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 
17 #include "LinearMath/btQuickprof.h"
18 
20 
27 
29  : btCollisionDispatcher(config)
30 {
31  m_batchUpdating = false;
32  m_grainSize = grainSize; // iterations per task
33 }
34 
36 {
37  //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
38 
41 
42  btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold());
43 
45  if (NULL == mem)
46  {
47  //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
49  {
50  mem = btAlignedAlloc(sizeof(btPersistentManifold), 16);
51  }
52  else
53  {
54  btAssert(0);
55  //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
56  return 0;
57  }
58  }
59  btPersistentManifold* manifold = new (mem) btPersistentManifold(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
60  if (!m_batchUpdating)
61  {
62  // batch updater will update manifold pointers array after finishing, so
63  // only need to update array when not batch-updating
64  //btAssert( !btThreadsAreRunning() );
65  manifold->m_index1a = m_manifoldsPtr.size();
66  m_manifoldsPtr.push_back(manifold);
67  }
68 
69  return manifold;
70 }
71 
73 {
74  clearManifold(manifold);
75  //btAssert( !btThreadsAreRunning() );
76  if (!m_batchUpdating)
77  {
78  // batch updater will update manifold pointers array after finishing, so
79  // only need to update array when not batch-updating
80  int findIndex = manifold->m_index1a;
81  btAssert(findIndex < m_manifoldsPtr.size());
82  m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
83  m_manifoldsPtr[findIndex]->m_index1a = findIndex;
85  }
86 
87  manifold->~btPersistentManifold();
89  {
91  }
92  else
93  {
94  btAlignedFree(manifold);
95  }
96 }
97 
99 {
104 
106  {
107  mPairArray = NULL;
108  mCallback = NULL;
109  mDispatcher = NULL;
110  mInfo = NULL;
111  }
112  void forLoop(int iBegin, int iEnd) const
113  {
114  for (int i = iBegin; i < iEnd; ++i)
115  {
116  btBroadphasePair* pair = &mPairArray[i];
117  mCallback(*pair, *mDispatcher, *mInfo);
118  }
119  }
120 };
121 
123 {
124  int pairCount = pairCache->getNumOverlappingPairs();
125  if (pairCount == 0)
126  {
127  return;
128  }
130  updater.mCallback = getNearCallback();
131  updater.mPairArray = pairCache->getOverlappingPairArrayPtr();
132  updater.mDispatcher = this;
133  updater.mInfo = &info;
134 
135  m_batchUpdating = true;
136  btParallelFor(0, pairCount, m_grainSize, updater);
137  m_batchUpdating = false;
138 
139  // reconstruct the manifolds array to ensure determinism
141 
142  btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
143  for (int i = 0; i < pairCount; ++i)
144  {
145  if (btCollisionAlgorithm* algo = pairs[i].m_algorithm)
146  {
147  algo->getAllContactManifolds(m_manifoldsPtr);
148  }
149  }
150 
151  // update the indices (used when releasing manifolds)
152  for (int i = 0; i < m_manifoldsPtr.size(); ++i)
153  {
154  m_manifoldsPtr[i]->m_index1a = i;
155  }
156 }
btCollisionConfiguration.h
btCollisionDispatcher::m_persistentManifoldPoolAllocator
btPoolAllocator * m_persistentManifoldPoolAllocator
Definition: btCollisionDispatcher.h:55
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
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
btCollisionDispatcher::getNearCallback
btNearCallback getNearCallback() const
Definition: btCollisionDispatcher.h:129
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:47
btCollisionShape.h
btCollisionDispatcher::m_manifoldsPtr
btAlignedObjectArray< btPersistentManifold * > m_manifoldsPtr
Definition: btCollisionDispatcher.h:47
btCollisionShape::getContactBreakingThreshold
virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const
Definition: btCollisionShape.cpp:42
CollisionDispatcherUpdater::mDispatcher
btCollisionDispatcher * mDispatcher
Definition: btCollisionDispatcherMt.cpp:102
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btCollisionObjectWrapper.h
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
CollisionDispatcherUpdater::mCallback
btNearCallback mCallback
Definition: btCollisionDispatcherMt.cpp:101
