public void Flush(IThreadDispatcher threadDispatcher = null)
{
var deterministic = threadDispatcher != null && Simulation.Deterministic;
OnPreflush(threadDispatcher, deterministic);
//var start = Stopwatch.GetTimestamp();
flushJobs = new QuickList <NarrowPhaseFlushJob>(128, Pool);
PairCache.PrepareFlushJobs(ref flushJobs);
var removalBatchJobCount = ConstraintRemover.CreateFlushJobs(deterministic);
//Note that we explicitly add the constraint remover jobs here.
//The constraint remover can be used in two ways- sleeper style, and narrow phase style.
//In sleeping, we're not actually removing constraints from the simulation completely, so it requires fewer jobs.
//The constraint remover just lets you choose which jobs to call. The narrow phase needs all of them.
flushJobs.EnsureCapacity(flushJobs.Count + removalBatchJobCount + 4, Pool);
flushJobs.AddUnsafely(new NarrowPhaseFlushJob {
Type = NarrowPhaseFlushJobType.RemoveConstraintsFromBodyLists
});
flushJobs.AddUnsafely(new NarrowPhaseFlushJob {
Type = NarrowPhaseFlushJobType.ReturnConstraintHandles
});
flushJobs.AddUnsafely(new NarrowPhaseFlushJob {
Type = NarrowPhaseFlushJobType.RemoveConstraintFromBatchReferencedHandles
});
if (Solver.ActiveSet.Batches.Count > Solver.FallbackBatchThreshold)
{
flushJobs.AddUnsafely(new NarrowPhaseFlushJob {
Type = NarrowPhaseFlushJobType.RemoveConstraintsFromFallbackBatch
});
}
for (int i = 0; i < removalBatchJobCount; ++i)
{
flushJobs.AddUnsafely(new NarrowPhaseFlushJob {
Type = NarrowPhaseFlushJobType.RemoveConstraintFromTypeBatch, Index = i
});
}
if (threadDispatcher == null)
{
for (int i = 0; i < flushJobs.Count; ++i)
{
ExecuteFlushJob(ref flushJobs[i], Pool);
}
}
else
{
flushJobIndex = -1;
this.threadDispatcher = threadDispatcher;
threadDispatcher.DispatchWorkers(flushWorkerLoop);
this.threadDispatcher = null;
}
//var end = Stopwatch.GetTimestamp();
//Console.WriteLine($"Flush stage 3 time (us): {1e6 * (end - start) / Stopwatch.Frequency}");
flushJobs.Dispose(Pool);
PairCache.Postflush();
ConstraintRemover.Postflush();
OnPostflush(threadDispatcher);
}
ref TypeBatch CreateNewTypeBatch(int typeId, TypeProcessor typeProcessor, int initialCapacity, BufferPool pool)
{
var newIndex = TypeBatches.Count;
TypeBatches.EnsureCapacity(TypeBatches.Count + 1, pool.SpecializeFor <TypeBatch>());
TypeIndexToTypeBatchIndex[typeId] = newIndex;
ref var typeBatch = ref TypeBatches.AllocateUnsafely();
internal unsafe TypeBatch *CreateNewTypeBatch(int typeId, TypeProcessor typeProcessor, int initialCapacity, BufferPool pool)
{
Debug.Assert(typeProcessor != null, "Can't create a type batch for a nonexistent type processor. Did you forget to call Solver.Register<T> for the constraint type?");
var newIndex = TypeBatches.Count;
TypeBatches.EnsureCapacity(TypeBatches.Count + 1, pool);
TypeIndexToTypeBatchIndex[typeId] = newIndex;
ref var typeBatch = ref TypeBatches.AllocateUnsafely();
public void Flush(IThreadDispatcher threadDispatcher = null, bool deterministic = false)
{
OnPreflush(threadDispatcher, deterministic);
//var start = Stopwatch.GetTimestamp();
var jobPool = Pool.SpecializeFor <NarrowPhaseFlushJob>();
QuickList <NarrowPhaseFlushJob, Buffer <NarrowPhaseFlushJob> > .Create(jobPool, 128, out flushJobs);
PairCache.PrepareFlushJobs(ref flushJobs);
//We indirectly pass the determinism state; it's used by the constraint remover bookkeeping.
this.deterministic = deterministic;
var removalBatchJobCount = ConstraintRemover.CreateFlushJobs();
//Note that we explicitly add the constraint remover jobs here.
