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feat: worker property on World #3

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Merged
ragoune merged 1 commit into from
Dec 20, 2025
Merged

feat: worker property on World #3

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36 changes: 18 additions & 18 deletions collision.go
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Original file line number Diff line number Diff line change
Expand Up @@ -32,22 +32,22 @@ type CollisionPair struct {
// BroadPhase performs broad-phase collision detection using AABB overlap tests
// It returns pairs of bodies whose AABBs overlap and might be colliding
// This is an O(n²) brute-force approach suitable for small numbers of bodies
func BroadPhase(spatialGrid *SpatialGrid, bodies []*actor.RigidBody) <-chan Pair {
func BroadPhase(spatialGrid *SpatialGrid, bodies []*actor.RigidBody, workersCount int) <-chan Pair {
spatialGrid.Clear()
for i, body := range bodies {
spatialGrid.Insert(i, body)
}
spatialGrid.SortCells()

checkingPairs := spatialGrid.FindPairsParallel(bodies, WORKERS)
checkingPairs := spatialGrid.FindPairsParallel(bodies, workersCount)

return checkingPairs
}

func NarrowPhase(pairs <-chan Pair) []*constraint.ContactConstraint {
func NarrowPhase(pairs <-chan Pair, workersCount int) []*constraint.ContactConstraint {
// Dispatcher: separate pairs with planes, and normal convex objects
planePairs := make(chan Pair, WORKERS)
gjkPairs := make(chan Pair, WORKERS)
planePairs := make(chan Pair, workersCount)
gjkPairs := make(chan Pair, workersCount)

go func() {
defer close(planePairs)
Expand All @@ -66,14 +66,14 @@ func NarrowPhase(pairs <-chan Pair) []*constraint.ContactConstraint {
}()

// Canal pour collecter tous les contacts
allContacts := make(chan *constraint.ContactConstraint, WORKERS*2)
allContacts := make(chan *constraint.ContactConstraint, workersCount*2)
var wg sync.WaitGroup
// Path 1: GJK/EPA for convex objects
wg.Add(1)
go func() {
defer wg.Done()
collisionPairs := GJK(gjkPairs)
contactsChan := EPA(collisionPairs)
collisionPairs := GJK(gjkPairs, workersCount)
contactsChan := EPA(collisionPairs, workersCount)
for contact := range contactsChan {
allContacts <- contact
}
Expand All @@ -83,7 +83,7 @@ func NarrowPhase(pairs <-chan Pair) []*constraint.ContactConstraint {
wg.Add(1)
go func() {
defer wg.Done()
contactsChan := collidePlane(planePairs)
contactsChan := collidePlane(planePairs, workersCount)
for contact := range contactsChan {
allContacts <- contact
}
Expand All @@ -104,14 +104,14 @@ func NarrowPhase(pairs <-chan Pair) []*constraint.ContactConstraint {
return contacts
}

func GJK(pairChan <-chan Pair) <-chan CollisionPair {
collisionChan := make(chan CollisionPair, WORKERS)
func GJK(pairChan <-chan Pair, workersCount int) <-chan CollisionPair {
collisionChan := make(chan CollisionPair, workersCount)

go func() {
var wg sync.WaitGroup
defer close(collisionChan)

for range WORKERS {
for range workersCount {
wg.Add(1)
go func() {
defer wg.Done()
Expand Down Expand Up @@ -139,14 +139,14 @@ func GJK(pairChan <-chan Pair) <-chan CollisionPair {
return collisionChan
}

func EPA(p <-chan CollisionPair) <-chan *constraint.ContactConstraint {
ch := make(chan *constraint.ContactConstraint, WORKERS)
func EPA(p <-chan CollisionPair, workersCount int) <-chan *constraint.ContactConstraint {
ch := make(chan *constraint.ContactConstraint, workersCount)

go func() {
var wg sync.WaitGroup
defer close(ch)

for range WORKERS {
for range workersCount {
wg.Add(1)
go func() {
defer wg.Done()
Expand All @@ -167,14 +167,14 @@ func EPA(p <-chan CollisionPair) <-chan *constraint.ContactConstraint {
return ch
}

func collidePlane(pairs <-chan Pair) <-chan *constraint.ContactConstraint {
ch := make(chan *constraint.ContactConstraint, WORKERS)
func collidePlane(pairs <-chan Pair, workersCount int) <-chan *constraint.ContactConstraint {
ch := make(chan *constraint.ContactConstraint, workersCount)

go func() {
var wg sync.WaitGroup
defer close(ch)

for range WORKERS {
for range workersCount {
wg.Add(1)
go func() {
defer wg.Done()
Expand Down
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