btOverlappingPairCache::getNumOverlappingPairs
virtual int getNumOverlappingPairs() const =0
btCollisionDispatcher::clearManifold
virtual void clearManifold(btPersistentManifold *manifold)
Definition: btCollisionDispatcher.cpp:101
btCollisionDispatcherMt::btCollisionDispatcherMt
btCollisionDispatcherMt(btCollisionConfiguration *config, int grainSize=40)
Definition: btCollisionDispatcherMt.cpp:28
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:46
btCollisionDispatcherMt::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *body0, const btCollisionObject *body1) BT_OVERRIDE
Definition: btCollisionDispatcherMt.cpp:35
btPoolAllocator::freeMemory
void freeMemory(void *ptr)
Definition: btPoolAllocator.h:100
btCollisionDispatcherMt::m_grainSize
int m_grainSize
Definition: btCollisionDispatcherMt.h:34
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
Definition: btCollisionDispatcher.h:42
CollisionDispatcherUpdater::CollisionDispatcherUpdater
CollisionDispatcherUpdater()
Definition: btCollisionDispatcherMt.cpp:105
btMin
const T & btMin(const T &a, const T &b)
Definition: btMinMax.h:21
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:53
btAssert
#define btAssert(x)
Definition: btScalar.h:133
btAlignedObjectArray::swap
void swap(int index0, int index1)
Definition: btAlignedObjectArray.h:389
btOverlappingPairCache.h
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:50
btAlignedObjectArray::pop_back
void pop_back()
Definition: btAlignedObjectArray.h:192
btOverlappingPairCache::getOverlappingPairArrayPtr
virtual btBroadphasePair * getOverlappingPairArrayPtr()=0
btCollisionDispatcherMt::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold) BT_OVERRIDE
Definition: btCollisionDispatcherMt.cpp:72
btCollisionObject::getContactProcessingThreshold
btScalar getContactProcessingThreshold() const
Definition: btCollisionObject.h:188
btPoolAllocator::allocate
void * allocate(int size)
Definition: btPoolAllocator.h:71
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
CollisionDispatcherUpdater::mPairArray
btBroadphasePair * mPairArray
Definition: btCollisionDispatcherMt.cpp:100
btDispatcherInfo
Definition: btDispatcher.h:30
btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD
Definition: btCollisionDispatcher.h:67
btParallelFor
void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody &body)
Definition: btThreads.cpp:412
btPersistentManifold::m_index1a
int m_index1a
Definition: btPersistentManifold.h:88
btCollisionDispatcher::m_dispatcherFlags
int m_dispatcherFlags
Definition: btCollisionDispatcher.h:45
CollisionDispatcherUpdater::mInfo
const btDispatcherInfo * mInfo
Definition: btCollisionDispatcherMt.cpp:103
btCollisionDispatcherMt::dispatchAllCollisionPairs
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &info, btDispatcher *dispatcher) BT_OVERRIDE
Definition: btCollisionDispatcherMt.cpp:122
btQuickprof.h
CollisionDispatcherUpdater::forLoop
void forLoop(int iBegin, int iEnd) const
Definition: btCollisionDispatcherMt.cpp:112
CollisionDispatcherUpdater
Definition: btCollisionDispatcherMt.cpp:98
btCollisionObject.h
btPoolAllocator::validPtr
bool validPtr(void *ptr)
Definition: btPoolAllocator.h:88
btAlignedObjectArray::resizeNoInitialize
void resizeNoInitialize(int newsize)
resize changes the number of elements in the array.
Definition: btAlignedObjectArray.h:201
btIParallelForBody
Definition: btThreads.h:101
gContactBreakingThreshold
btScalar gContactBreakingThreshold
Definition: btPersistentManifold.cpp:26
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:264
btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION
Definition: btCollisionDispatcher.h:68
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:26
btPoolAllocator.h
btCollisionDispatcherMt::m_batchUpdating
bool m_batchUpdating
Definition: btCollisionDispatcherMt.h:33
btCollisionDispatcherMt.h
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:177
btCollisionAlgorithm.h
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:149
btCollisionObject::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObject.h:224