//The constraint remover can be used in two ways- deactivation style, and narrow phase style.
//In deactivation, we're not actually removing constraints from the simulation completely, so it requires fewer jobs.
//The constraint remover just lets you choose which jobs to call. The narrow phase needs all of them.
flushJobs.EnsureCapacity(flushJobs.Count + removalBatchJobCount + 3, jobPool);
flushJobs.AddUnsafely(new NarrowPhaseFlushJob {
Type = NarrowPhaseFlushJobType.RemoveConstraintsFromBodyLists
});
flushJobs.AddUnsafely(new NarrowPhaseFlushJob {
Type = NarrowPhaseFlushJobType.ReturnConstraintHandles
});
flushJobs.AddUnsafely(new NarrowPhaseFlushJob {
Type = NarrowPhaseFlushJobType.RemoveConstraintFromBatchReferencedHandles
});
for (int i = 0; i < removalBatchJobCount; ++i)
{
flushJobs.AddUnsafely(new NarrowPhaseFlushJob {
Type = NarrowPhaseFlushJobType.RemoveConstraintFromTypeBatch, Index = i
});
}
if (threadDispatcher == null)
{
for (int i = 0; i < flushJobs.Count; ++i)
{
ExecuteFlushJob(ref flushJobs[i], Pool);
}
}
else
{
flushJobIndex = -1;
this.threadDispatcher = threadDispatcher;
threadDispatcher.DispatchWorkers(flushWorkerLoop);
this.threadDispatcher = null;
}
//var end = Stopwatch.GetTimestamp();
//Console.WriteLine($"Flush stage 3 time (us): {1e6 * (end - start) / Stopwatch.Frequency}");
flushJobs.Dispose(Pool.SpecializeFor <NarrowPhaseFlushJob>());
PairCache.Postflush();
ConstraintRemover.Postflush();
OnPostflush(threadDispatcher);
}
public TextBuilder Append(string text, int start, int count)
{
characters.EnsureCapacity(characters.Count + text.Length, new PassthroughArrayPool <char>());
int end = start + count;
for (int i = start; i < end; ++i)
{
characters.AddUnsafely(text[i]);
}
return(this);
}
/// <summary>
/// Ensures that the underlying id queue can hold at least a certain number of ids.
/// </summary>
/// <param name="count">Number of elements to preallocate space for in the available ids queue.</param>
/// <param name="pool">Pool to pull resized spans from.</param>
public void EnsureCapacity <TPool>(int count, TPool pool) where TPool : IMemoryPool <int, TSpan>
{
if (!AvailableIds.Span.Allocated)
{
//If this was disposed, we must explicitly rehydrate it.
