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Add multithreaded Godot Engine Bullet processing. - 3.2 #40072

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Add multithreaded Godot Engine Bullet processing. - 3.2 #40072

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3 changes: 2 additions & 1 deletion modules/bullet/SCsub
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,8 @@ if env["builtin_bullet"]:
# env_bullet.Append(CPPDEFINES=['BT_DEBUG'])

env_bullet.Append(CPPDEFINES=["BT_USE_OLD_DAMPING_METHOD"])

env_bullet.Append(CPPDEFINES=['BT_THREADSAFE'])

env_thirdparty = env_bullet.Clone()
env_thirdparty.disable_warnings()
env_thirdparty.add_source_files(env.modules_sources, thirdparty_sources)
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5 changes: 5 additions & 0 deletions modules/bullet/register_types.cpp
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Expand Up @@ -39,6 +39,11 @@
*/

#ifndef _3D_DISABLED
bool init_bt_task_scheduler() {
btITaskScheduler *godot_bullet_task_scheduler = btCreateDefaultTaskScheduler();
btSetTaskScheduler(godot_bullet_task_scheduler);
return true;
}
PhysicsServer *_createBulletPhysicsCallback() {
return memnew(BulletPhysicsServer);
}
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25 changes: 14 additions & 11 deletions modules/bullet/space_bullet.cpp
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Expand Up @@ -34,6 +34,7 @@
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "constraint_bullet.h"
#include "core/os/os.h"
#include "core/project_settings.h"
#include "core/ustring.h"
#include "godot_collision_configuration.h"
Expand All @@ -48,6 +49,8 @@
#include <BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h>
#include <BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h>
#include <BulletCollision/NarrowPhaseCollision/btPointCollector.h>
#include <BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h>
#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h>
#include <BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h>
#include <BulletSoftBody/btSoftRigidDynamicsWorld.h>
#include <btBulletDynamicsCommon.h>
Expand Down Expand Up @@ -597,44 +600,43 @@ btScalar calculateGodotCombinedFriction(const btCollisionObject *body0, const bt
}

void SpaceBullet::create_empty_world(bool p_create_soft_world) {

gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver);
gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver);

void *world_mem;
if (p_create_soft_world) {
world_mem = malloc(sizeof(btSoftRigidDynamicsWorld));
} else {
world_mem = malloc(sizeof(btDiscreteDynamicsWorld));
world_mem = malloc(sizeof(btDiscreteDynamicsWorldMt));
}

ERR_FAIL_COND_MSG(!world_mem, "Out of memory.");

if (p_create_soft_world) {
collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem)));
} else {
collisionConfiguration = bulletnew(GodotCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem)));
collisionConfiguration = bulletnew(GodotCollisionConfiguration(static_cast<btDiscreteDynamicsWorldMt *>(world_mem)));
}

dispatcher = bulletnew(GodotCollisionDispatcher(collisionConfiguration));
broadphase = bulletnew(btDbvtBroadphase);
solver = bulletnew(btSequentialImpulseConstraintSolver);
int32_t process_count = OS::get_singleton()->get_processor_count() - 2;
solver_pool = bulletnew(btConstraintSolverPoolMt(process_count));
solver_mutithread = bulletnew(btSequentialImpulseConstraintSolverMt);

if (p_create_soft_world) {
dynamicsWorld = new (world_mem) btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
soft_body_world_info = bulletnew(btSoftBodyWorldInfo);
} else {
dynamicsWorld = new (world_mem) btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
}

dynamicsWorld = new (world_mem) btDiscreteDynamicsWorldMt(dispatcher, broadphase, solver_pool, solver_mutithread, collisionConfiguration);
}
dynamicsWorld->setWorldUserInfo(this);
ghostPairCallback = bulletnew(btGhostPairCallback);
godotFilterCallback = bulletnew(GodotFilterCallback);
gCalculateCombinedRestitutionCallback = &calculateGodotCombinedRestitution;
gCalculateCombinedFrictionCallback = &calculateGodotCombinedFriction;
gContactAddedCallback = &godotContactAddedCallback;

dynamicsWorld->setWorldUserInfo(this);

dynamicsWorld->setInternalTickCallback(onBulletPreTickCallback, this, true);
dynamicsWorld->setInternalTickCallback(onBulletTickCallback, this, false);
dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(ghostPairCallback); // Setup ghost check
Expand All @@ -652,7 +654,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
void SpaceBullet::destroy_world() {

/// The world elements (like: Collision Objects, Constraints, Shapes) are managed by godot

dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(NULL);
dynamicsWorld->getPairCache()->setOverlapFilterCallback(NULL);

Expand All @@ -663,8 +664,10 @@ void SpaceBullet::destroy_world() {
dynamicsWorld->~btDiscreteDynamicsWorld();
free(dynamicsWorld);
dynamicsWorld = NULL;

bulletdelete(solver);
bulletdelete(solver_pool);
bulletdelete(solver_mutithread);
bulletdelete(broadphase);
bulletdelete(dispatcher);
bulletdelete(collisionConfiguration);
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30 changes: 18 additions & 12 deletions modules/bullet/space_bullet.h
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Expand Up @@ -39,7 +39,10 @@

#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
#include <BulletCollision/BroadphaseCollision/btOverlappingPairCache.h>
#include <BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h>
#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h>
#include <LinearMath/btScalar.h>
#include <LinearMath/btThreads.h>
#include <LinearMath/btTransform.h>
#include <LinearMath/btVector3.h>

Expand All @@ -53,7 +56,7 @@ class btCollisionDispatcher;
class btConstraintSolver;
class btDefaultCollisionConfiguration;
class btDynamicsWorld;
class btDiscreteDynamicsWorld;
class btDiscreteDynamicsWorldMt;
class btEmptyShape;
class btGhostPairCallback;
class btSoftRigidDynamicsWorld;
Expand Down Expand Up @@ -92,19 +95,22 @@ class SpaceBullet : public RIDBullet {
friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
friend class BulletPhysicsDirectSpaceState;

btBroadphaseInterface *broadphase;
btDefaultCollisionConfiguration *collisionConfiguration;
btCollisionDispatcher *dispatcher;
btConstraintSolver *solver;
btDiscreteDynamicsWorld *dynamicsWorld;
btSoftBodyWorldInfo *soft_body_world_info;
btGhostPairCallback *ghostPairCallback;
GodotFilterCallback *godotFilterCallback;
btBroadphaseInterface *broadphase = nullptr;
btDefaultCollisionConfiguration *collisionConfiguration = nullptr;
btCollisionDispatcher *dispatcher = nullptr;
btConstraintSolver *solver = nullptr;
btSequentialImpulseConstraintSolverMt *solver_mutithread = nullptr;
btConstraintSolverPoolMt *solver_pool = nullptr;
btDiscreteDynamicsWorld *dynamicsWorld = nullptr;
btSoftBodyWorldInfo *soft_body_world_info = nullptr;
btGhostPairCallback *ghostPairCallback = nullptr;
GodotFilterCallback *godotFilterCallback = nullptr;

btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver;
btVoronoiSimplexSolver *gjk_simplex_solver;

BulletPhysicsDirectSpaceState *direct_access;
btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver = nullptr;
btVoronoiSimplexSolver *gjk_simplex_solver = nullptr;

BulletPhysicsDirectSpaceState *direct_access = nullptr;
Vector3 gravityDirection;
real_t gravityMagnitude;

Expand Down