void dgWorld::TickCallback (dgInt32 threadID)
{
if (threadID == DG_MUTEX_THREAD_ID) {
StepDynamics (m_savetimestep);
} else {
Update (m_savetimestep);
}
}
void dgWorld::TickCallback (dgInt32 threadID)
{
if (threadID == DG_MUTEX_THREAD_ID) {
StepDynamics (m_savetimestep);
memcpy (m_perfomanceCountersBack, m_perfomanceCounters, sizeof (m_perfomanceCounters));
} else {
Update (m_savetimestep);
}
}
void dgWorld::UpdateAsync (dgFloat32 timestep)
{
m_savetimestep = timestep;
#ifdef DG_USE_THREAD_EMULATION
StepDynamics (m_savetimestep);
#else
// execute one update, but do not wait for the update to finish, instead return immediately to the caller
dgAsyncThread::Tick();
#endif
}
void ODESimulator::Step(Real dt)
{
Assert(timestep == 0);
//Timer timer;
//double collisionTime,stepTime,updateTime;
gContacts.clear();
timestep=dt;
DetectCollisions();
//printf(" %d contacts detected\n",gContacts.size());
//collisionTime = timer.ElapsedTime();
//timer.Reset();
StepDynamics(dt);
//stepTime = timer.ElapsedTime();
//timer.Reset();
for(map<pair<ODEObjectID,ODEObjectID>,ODEContactList>::iterator i=contactList.begin();i!=contactList.end();i++) {
ODEContactList& cl=i->second;
cl.forces.clear();
for(size_t j=0;j<cl.feedbackIndices.size();j++) {
int k=cl.feedbackIndices[j];
Assert(k >= 0 && k < (int)gContacts.size());
list<ODEContactResult>::iterator cres=gContacts.begin();
advance(cres,k);
Vector3 temp;
for(size_t i=0;i<cres->feedback.size();i++) {
CopyVector(temp,cres->feedback[i].f1);
cl.forces.push_back(temp);
/*
if(!cl.points.back().isValidForce(-temp)) {
printf("ODESimulator: Warning, solved contact force %d %d is invalid\n",k,i);
cout<<" Force: "<<-temp<<", normal "<<cl.points.back().n<<" kFriction "<<cl.points.back().kFriction<<endl;
}
*/
}
}
if(!cl.feedbackIndices.empty())
Assert(cl.points.size() == cl.forces.size());
}
timestep = 0;
//KH: commented this out so GetContacts() would work for ContactSensor simulation. Be careful about loading state
//gContacts.clear();
//updateTime = timer.ElapsedTime();
//printf("ODE simulation step: %g collision, %g step, %g update\n",collisionTime,stepTime,updateTime);
}
void dgWorld::Update (dgFloat32 timestep)
{
m_savetimestep = timestep;
#ifdef DG_USE_THREAD_EMULATION
dgFloatExceptions exception;
dgSetPrecisionDouble precision;
// run update in same thread as the calling application as if it was a separate thread
StepDynamics (m_savetimestep);
#else
// runs the update in a separate thread and wait until the update is completed before it returns.
// this will run well on single core systems, since the two thread are mutually exclusive
dgMutexThread::Tick();
#endif
}
void dgWorld::RunStep ()
{
static int zzzz;
if (zzzz == 50) {
DG_START_RECORDING("../../../../sdk/dProfiler/xxxx.tt");
}
if (zzzz == 500) {
DG_STOP_RECORDING();
}
zzzz++;
DG_TRACKTIME(__FUNCTION__);
dgUnsigned64 timeAcc = dgGetTimeInMicrosenconds();
dgFloat32 step = m_savetimestep / m_numberOfSubsteps;
for (dgUnsigned32 i = 0; i < m_numberOfSubsteps; i ++) {
dgInterlockedExchange(&m_delayDelateLock, 1);
StepDynamics (step);
dgInterlockedExchange(&m_delayDelateLock, 0);
dgDeadBodies& bodyList = *this;
dgDeadJoints& jointList = *this;
jointList.DestroyJoints (*this);
bodyList.DestroyBodies (*this);
}
const dgBodyMasterList* const masterList = this;
dgBodyMasterList::dgListNode* node = masterList->GetFirst();
const dgInt32 threadsCount = GetThreadCount();
for (dgInt32 i = 0; i < threadsCount; i++) {
QueueJob(UpdateTransforms, this, node, "dgWorld::UpdateTransforms");
node = node ? node->GetNext() : NULL;
}
SynchronizationBarrier();
if (m_postUpdateCallback) {
m_postUpdateCallback (this, m_savetimestep);
}
m_lastExecutionTime = (dgGetTimeInMicrosenconds() - timeAcc) * dgFloat32 (1.0e-6f);
if (!m_concurrentUpdate) {
m_mutex.Release();
}
}
