) BT_OVERRIDE;
- virtual void waitForAllTasks() BT_OVERRIDE;
-
- virtual btCriticalSection* createCriticalSection() BT_OVERRIDE;
- virtual void deleteCriticalSection(btCriticalSection* criticalSection) BT_OVERRIDE;
-};
-
-#define checkPThreadFunction(returnValue) \
- if (0 != returnValue) \
- { \
- printf("PThread problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, returnValue, errno); \
- }
-
-// The number of threads should be equal to the number of available cores
-// Todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
-
-btThreadSupportPosix::btThreadSupportPosix(const ConstructionInfo& threadConstructionInfo)
-{
- m_cs = createCriticalSection();
- startThreads(threadConstructionInfo);
-}
-
-// cleanup/shutdown Libspe2
-btThreadSupportPosix::~btThreadSupportPosix()
-{
- stopThreads();
- deleteCriticalSection(m_cs);
- m_cs=0;
-}
-
-#if (defined(__APPLE__))
-#define NAMED_SEMAPHORES
-#endif
-
-static sem_t* createSem(const char* baseName)
-{
- static int semCount = 0;
-#ifdef NAMED_SEMAPHORES
- /// Named semaphore begin
- char name[32];
- snprintf(name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++);
- sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
-
- if (tempSem != reinterpret_cast<sem_t*>(SEM_FAILED))
- {
- // printf("Created \"%s\" Semaphore %p\n", name, tempSem);
- }
- else
- {
- //printf("Error creating Semaphore %d\n", errno);
- exit(-1);
- }
- /// Named semaphore end
-#else
- sem_t* tempSem = new sem_t;
- checkPThreadFunction(sem_init(tempSem, 0, 0));
-#endif
- return tempSem;
-}
-
-static void destroySem(sem_t* semaphore)
-{
-#ifdef NAMED_SEMAPHORES
- checkPThreadFunction(sem_close(semaphore));
-#else
- checkPThreadFunction(sem_destroy(semaphore));
- delete semaphore;
-#endif
-}
-
-static void* threadFunction(void* argument)
-{
- btThreadSupportPosix::btThreadStatus* status = (btThreadSupportPosix::btThreadStatus*)argument;
-
- while (1)
- {
- checkPThreadFunction(sem_wait(status->startSemaphore));
- void* userPtr = status->m_userPtr;
-
- if (userPtr)
- {
- btAssert(status->m_status);
- status->m_userThreadFunc(userPtr);
- status->m_cs->lock();
- status->m_status = 2;
- status->m_cs->unlock();
- checkPThreadFunction(sem_post(status->m_mainSemaphore));
- status->threadUsed++;
- }
- else
- {
- //exit Thread
- status->m_cs->lock();
- status->m_status = 3;
- status->m_cs->unlock();
- checkPThreadFunction(sem_post(status->m_mainSemaphore));
- break;
- }
- }
-
- return 0;
-}
-
-///send messages to SPUs
-void btThreadSupportPosix::runTask(int threadIndex, void* userData)
-{
- ///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
- btThreadStatus& threadStatus = m_activeThreadStatus[threadIndex];
- btAssert(threadIndex >= 0);
- btAssert(threadIndex < m_activeThreadStatus.size());
- threadStatus.m_cs = m_cs;
- threadStatus.m_commandId = 1;
- threadStatus.m_status = 1;
- threadStatus.m_userPtr = userData;
- m_startedThreadsMask |= UINT64(1) << threadIndex;
-
- // fire event to start new task
- checkPThreadFunction(sem_post(threadStatus.startSemaphore));
-}
-
-///check for messages from SPUs
-int btThreadSupportPosix::waitForResponse()
-{
- ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
- ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
-
- btAssert(m_activeThreadStatus.size());
-
- // wait for any of the threads to finish
- checkPThreadFunction(sem_wait(m_mainSemaphore));
- // get at least one thread which has finished
- size_t last = -1;
-
- for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
- {
- m_cs->lock();
- bool hasFinished = (2 == m_activeThreadStatus[t].m_status);
- m_cs->unlock();
- if (hasFinished)
- {
- last = t;
- break;
- }
- }
-
- btThreadStatus& threadStatus = m_activeThreadStatus[last];
-
- btAssert(threadStatus.m_status > 1);
- threadStatus.m_status = 0;
-
- // need to find an active spu
- btAssert(last >= 0);
- m_startedThreadsMask &= ~(UINT64(1) << last);
-
- return last;
-}
-
-void btThreadSupportPosix::waitForAllTasks()
-{
- while (m_startedThreadsMask)
- {
- waitForResponse();
- }
-}
-
-void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructionInfo)
-{
- m_numThreads = btGetNumHardwareThreads() - 1; // main thread exists already
- m_activeThreadStatus.resize(m_numThreads);
- m_startedThreadsMask = 0;
-
- m_mainSemaphore = createSem("main");
- //checkPThreadFunction(sem_wait(mainSemaphore));
-
- for (int i = 0; i < m_numThreads; i++)
- {
- btThreadStatus& threadStatus = m_activeThreadStatus[i];
- threadStatus.startSemaphore = createSem("threadLocal");
- threadStatus.m_userPtr = 0;
- threadStatus.m_cs = m_cs;
- threadStatus.m_taskId = i;
- threadStatus.m_commandId = 0;
- threadStatus.m_status = 0;
- threadStatus.m_mainSemaphore = m_mainSemaphore;
- threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
- threadStatus.threadUsed = 0;
- checkPThreadFunction(pthread_create(&threadStatus.thread, NULL, &threadFunction, (void*)&threadStatus));
-
- }
-}
-
-///tell the task scheduler we are done with the SPU tasks
-void btThreadSupportPosix::stopThreads()
-{
- for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
- {
- btThreadStatus& threadStatus = m_activeThreadStatus[t];
-
- threadStatus.m_userPtr = 0;
- checkPThreadFunction(sem_post(threadStatus.startSemaphore));
- checkPThreadFunction(sem_wait(m_mainSemaphore));
-
- checkPThreadFunction(pthread_join(threadStatus.thread, 0));
- destroySem(threadStatus.startSemaphore);
- }
- destroySem(m_mainSemaphore);
- m_activeThreadStatus.clear();
-}
-
-class btCriticalSectionPosix : public btCriticalSection
-{
- pthread_mutex_t m_mutex;
-
-public:
- btCriticalSectionPosix()
- {
- pthread_mutex_init(&m_mutex, NULL);
- }
- virtual ~btCriticalSectionPosix()
- {
- pthread_mutex_destroy(&m_mutex);
- }
-
- virtual void lock()
- {
- pthread_mutex_lock(&m_mutex);
- }
- virtual void unlock()
- {
- pthread_mutex_unlock(&m_mutex);
- }
-};
-
-btCriticalSection* btThreadSupportPosix::createCriticalSection()
-{
- return new btCriticalSectionPosix();
-}
-
-void btThreadSupportPosix::deleteCriticalSection(btCriticalSection* cs)
-{
- delete cs;
-}
-
-btThreadSupportInterface* btThreadSupportInterface::create(const ConstructionInfo& info)
-{
- return new btThreadSupportPosix(info);
-}
-
-#endif // BT_THREADSAFE && !defined( _WIN32 )