MultiThreading for Bullet 2.x

CMakeLists.txt

@@ -28,6 +28,7 @@ OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
 OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
 OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)	
+OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF)
 
 OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
 OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
@@ -155,6 +156,13 @@ IF(USE_GRAPHICAL_BENCHMARK)
 ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
 ENDIF (USE_GRAPHICAL_BENCHMARK)
 
+IF(BULLET2_USE_THREAD_LOCKS)
+	ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
+	IF (NOT MSVC)
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+	ENDIF (NOT MSVC)
+ENDIF (BULLET2_USE_THREAD_LOCKS)
+
 IF (WIN32)
 OPTION(USE_GLUT "Use Glut"	ON)
 ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
@@ -195,8 +203,6 @@ ENDIF (OPENGL_FOUND)
 #FIND_PACKAGE(GLU)
 
 
-
-
 IF (APPLE)
   FIND_LIBRARY(COCOA_LIBRARY Cocoa)
 ENDIF()
@@ -264,6 +270,15 @@ IF(BUILD_BULLET2_DEMOS)
 	IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
 		SUBDIRS(examples)
 	ENDIF()
+
+        IF (BULLET2_USE_THREAD_LOCKS)
+            OPTION(BULLET2_MULTITHREADED_OPEN_MP_DEMO "Build Bullet 2 MultithreadedDemo using OpenMP (requires a compiler with OpenMP support)" OFF)
+            OPTION(BULLET2_MULTITHREADED_TBB_DEMO "Build Bullet 2 MultithreadedDemo using Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
+            IF (MSVC)
+                OPTION(BULLET2_MULTITHREADED_PPL_DEMO "Build Bullet 2 MultithreadedDemo using Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
+            ENDIF (MSVC)
+        ENDIF (BULLET2_USE_THREAD_LOCKS)
+
 ENDIF(BUILD_BULLET2_DEMOS)
 
 

examples/BasicDemo/CMakeLists.txt

@@ -12,12 +12,14 @@ IF (WIN32)
 	ADD_EXECUTABLE(App_BasicExample
 		BasicExample.cpp
 		main.cpp
+		../CommonInterfaces/CommonRigidBodyBase.cpp
 		${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
 	)
 ELSE()
 	ADD_EXECUTABLE(App_BasicExample
 		BasicExample.cpp
 		main.cpp
+		../CommonInterfaces/CommonRigidBodyBase.cpp
 	)
 ENDIF()
 
@@ -53,6 +55,7 @@ SET(AppBasicExampleGui_SRCS
         ../ExampleBrowser/OpenGLGuiHelper.cpp
         ../ExampleBrowser/GL_ShapeDrawer.cpp
         ../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+		../CommonInterfaces/CommonRigidBodyBase.cpp
 		../Utils/b3Clock.cpp
 )
 

examples/BasicDemo/premake4.lua

@@ -18,6 +18,7 @@ language "C++"
 files {
 	"**.cpp",
 	"**.h",
+	"../CommonInterfaces/*",
 }
 
 
@@ -49,6 +50,7 @@ files {
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
 	"../ExampleBrowser/GL_ShapeDrawer.cpp",
 	"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+	"../CommonInterfaces/*",
 	"../Utils/b3Clock.cpp",
 	"../Utils/b3Clock.h",
 }
@@ -90,6 +92,7 @@ files {
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
 	"../ExampleBrowser/GL_ShapeDrawer.cpp",
 	"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+	"../CommonInterfaces/*",
 	"../TinyRenderer/geometry.cpp",
 	"../TinyRenderer/model.cpp",
 	"../TinyRenderer/tgaimage.cpp",
@@ -130,6 +133,7 @@ files {
         "*.h",
         "../StandaloneMain/main_tinyrenderer_single_example.cpp",
 	"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+	"../CommonInterfaces/*",
 	"../OpenGLWindow/SimpleCamera.cpp",
 	"../TinyRenderer/geometry.cpp",
 	"../TinyRenderer/model.cpp",
@@ -175,6 +179,7 @@ files {
         "BasicExample.cpp",
         "*.h",
         "../StandaloneMain/hellovr_opengl_main.cpp",
+	"../CommonInterfaces/*",
 				"../ExampleBrowser/OpenGLGuiHelper.cpp",
 				"../ExampleBrowser/GL_ShapeDrawer.cpp",
 				"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
@@ -200,4 +205,4 @@ if os.is("MacOSX") then
         links{"Cocoa.framework"}
 end
 
-end
+end

examples/Benchmarks/BenchmarkDemo.cpp

@@ -32,10 +32,12 @@ subject to the following restrictions:
 
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btTransform.h"
+#include "../CommonInterfaces/ParallelFor.h"
 
 class btDynamicsWorld;
 
 #define NUMRAYS 500
+#define USE_PARALLEL_RAYCASTS 1
 
 class btRigidBody;
 class btBroadphaseInterface;
@@ -204,7 +206,39 @@ class btRaycastBar2
 			sign = -1.0;
 	}
 
