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Update btCollisionDispatcherMt.cpp

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This commit is contained in:
QiaodongCui
2021-10-29 13:26:02 -04:00
committed by GitHub
parent e9d40d0726
commit a672536f43
1 changed files with 18 additions and 1 deletions
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19
src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
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@@ -29,6 +29,8 @@ btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* confi
: btCollisionDispatcher(config)
{
m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
m_batchReleasePtr.resize(btGetTaskScheduler()->getNumThreads());
m_batchUpdating = false;
m_grainSize = grainSize; // iterations per task
}
@@ -76,10 +78,11 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionO
void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold)
{
clearManifold(manifold);
//btAssert( !btThreadsAreRunning() );
if (!m_batchUpdating)
{
clearManifold(manifold);
// batch updater will update manifold pointers array after finishing, so
// only need to update array when not batch-updating
int findIndex = manifold->m_index1a;
@@ -87,6 +90,9 @@ void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold)
m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
m_manifoldsPtr[findIndex]->m_index1a = findIndex;
m_manifoldsPtr.pop_back();
} else {
m_batchReleasePtr[btGetCurrentThreadIndex()].push_back(manifold);
return;
}
manifold->~btPersistentManifold();
@@ -154,6 +160,17 @@ void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache*
batchManifoldsPtr.resizeNoInitialize(0);
}
// remove batched remove manifolds.
for (int i = 0; i < m_batchReleasePtr.size(); ++i)
{
btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchReleasePtr[i];
for (int j = 0; j < batchManifoldsPtr.size(); ++j)
{
releaseManifold(batchManifoldsPtr[j]);
}
batchManifoldsPtr.resizeNoInitialize(0);
}
// update the indices (used when releasing manifolds)
for (int i = 0; i < m_manifoldsPtr.size(); ++i)
{