From a672536f43ae241ab9b0324da4e8888fae31ad7e Mon Sep 17 00:00:00 2001 From: QiaodongCui <84474583+QiaodongCui@users.noreply.github.com> Date: Fri, 29 Oct 2021 13:26:02 -0400 Subject: [PATCH] Update btCollisionDispatcherMt.cpp --- .../btCollisionDispatcherMt.cpp | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp index b067903dd..9b38f5c7a 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp @@ -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& 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) {