-	void cast (btCollisionWorld* cw)
+    void castRays( btCollisionWorld* cw, int iBegin, int iEnd )
+    {
+        for ( int i = iBegin; i < iEnd; ++i )
+        {
+			btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
+
+			cw->rayTest (source[i], dest[i], cb);
+			if (cb.hasHit ())
+			{
+				hit[i] = cb.m_hitPointWorld;
+				normal[i] = cb.m_hitNormalWorld;
+				normal[i].normalize ();
+			} else {
+				hit[i] = dest[i];
+				normal[i] = btVector3(1.0, 0.0, 0.0);
+			}
+
+        }
+    }
+
+    struct CastRaysLoopBody
+    {
+        btRaycastBar2* mRaycasts;
+        btCollisionWorld* mWorld;
+        CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
+
+        void forLoop( int iBegin, int iEnd ) const
+        {
+            mRaycasts->castRays(mWorld, iBegin, iEnd);
+        }
+    };
+
+	void cast (btCollisionWorld* cw, bool multiThreading = false)
 	{
 #ifdef USE_BT_CLOCK
 		frame_timer.reset ();
@@ -228,22 +262,19 @@ class btRaycastBar2
 				normal[i].normalize ();
 		}
 #else
-		for (int i = 0; i < NUMRAYS; i++)
-		{
-			btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
-
-			cw->rayTest (source[i], dest[i], cb);
-			if (cb.hasHit ())
-			{
-				hit[i] = cb.m_hitPointWorld;
-				normal[i] = cb.m_hitNormalWorld;
-				normal[i].normalize ();
-			} else {
-				hit[i] = dest[i];
-				normal[i] = btVector3(1.0, 0.0, 0.0);
-			}
-
-		}
+#if USE_PARALLEL_RAYCASTS
+        if ( multiThreading )
+        {
+            CastRaysLoopBody rayLooper(cw, this);
+            int grainSize = 20;  // number of raycasts per task
+            parallelFor( 0, NUMRAYS, grainSize, rayLooper );
+        }
+        else
+#endif // USE_PARALLEL_RAYCASTS
+        {
+            // single threaded
+            castRays(cw, 0, NUMRAYS);
+        }
 #ifdef USE_BT_CLOCK
 		ms += frame_timer.getTimeMilliseconds ();
 #endif //USE_BT_CLOCK
@@ -354,42 +385,43 @@ void	BenchmarkDemo::initPhysics()
 
 	setCameraDistance(btScalar(100.));
 
-	///collision configuration contains default setup for memory, collision setup
-	btDefaultCollisionConstructionInfo cci;
-	cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
-	m_collisionConfiguration = new btDefaultCollisionConfiguration(cci);
+    createEmptyDynamicsWorld();
+	/////collision configuration contains default setup for memory, collision setup
+	//btDefaultCollisionConstructionInfo cci;
+	//cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
+	//m_collisionConfiguration = new btDefaultCollisionConfiguration(cci);
 
-	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
-	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
-
-	m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
+	/////use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	//m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
+	//
+	//m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
 
 
 
-	///the maximum size of the collision world. Make sure objects stay within these boundaries
-	///Don't make the world AABB size too large, it will harm simulation quality and performance
-	btVector3 worldAabbMin(-1000,-1000,-1000);
-	btVector3 worldAabbMax(1000,1000,1000);
-
-	btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache();
-	m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache);
+	/////the maximum size of the collision world. Make sure objects stay within these boundaries
+	/////Don't make the world AABB size too large, it will harm simulation quality and performance
+	//btVector3 worldAabbMin(-1000,-1000,-1000);
+	//btVector3 worldAabbMax(1000,1000,1000);
+	//
+	//btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache();
+	//m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache);
 //	m_broadphase = new btSimpleBroadphase();
 //	m_broadphase = new btDbvtBroadphase();
 
 
 	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
-	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
+	//btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
 
 
-	m_solver = sol;
+	//m_solver = sol;
 
-	btDiscreteDynamicsWorld* dynamicsWorld;
-	m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	//btDiscreteDynamicsWorld* dynamicsWorld;
+	//m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
 
 
 	///the following 3 lines increase the performance dramatically, with a little bit of loss of quality
 	m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; //don't recalculate friction values each frame
-	dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations 
+	m_dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations 
 	//m_defaultContactProcessingThreshold = 0.f;//used when creating bodies: body->setContactProcessingThreshold(...);
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 
@@ -1242,7 +1274,7 @@ void BenchmarkDemo::initRays()
 
 void BenchmarkDemo::castRays()
 {
-	raycastBar.cast (m_dynamicsWorld);
+	raycastBar.cast (m_dynamicsWorld, m_multithreadedWorld);
 }
 
 void	BenchmarkDemo::createTest7()

examples/CommonInterfaces/CommonGraphicsAppInterface.h

@@ -120,7 +120,7 @@ struct CommonGraphicsApp
 	virtual int getUpAxis() const = 0;
 
 	virtual void swapBuffer() = 0;
-	virtual void drawText( const char* txt, int posX, int posY) = 0;
+	virtual void drawText( const char* txt, int posX, int posY, float size = 1.0f) = 0;
 	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
 	virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0;
 	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1,  float textureScaling = 1)=0;