QuickList <int, TSpan> .Create(pool, count, out AvailableIds);
}
else
{
AvailableIds.EnsureCapacity(count, pool);
}
}
public static void TestListResizing(IUnmanagedMemoryPool pool)
{
Random random = new Random(5);
var list = new QuickList <int>(4, pool);
List <int> controlList = new List <int>();
for (int iterationIndex = 0; iterationIndex < 100000; ++iterationIndex)
{
if (random.NextDouble() < 0.7)
{
list.Add(iterationIndex, pool);
controlList.Add(iterationIndex);
}
if (random.NextDouble() < 0.2)
{
var indexToRemove = random.Next(list.Count);
list.RemoveAt(indexToRemove);
controlList.RemoveAt(indexToRemove);
}
if (iterationIndex % 1000 == 0)
{
list.EnsureCapacity(list.Count * 3, pool);
}
else if (iterationIndex % 7777 == 0)
{
list.Compact(pool);
}
}
Debug.Assert(list.Count == controlList.Count);
for (int i = 0; i < list.Count; ++i)
{
var a = list[i];
var b = controlList[i];
Debug.Assert(a == b);
Debug.Assert(list.Count == controlList.Count);
}
list.Dispose(pool);
}
public static void TestListResizing()
{
Random random = new Random(5);
UnsafeBufferPool <int> pool = new UnsafeBufferPool <int>();
QuickList <int> list = new QuickList <int>(pool, 2);
List <int> controlList = new List <int>();
for (int iterationIndex = 0; iterationIndex < 100000; ++iterationIndex)
{
if (random.NextDouble() < 0.7)
{
list.Add(iterationIndex);
controlList.Add(iterationIndex);
}
if (random.NextDouble() < 0.2)
{
var indexToRemove = random.Next(list.Count);
list.RemoveAt(indexToRemove);
controlList.RemoveAt(indexToRemove);
}
if (iterationIndex % 1000 == 0)
{
list.EnsureCapacity(list.Count * 3);
}
else if (iterationIndex % 7777 == 0)
{
list.Compact();
}
}
Assert.IsTrue(list.Count == controlList.Count);
for (int i = 0; i < list.Count; ++i)
{
var a = list[i];
var b = controlList[i];
Assert.IsTrue(a == b);
Assert.IsTrue(list.Count == controlList.Count);
}
}
public void CreateJobs(int threadCount, ref QuickList <PreflushJob> jobs, BufferPool pool, int mappingCount)
{
if (mappingCount > 0)
{
if (threadCount > 1)
{
const int jobsPerThread = 2; //TODO: Empirical tune; probably just 1.
freshnessJobCount = Math.Min(threadCount * jobsPerThread, mappingCount);
var pairsPerJob = mappingCount / freshnessJobCount;
var remainder = mappingCount - pairsPerJob * freshnessJobCount;
int previousEnd = 0;
jobs.EnsureCapacity(jobs.Count + freshnessJobCount, pool);
int jobIndex = 0;
while (previousEnd < mappingCount)
{
ref var job = ref jobs.AllocateUnsafely();
job.Type = PreflushJobType.CheckFreshness;
job.Start = previousEnd;
//The end of every interval except the last one should be aligned on an 8 byte boundary.
var pairsInJob = jobIndex < remainder ? pairsPerJob + 1 : pairsPerJob;
previousEnd = ((previousEnd + pairsInJob + 7) >> 3) << 3;
if (previousEnd > mappingCount)
{
previousEnd = mappingCount;
}
job.End = previousEnd;
++jobIndex;
}
}
else
{
jobs.Add(new PreflushJob {
Type = PreflushJobType.CheckFreshness, Start = 0, End = mappingCount
}, pool);
}
}
public static void TestListResizing()
{
Random random = new Random(5);
UnsafeBufferPool<int> pool = new UnsafeBufferPool<int>();
QuickList<int> list = new QuickList<int>(pool, 2);
List<int> controlList = new List<int>();
for (int iterationIndex = 0; iterationIndex < 100000; ++iterationIndex)
{
if (random.NextDouble() < 0.7)
{
list.Add(iterationIndex);
controlList.Add(iterationIndex);
}
if (random.NextDouble() < 0.2)
{
var indexToRemove = random.Next(list.Count);
list.RemoveAt(indexToRemove);
controlList.RemoveAt(indexToRemove);
}
if (iterationIndex % 1000 == 0)
{
list.EnsureCapacity(list.Count * 3);
}
else if (iterationIndex % 7777 == 0)
{
list.Compact();
}
}
Assert.IsTrue(list.Count == controlList.Count);
for (int i = 0; i < list.Count; ++i)
{
var a = list[i];
var b = controlList[i];
Assert.IsTrue(a == b);
Assert.IsTrue(list.Count == controlList.Count);
}
}