[simspark-svn] SF.net SVN: simspark:[80] trunk/spark

[<he...@us...>]

Revision: 80
          http://simspark.svn.sourceforge.net/simspark/?rev=80&view=rev
Author:   hedayat
Date:     2009-07-30 17:25:42 +0000 (Thu, 30 Jul 2009)

Log Message:
-----------
performance improvement: do not call dSpaceCollide() for spaces with	  disabled internal collision.
do not output too small skipped times
move PrePhysicsUpdate() call just before PhysicsUpdate() call in RunMultiThreaded() function => 1 less wait() call with no speed loss.

Modified Paths:
--------------
    trunk/spark/ChangeLog
    trunk/spark/lib/oxygen/physicsserver/space.cpp
    trunk/spark/lib/oxygen/physicsserver/space.h
    trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp

Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog	2009-07-30 17:21:13 UTC (rev 79)
+++ trunk/spark/ChangeLog	2009-07-30 17:25:42 UTC (rev 80)
@@ -1,3 +1,15 @@
+2009-07-30  Hedayat Vatankhah  <he...@gr...>
+
+	* lib/oxygen/physicsserver/space.h (Space): 
+	* lib/oxygen/physicsserver/space.cpp (Space::Collide):
+	- performance improvement: do not call dSpaceCollide() for spaces with
+	  disabled internal collision.
+	 
+	* lib/oxygen/simulationserver/simulationserver.cpp: 
+	- do not output too small skipped times
+	- move PrePhysicsUpdate() call just before PhysicsUpdate() call in
+	  RunMultiThreaded() function => 1 less wait() call with no speed loss.
+
 2009-07-29  Hedayat Vatankhah  <he...@gr...>
 
 	* lib/oxygen/simulationserver/simulationserver.h: 

Modified: trunk/spark/lib/oxygen/physicsserver/space.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/space.cpp	2009-07-30 17:21:13 UTC (rev 79)
+++ trunk/spark/lib/oxygen/physicsserver/space.cpp	2009-07-30 17:25:42 UTC (rev 80)
@@ -58,9 +58,17 @@
 void Space::Collide()
 {
     // bind collision callback function to this object
-    dSpaceCollide(mODESpace, this, collisionNearCallback);
+    Collide(mODESpace);
 }
 
+void Space::Collide(dSpaceID space)
+{
+    if (gDisabledInnerCollisionSet.find(space) == gDisabledInnerCollisionSet.end())
+    {
+        dSpaceCollide(space, this, collisionNearCallback);
+    }
+}
+
 void Space::HandleSpaceCollide(dGeomID obj1, dGeomID obj2)
 {
     // collide all geoms internal to the space(s)
@@ -68,12 +76,12 @@
 
     if (dGeomIsSpace (obj1))
         {
-            dSpaceCollide ((dSpaceID)(obj1),this,&collisionNearCallback);
+            Collide((dSpaceID)obj1);
         }
 
     if (dGeomIsSpace (obj2))
         {
-            dSpaceCollide ((dSpaceID)(obj2),this,&collisionNearCallback);
+            Collide((dSpaceID)obj2);
         }
 }
 
@@ -107,16 +115,17 @@
     const dSpaceID s1 = dGeomGetSpace(obj1);
     const dSpaceID s2 = dGeomGetSpace(obj2);
 
-    if (
-        (s1 == s2) &&
-        (gDisabledInnerCollisionSet.find(s1) != gDisabledInnerCollisionSet.end())
-        )
-        {
-            return;
-        }
+    // NOTICE: this should not happen since it is checked in Collide(dSpaceID)
+//    if (
+//        (s1 == s2) &&
+//        (gDisabledInnerCollisionSet.find(s1) != gDisabledInnerCollisionSet.end())
+//        )
+//        {
+//            return;
+//        }
 
-    
-    // if obj1 and obj2 are in the same space, and 
+
+    // if obj1 and obj2 are in the same space, and
     // obj1 is in obj2's "mNotCollideWithSet" or ojb2 is in obj1's
     // reject the collision
 

Modified: trunk/spark/lib/oxygen/physicsserver/space.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/space.h	2009-07-30 17:21:13 UTC (rev 79)
+++ trunk/spark/lib/oxygen/physicsserver/space.h	2009-07-30 17:25:42 UTC (rev 80)
@@ -84,6 +84,11 @@
     /** registers the managed space to the containing parent space */
     virtual void OnLink();
 
+    /** calls ODE's collision detection for this space if internal collision
+     * detection is enabled for this space.
+     */
+    void Collide(dSpaceID space);
+
     /** callback to handle a potential collision between two contained
         geoms. It will look up and notify the corresponding colliders
         for a potential collision.

Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp	2009-07-30 17:21:13 UTC (rev 79)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp	2009-07-30 17:25:42 UTC (rev 80)
@@ -426,14 +426,13 @@
         {
             ++mCycle;
             mThreadBarrier->wait();
-            mSceneServer->PrePhysicsUpdate(mSimStep);
             mThreadBarrier->wait();
-            mThreadBarrier->wait();
 
             if (mExit) // this check should be here so that all threads will quit
                 break;
             finalDelta = initDelta = mSumDeltaTime;
 
+            mSceneServer->PrePhysicsUpdate(mSimStep);
             mSceneServer->PhysicsUpdate(mSimStep);
             if (mAutoTime)
                 AdvanceTime(mSimStep);
@@ -477,8 +476,6 @@
     while ( true )
         {
             mThreadBarrier->wait();
-            // wait for PrePhysicsUpdate()
-            mThreadBarrier->wait();
             newCycle = false;
             if ( controlNode->GetTime() - mSimTime <= 0.005f )
                 {
@@ -524,12 +521,16 @@
 {
     if (mAdjustSpeed && deltaTime > mMaxStepsPerCycle
             * mSimStep)
+    {
+        float diff = deltaTime - mSimStep;
+        if (diff > 0.0001)
         {
             GetLog()->Debug()
                     << "(SimulationServer) Warning: Skipping remaining time: "
-                    << deltaTime - mSimStep << '\n';
-            deltaTime = 0;
+                    << diff << '\n';
         }
+        deltaTime = 0;
+    }
     else
         deltaTime -= mSimStep;
 }


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