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Fix compilation of the parallel version

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This commit is contained in:
Crozet Sébastien
2021-04-29 11:42:44 +02:00
parent 3810466326
commit 5cf805075e
9 changed files with 151 additions and 83 deletions
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60
src/dynamics/solver/interaction_groups.rs
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@@ -1,33 +1,32 @@
use crate::data::ComponentSet;
#[cfg(feature = "parallel")]
use crate::dynamics::BodyPair;
use crate::dynamics::{IslandManager, RigidBodyIds};
use crate::dynamics::{JointGraphEdge, JointIndex};
use crate::dynamics::RigidBodyHandle;
use crate::dynamics::{IslandManager, JointGraphEdge, JointIndex, RigidBodyIds};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
#[cfg(feature = "simd-is-enabled")]
use {
crate::data::BundleSet,
crate::dynamics::RigidBodyType,
crate::math::{SIMD_LAST_INDEX, SIMD_WIDTH},
vec_map::VecMap,
};
#[cfg(feature = "parallel")]
pub(crate) trait PairInteraction {
fn body_pair(&self) -> BodyPair;
fn body_pair(&self) -> (Option<RigidBodyHandle>, Option<RigidBodyHandle>);
}
#[cfg(any(feature = "parallel", feature = "simd-is-enabled"))]
use crate::dynamics::RigidBodyType;
#[cfg(feature = "parallel")]
impl<'a> PairInteraction for &'a mut ContactManifold {
fn body_pair(&self) -> BodyPair {
self.data.body_pair
fn body_pair(&self) -> (Option<RigidBodyHandle>, Option<RigidBodyHandle>) {
(self.data.rigid_body1, self.data.rigid_body2)
}
}
#[cfg(feature = "parallel")]
impl<'a> PairInteraction for JointGraphEdge {
fn body_pair(&self) -> BodyPair {
BodyPair::new(self.weight.body1, self.weight.body2)
fn body_pair(&self) -> (Option<RigidBodyHandle>, Option<RigidBodyHandle>) {
(Some(self.weight.body1), Some(self.weight.body2))
}
}
@@ -60,14 +59,17 @@ impl ParallelInteractionGroups {
self.groups.len() - 1
}
pub fn group_interactions<Interaction: PairInteraction>(
pub fn group_interactions<Bodies, Interaction: PairInteraction>(
&mut self,
island_id: usize,
bodies: &impl ComponentSet<RigidBody>,
islands: &IslandManager,
bodies: &Bodies,
interactions: &[Interaction],
interaction_indices: &[usize],
) {
let num_island_bodies = bodies.active_island(island_id).len();
) where
Bodies: ComponentSet<RigidBodyIds> + ComponentSet<RigidBodyType>,
{
let num_island_bodies = islands.active_island(island_id).len();
self.bodies_color.clear();
self.interaction_indices.clear();
self.groups.clear();
@@ -87,29 +89,39 @@ impl ParallelInteractionGroups {
.zip(self.interaction_colors.iter_mut())
{
let body_pair = interactions[*interaction_id].body_pair();
let rb1 = bodies.index(body_pair.body1);
let rb2 = bodies.index(body_pair.body2);
let is_static1 = body_pair
.0
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_static())
.unwrap_or(true);
let is_static2 = body_pair
.1
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_static())
.unwrap_or(true);
match (rb1.is_static(), rb2.is_static()) {
match (is_static1, is_static2) {
(false, false) => {
let rb_ids1: &RigidBodyIds = bodies.index(body_pair.0.unwrap().0);
let rb_ids2: &RigidBodyIds = bodies.index(body_pair.1.unwrap().0);
let color_mask =
bcolors[rb1.active_set_offset] | bcolors[rb2.active_set_offset];
bcolors[rb_ids1.active_set_offset] | bcolors[rb_ids2.active_set_offset];
*color = (!color_mask).trailing_zeros() as usize;
color_len[*color] += 1;
bcolors[rb1.active_set_offset] |= 1 << *color;
bcolors[rb2.active_set_offset] |= 1 << *color;
bcolors[rb_ids1.active_set_offset] |= 1 << *color;
bcolors[rb_ids2.active_set_offset] |= 1 << *color;
}
(true, false) => {
let color_mask = bcolors[rb2.active_set_offset];
let rb_ids2: &RigidBodyIds = bodies.index(body_pair.1.unwrap().0);
let color_mask = bcolors[rb_ids2.active_set_offset];
*color = (!color_mask).trailing_zeros() as usize;
color_len[*color] += 1;
bcolors[rb2.active_set_offset] |= 1 << *color;
bcolors[rb_ids2.active_set_offset] |= 1 << *color;
}
(false, true) => {
let color_mask = bcolors[rb1.active_set_offset];
let rb_ids1: &RigidBodyIds = bodies.index(body_pair.0.unwrap().0);
let color_mask = bcolors[rb_ids1.active_set_offset];
*color = (!color_mask).trailing_zeros() as usize;
color_len[*color] += 1;
bcolors[rb1.active_set_offset] |= 1 << *color;
bcolors[rb_ids1.active_set_offset] |= 1 << *color;
}
(true, true) => unreachable!(),
}