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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp | 678 |
1 files changed, 0 insertions, 678 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/thirdparty/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp deleted file mode 100644 index 99b34353c7..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp +++ /dev/null @@ -1,678 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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. -*/ - - -#include "LinearMath/btScalar.h" -#include "LinearMath/btThreads.h" -#include "btSimulationIslandManagerMt.h" -#include "BulletCollision/BroadphaseCollision/btDispatcher.h" -#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" -#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" -#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" - -//#include <stdio.h> -#include "LinearMath/btQuickprof.h" - - -SIMD_FORCE_INLINE int calcBatchCost( int bodies, int manifolds, int constraints ) -{ - // rough estimate of the cost of a batch, used for merging - int batchCost = bodies + 8 * manifolds + 4 * constraints; - return batchCost; -} - - -SIMD_FORCE_INLINE int calcBatchCost( const btSimulationIslandManagerMt::Island* island ) -{ - return calcBatchCost( island->bodyArray.size(), island->manifoldArray.size(), island->constraintArray.size() ); -} - - -btSimulationIslandManagerMt::btSimulationIslandManagerMt() -{ - m_minimumSolverBatchSize = calcBatchCost(0, 128, 0); - m_batchIslandMinBodyCount = 32; - m_islandDispatch = parallelIslandDispatch; - m_batchIsland = NULL; -} - - -btSimulationIslandManagerMt::~btSimulationIslandManagerMt() -{ - for ( int i = 0; i < m_allocatedIslands.size(); ++i ) - { - delete m_allocatedIslands[ i ]; - } - m_allocatedIslands.resize( 0 ); - m_activeIslands.resize( 0 ); - m_freeIslands.resize( 0 ); -} - - -inline int getIslandId(const btPersistentManifold* lhs) -{ - const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0()); - const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1()); - int islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag(); - return islandId; -} - - -SIMD_FORCE_INLINE int btGetConstraintIslandId( const btTypedConstraint* lhs ) -{ - const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); - const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); - int islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); - return islandId; -} - -/// function object that routes calls to operator< -class IslandBatchSizeSortPredicate -{ -public: - bool operator() ( const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs ) const - { - int lCost = calcBatchCost( lhs ); - int rCost = calcBatchCost( rhs ); - return lCost > rCost; - } -}; - - -class IslandBodyCapacitySortPredicate -{ -public: - bool operator() ( const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs ) const - { - return lhs->bodyArray.capacity() > rhs->bodyArray.capacity(); - } -}; - - -void btSimulationIslandManagerMt::Island::append( const Island& other ) -{ - // append bodies - for ( int i = 0; i < other.bodyArray.size(); ++i ) - { - bodyArray.push_back( other.bodyArray[ i ] ); - } - // append manifolds - for ( int i = 0; i < other.manifoldArray.size(); ++i ) - { - manifoldArray.push_back( other.manifoldArray[ i ] ); - } - // append constraints - for ( int i = 0; i < other.constraintArray.size(); ++i ) - { - constraintArray.push_back( other.constraintArray[ i ] ); - } -} - - -bool btIsBodyInIsland( const btSimulationIslandManagerMt::Island& island, const btCollisionObject* obj ) -{ - for ( int i = 0; i < island.bodyArray.size(); ++i ) - { - if ( island.bodyArray[ i ] == obj ) - { - return true; - } - } - return false; -} - - -void btSimulationIslandManagerMt::initIslandPools() -{ - // reset island pools - int numElem = getUnionFind().getNumElements(); - m_lookupIslandFromId.resize( numElem ); - for ( int i = 0; i < m_lookupIslandFromId.size(); ++i ) - { - m_lookupIslandFromId[ i ] = NULL; - } - m_activeIslands.resize( 0 ); - m_freeIslands.resize( 0 ); - // check whether allocated islands are sorted by body capacity (largest to smallest) - int lastCapacity = 0; - bool isSorted = true; - for ( int i = 0; i < m_allocatedIslands.size(); ++i ) - { - Island* island = m_allocatedIslands[ i ]; - int cap = island->bodyArray.capacity(); - if ( cap > lastCapacity ) - { - isSorted = false; - break; - } - lastCapacity = cap; - } - if ( !isSorted ) - { - m_allocatedIslands.quickSort( IslandBodyCapacitySortPredicate() ); - } - - m_batchIsland = NULL; - // mark all islands free (but avoid deallocation) - for ( int i = 0; i < m_allocatedIslands.size(); ++i ) - { - Island* island = m_allocatedIslands[ i ]; - island->bodyArray.resize( 0 ); - island->manifoldArray.resize( 0 ); - island->constraintArray.resize( 0 ); - island->id = -1; - island->isSleeping = true; - m_freeIslands.push_back( island ); - } -} - - -btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::getIsland( int id ) -{ - Island* island = m_lookupIslandFromId[ id ]; - if ( island == NULL ) - { - // search for existing island - for ( int i = 0; i < m_activeIslands.size(); ++i ) - { - if ( m_activeIslands[ i ]->id == id ) - { - island = m_activeIslands[ i ]; - break; - } - } - m_lookupIslandFromId[ id ] = island; - } - return island; -} - - -btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::allocateIsland( int id, int numBodies ) -{ - Island* island = NULL; - int allocSize = numBodies; - if ( numBodies < m_batchIslandMinBodyCount ) - { - if ( m_batchIsland ) - { - island = m_batchIsland; - m_lookupIslandFromId[ id ] = island; - // if we've made a large enough batch, - if ( island->bodyArray.size() + numBodies >= m_batchIslandMinBodyCount ) - { - // next time start a new batch - m_batchIsland = NULL; - } - return island; - } - else - { - // need to allocate a batch island - allocSize = m_batchIslandMinBodyCount * 2; - } - } - btAlignedObjectArray<Island*>& freeIslands = m_freeIslands; - - // search for free island - if ( freeIslands.size() > 0 ) - { - // try to reuse a previously allocated island - int iFound = freeIslands.size(); - // linear search for smallest island that can hold our bodies - for ( int i = freeIslands.size() - 1; i >= 0; --i ) - { - if ( freeIslands[ i ]->bodyArray.capacity() >= allocSize ) - { - iFound = i; - island = freeIslands[ i ]; - island->id = id; - break; - } - } - // if found, shrink array while maintaining ordering - if ( island ) - { - int iDest = iFound; - int iSrc = iDest + 1; - while ( iSrc < freeIslands.size() ) - { - freeIslands[ iDest++ ] = freeIslands[ iSrc++ ]; - } - freeIslands.pop_back(); - } - } - if ( island == NULL ) - { - // no free island found, allocate - island = new Island(); // TODO: change this to use the pool allocator - island->id = id; - island->bodyArray.reserve( allocSize ); - m_allocatedIslands.push_back( island ); - } - m_lookupIslandFromId[ id ] = island; - if ( numBodies < m_batchIslandMinBodyCount ) - { - m_batchIsland = island; - } - m_activeIslands.push_back( island ); - return island; -} - - -void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld ) -{ - - BT_PROFILE("islandUnionFindAndQuickSort"); - - btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); - - //we are going to sort the unionfind array, and store the element id in the size - //afterwards, we clean unionfind, to make sure no-one uses it anymore - - getUnionFind().sortIslands(); - int numElem = getUnionFind().getNumElements(); - - int endIslandIndex=1; - int startIslandIndex; - - //update the sleeping state for bodies, if all are sleeping - for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex) - { - int islandId = getUnionFind().getElement(startIslandIndex).m_id; - for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++) - { - } - - //int numSleeping = 0; - - bool allSleeping = true; - - int idx; - for (idx=startIslandIndex;idx<endIslandIndex;idx++) - { - int i = getUnionFind().getElement(idx).m_sz; - - btCollisionObject* colObj0 = collisionObjects[i]; - if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) - { -// printf("error in island management\n"); - } - - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); - if (colObj0->getIslandTag() == islandId) - { - if (colObj0->getActivationState()== ACTIVE_TAG) - { - allSleeping = false; - } - if (colObj0->getActivationState()== DISABLE_DEACTIVATION) - { - allSleeping = false; - } - } - } - - if (allSleeping) - { - int idx; - for (idx=startIslandIndex;idx<endIslandIndex;idx++) - { - int i = getUnionFind().getElement(idx).m_sz; - btCollisionObject* colObj0 = collisionObjects[i]; - if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) - { -// printf("error in island management\n"); - } - - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); - - if (colObj0->getIslandTag() == islandId) - { - colObj0->setActivationState( ISLAND_SLEEPING ); - } - } - } else - { - - int idx; - for (idx=startIslandIndex;idx<endIslandIndex;idx++) - { - int i = getUnionFind().getElement(idx).m_sz; - - btCollisionObject* colObj0 = collisionObjects[i]; - if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) - { -// printf("error in island management\n"); - } - - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); - - if (colObj0->getIslandTag() == islandId) - { - if ( colObj0->getActivationState() == ISLAND_SLEEPING) - { - colObj0->setActivationState( WANTS_DEACTIVATION); - colObj0->setDeactivationTime(0.f); - } - } - } - } - } -} - - -void btSimulationIslandManagerMt::addBodiesToIslands( btCollisionWorld* collisionWorld ) -{ - btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); - int endIslandIndex = 1; - int startIslandIndex; - int numElem = getUnionFind().getNumElements(); - - // create explicit islands and add bodies to each - for ( startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex ) - { - int islandId = getUnionFind().getElement( startIslandIndex ).m_id; - - // find end index - for ( endIslandIndex = startIslandIndex; ( endIslandIndex < numElem ) && ( getUnionFind().getElement( endIslandIndex ).m_id == islandId ); endIslandIndex++ ) - { - } - // check if island is sleeping - bool islandSleeping = true; - for ( int iElem = startIslandIndex; iElem < endIslandIndex; iElem++ ) - { - int i = getUnionFind().getElement( iElem ).m_sz; - btCollisionObject* colObj = collisionObjects[ i ]; - if ( colObj->isActive() ) - { - islandSleeping = false; - } - } - if ( !islandSleeping ) - { - // want to count the number of bodies before allocating the island to optimize memory usage of the Island structures - int numBodies = endIslandIndex - startIslandIndex; - Island* island = allocateIsland( islandId, numBodies ); - island->isSleeping = false; - - // add bodies to island - for ( int iElem = startIslandIndex; iElem < endIslandIndex; iElem++ ) - { - int i = getUnionFind().getElement( iElem ).m_sz; - btCollisionObject* colObj = collisionObjects[ i ]; - island->bodyArray.push_back( colObj ); - } - } - } - -} - - -void btSimulationIslandManagerMt::addManifoldsToIslands( btDispatcher* dispatcher ) -{ - // walk all the manifolds, activating bodies touched by kinematic objects, and add each manifold to its Island - int maxNumManifolds = dispatcher->getNumManifolds(); - for ( int i = 0; i < maxNumManifolds; i++ ) - { - btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal( i ); - - const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>( manifold->getBody0() ); - const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>( manifold->getBody1() ); - - ///@todo: check sleeping conditions! - if ( ( ( colObj0 ) && colObj0->getActivationState() != ISLAND_SLEEPING ) || - ( ( colObj1 ) && colObj1->getActivationState() != ISLAND_SLEEPING ) ) - { - - //kinematic objects don't merge islands, but wake up all connected objects - if ( colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING ) - { - if ( colObj0->hasContactResponse() ) - colObj1->activate(); - } - if ( colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING ) - { - if ( colObj1->hasContactResponse() ) - colObj0->activate(); - } - //filtering for response - if ( dispatcher->needsResponse( colObj0, colObj1 ) ) - { - // scatter manifolds into various islands - int islandId = getIslandId( manifold ); - // if island not sleeping, - if ( Island* island = getIsland( islandId ) ) - { - island->manifoldArray.push_back( manifold ); - } - } - } - } -} - - -void btSimulationIslandManagerMt::addConstraintsToIslands( btAlignedObjectArray<btTypedConstraint*>& constraints ) -{ - // walk constraints - for ( int i = 0; i < constraints.size(); i++ ) - { - // scatter constraints into various islands - btTypedConstraint* constraint = constraints[ i ]; - if ( constraint->isEnabled() ) - { - int islandId = btGetConstraintIslandId( constraint ); - // if island is not sleeping, - if ( Island* island = getIsland( islandId ) ) - { - island->constraintArray.push_back( constraint ); - } - } - } -} - - -void btSimulationIslandManagerMt::mergeIslands() -{ - // sort islands in order of decreasing batch size - m_activeIslands.quickSort( IslandBatchSizeSortPredicate() ); - - // merge small islands to satisfy minimum batch size - // find first small batch island - int destIslandIndex = m_activeIslands.size(); - for ( int i = 0; i < m_activeIslands.size(); ++i ) - { - Island* island = m_activeIslands[ i ]; - int batchSize = calcBatchCost( island ); - if ( batchSize < m_minimumSolverBatchSize ) - { - destIslandIndex = i; - break; - } - } - int lastIndex = m_activeIslands.size() - 1; - while ( destIslandIndex < lastIndex ) - { - // merge islands from the back of the list - Island* island = m_activeIslands[ destIslandIndex ]; - int numBodies = island->bodyArray.size(); - int numManifolds = island->manifoldArray.size(); - int numConstraints = island->constraintArray.size(); - int firstIndex = lastIndex; - // figure out how many islands we want to merge and find out how many bodies, manifolds and constraints we will have - while ( true ) - { - Island* src = m_activeIslands[ firstIndex ]; - numBodies += src->bodyArray.size(); - numManifolds += src->manifoldArray.size(); - numConstraints += src->constraintArray.size(); - int batchCost = calcBatchCost( numBodies, numManifolds, numConstraints ); - if ( batchCost >= m_minimumSolverBatchSize ) - { - break; - } - if ( firstIndex - 1 == destIslandIndex ) - { - break; - } - firstIndex--; - } - // reserve space for these pointers to minimize reallocation - island->bodyArray.reserve( numBodies ); - island->manifoldArray.reserve( numManifolds ); - island->constraintArray.reserve( numConstraints ); - // merge islands - for ( int i = firstIndex; i <= lastIndex; ++i ) - { - island->append( *m_activeIslands[ i ] ); - } - // shrink array to exclude the islands that were merged from - m_activeIslands.resize( firstIndex ); - lastIndex = firstIndex - 1; - destIslandIndex++; - } -} - - -void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback ) -{ - BT_PROFILE( "serialIslandDispatch" ); - // serial dispatch - btAlignedObjectArray<Island*>& islands = *islandsPtr; - for ( int i = 0; i < islands.size(); ++i ) - { - Island* island = islands[ i ]; - btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; - btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; - callback->processIsland( &island->bodyArray[ 0 ], - island->bodyArray.size(), - manifolds, - island->manifoldArray.size(), - constraintsPtr, - island->constraintArray.size(), - island->id - ); - } -} - -struct UpdateIslandDispatcher : public btIParallelForBody -{ - btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr; - btSimulationIslandManagerMt::IslandCallback* callback; - - void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE - { - for ( int i = iBegin; i < iEnd; ++i ) - { - btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ]; - btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; - btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; - callback->processIsland( &island->bodyArray[ 0 ], - island->bodyArray.size(), - manifolds, - island->manifoldArray.size(), - constraintsPtr, - island->constraintArray.size(), - island->id - ); - } - } -}; - -void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback ) -{ - BT_PROFILE( "parallelIslandDispatch" ); - int grainSize = 1; // iterations per task - UpdateIslandDispatcher dispatcher; - dispatcher.islandsPtr = islandsPtr; - dispatcher.callback = callback; - btParallelFor( 0, islandsPtr->size(), grainSize, dispatcher ); -} - - -///@todo: this is random access, it can be walked 'cache friendly'! -void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatcher, - btCollisionWorld* collisionWorld, - btAlignedObjectArray<btTypedConstraint*>& constraints, - IslandCallback* callback - ) -{ - btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); - - buildIslands(dispatcher,collisionWorld); - - BT_PROFILE("processIslands"); - - if(!getSplitIslands()) - { - btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer(); - int maxNumManifolds = dispatcher->getNumManifolds(); - - for ( int i = 0; i < maxNumManifolds; i++ ) - { - btPersistentManifold* manifold = manifolds[ i ]; - - const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>( manifold->getBody0() ); - const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>( manifold->getBody1() ); - - ///@todo: check sleeping conditions! - if ( ( ( colObj0 ) && colObj0->getActivationState() != ISLAND_SLEEPING ) || - ( ( colObj1 ) && colObj1->getActivationState() != ISLAND_SLEEPING ) ) - { - - //kinematic objects don't merge islands, but wake up all connected objects - if ( colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING ) - { - if ( colObj0->hasContactResponse() ) - colObj1->activate(); - } - if ( colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING ) - { - if ( colObj1->hasContactResponse() ) - colObj0->activate(); - } - } - } - btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[ 0 ] : NULL; - callback->processIsland(&collisionObjects[0], - collisionObjects.size(), - manifolds, - maxNumManifolds, - constraintsPtr, - constraints.size(), - -1 - ); - } - else - { - initIslandPools(); - - //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated - addBodiesToIslands( collisionWorld ); - addManifoldsToIslands( dispatcher ); - addConstraintsToIslands( constraints ); - - // m_activeIslands array should now contain all non-sleeping Islands, and each Island should - // have all the necessary bodies, manifolds and constraints. - - // if we want to merge islands with small batch counts, - if ( m_minimumSolverBatchSize > 1 ) - { - mergeIslands(); - } - // dispatch islands to solver - m_islandDispatch( &m_activeIslands, callback ); - } -} |