Restored parallelism of the space queries in chipmunk

darkobozhinoski · Oct 17, 2014 · 2a1a77c · 2a1a77c
1 parent b5e3c22
commit 2a1a77c
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Showing 3 changed files with 6 additions and 13 deletions.
diff --git a/src/plugins/simulator/physics_engines/dynamics2d/chipmunk-physics/src/cpSpaceQuery.c b/src/plugins/simulator/physics_engines/dynamics2d/chipmunk-physics/src/cpSpaceQuery.c
@@ -103,10 +103,12 @@ cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, c
 		func,
 	};
 
-	cpSpaceLock(space); {
-    cpSpatialIndexSegmentQuery(space->staticShapes, &context, start, end, 1.0f, (cpSpatialIndexSegmentQueryFunc)segQueryFunc, data);
-    cpSpatialIndexSegmentQuery(space->activeShapes, &context, start, end, 1.0f, (cpSpatialIndexSegmentQueryFunc)segQueryFunc, data);
-	} cpSpaceUnlock(space, cpTrue);
+	/* cpSpaceLock(space); */
+  /* { */
+  cpSpatialIndexSegmentQuery(space->staticShapes, &context, start, end, 1.0f, (cpSpatialIndexSegmentQueryFunc)segQueryFunc, data);
+  cpSpatialIndexSegmentQuery(space->activeShapes, &context, start, end, 1.0f, (cpSpatialIndexSegmentQueryFunc)segQueryFunc, data);
+	/* } */
+  /* cpSpaceUnlock(space, cpTrue); */
 }
 
 typedef struct segQueryFirstContext {

diff --git a/src/plugins/simulator/physics_engines/dynamics2d/dynamics2d_engine.cpp b/src/plugins/simulator/physics_engines/dynamics2d/dynamics2d_engine.cpp
@@ -139,11 +139,6 @@ namespace argos {
                }
             }
          }
-         /* Initialize mutex */
-         int nErrors = pthread_mutex_init(&m_tSpaceQueryMutex, NULL);
-         if(nErrors != 0) {
-            THROW_ARGOSEXCEPTION("Error creating thread mutexes " << ::strerror(nErrors));
-         }
       }
       catch(CARGoSException& ex) {
          THROW_ARGOSEXCEPTION_NESTED("Error initializing the dynamics 2D engine \"" << GetId() << "\"", ex);
@@ -294,7 +289,6 @@ namespace argos {
                                                                 const CRay3& c_ray) const {
       /* Query all hits along the ray */
       SDynamics2DSegmentHitData sHitData(c_ray);
-      pthread_mutex_lock(&m_tSpaceQueryMutex);
       cpSpaceSegmentQuery(
          m_ptSpace,
          cpv(c_ray.GetStart().GetX(), c_ray.GetStart().GetY()),
@@ -303,7 +297,6 @@ namespace argos {
          CP_NO_GROUP,
          Dynamics2DSegmentQueryFunc,
          &sHitData);
-      pthread_mutex_unlock(&m_tSpaceQueryMutex);
       /* Check whether we have a hit */
       if(sHitData.Body != NULL) {
          f_t_on_ray = sHitData.T;

diff --git a/src/plugins/simulator/physics_engines/dynamics2d/dynamics2d_engine.h b/src/plugins/simulator/physics_engines/dynamics2d/dynamics2d_engine.h
@@ -18,7 +18,6 @@ namespace argos {
 #include <argos3/core/simulator/entity/controllable_entity.h>
 #include <argos3/core/simulator/physics_engine/physics_engine.h>
 #include <argos3/plugins/simulator/physics_engines/dynamics2d/chipmunk-physics/include/chipmunk.h>
-#include <pthread.h>
 
 namespace argos {
 
@@ -167,7 +166,6 @@ namespace argos {
       cpSpace* m_ptSpace;
       cpBody* m_ptGroundBody;
       Real m_fElevation;
-      mutable pthread_mutex_t m_tSpaceQueryMutex;
 
       std::vector<CVector2> m_vecVertices;
       std::vector<SBoundarySegment> m_vecSegments;