tryin to run the plugin with unreal treads (wip)

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCollision/ndScene.cpp

@@ -46,7 +46,8 @@ ndVector ndScene::m_angularContactError2(D_CONTACT_ANGULAR_ERROR * D_CONTACT_ANG
 ndVector ndScene::m_linearContactError2(D_CONTACT_TRANSLATION_ERROR * D_CONTACT_TRANSLATION_ERROR);
 
 ndScene::ndScene()
-	:ndThreadPool("newtonWorker")
+	:ndClassAlloc()
+	,ndThreadPool("newtonWorker")
 	,m_bodyList()
 	,m_particleSetList()
 	,m_contactArray()
@@ -77,7 +78,8 @@ ndScene::ndScene()
 }
 
 ndScene::ndScene(const ndScene& src)
-	:ndThreadPool("newtonWorker")
+	:ndClassAlloc()
+	,ndThreadPool("newtonWorker")
 	,m_bodyList(src.m_bodyList)
 	,m_particleSetList()
 	,m_contactArray(src.m_contactArray)

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCollision/ndScene.h

@@ -55,7 +55,7 @@ class ndSceneTreeNotiFy : public ndClassAlloc
 } D_GCC_NEWTON_ALIGN_32;
 
 D_MSV_NEWTON_ALIGN_32
-class ndScene : public ndThreadPool
+class ndScene : public ndClassAlloc, public ndThreadPool
 {
 	protected:
 	class ndContactPairs

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCore/ndThread.cpp

@@ -31,17 +31,26 @@
 #pragma warning( disable : 4355)
 #endif
 
-ndThread::ndThread()
+ndThreadInterface::ndThreadInterface()
 	:ndClassAlloc()
-	,ndThreadName()
 	,ndSemaphore()
+{
+}
+
+ndThreadInterface::~ndThreadInterface()
+{
+}
+
+
+ndThread::ndThread()
+	:ndThreadInterface()
 #ifndef D_USE_THREAD_EMULATION
 	,ndAtomic<bool>(true)
 	,std::condition_variable()
 	,std::thread(&ndThread::ThreadFunctionCallback, this)
 #endif
 {
-	strcpy (m_name, "newtonWorker");
+	strcpy (m_name.m_name, "newtonWorker");
 #ifndef D_USE_THREAD_EMULATION
 	store(false);
 #endif
@@ -57,7 +66,7 @@ ndThread::~ndThread()
 
 void ndThread::SetName(const char* const name)
 {
-	strncpy(m_name, name, sizeof(m_name) - 1);
+	strncpy(m_name.m_name, name, sizeof(m_name) - 1);
 #if defined(_MSC_VER) && !defined (D_USE_THREAD_EMULATION)
 	// a hideous way to set the thread name, bu this is how Microsoft does it
 	const DWORD MS_VC_EXCEPTION = 0x406D1388;
@@ -103,6 +112,10 @@ void ndThread::Signal()
 #endif
 }
 
+void ndThread::Release()
+{
+}
+
 void ndThread::ThreadFunctionCallback()
 {
 #ifndef D_USE_THREAD_EMULATION

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCore/ndThread.h

@@ -36,11 +36,25 @@ class ndThreadName
 	char m_name[32];
 };
 
+class ndThreadInterface: public ndClassAlloc, public ndSemaphore
+{
+	public:
+	D_CORE_API ndThreadInterface();
+	D_CORE_API virtual ~ndThreadInterface();
+
+	virtual void Signal() = 0;
+	virtual void Finish() = 0;
+	virtual void Release() = 0;
+	virtual void ThreadFunction() = 0;
+	virtual void ThreadFunctionCallback() = 0;
+	virtual void SetName(const char* const name) = 0;
+
+	ndThreadName m_name;
+};
+
 /// Base class for for all multi thread functionality.
 class ndThread
-	:public ndClassAlloc
-	,public ndThreadName
-	,public ndSemaphore
+	:public ndThreadInterface
 #ifndef D_USE_THREAD_EMULATION
 	,public ndAtomic<bool>
 	,public std::condition_variable
@@ -58,27 +72,25 @@ class ndThread
 
 	/// Set thread name. 
 	/// Useful for when debugging or profiler and application. 
-	D_CORE_API void SetName(const char* const name);
+	D_CORE_API virtual void SetName(const char* const name) override;
 
 	/// Set the thread, to execute one call to and go back to a wait state  
-	D_CORE_API void Signal();
+	D_CORE_API virtual void Signal() override;
 
 	/// Force the thread loop to terminate.
 	/// This function must be call explicitly when the application
 	/// wants to terminate the thread because the destructor does not do it. 
-	D_CORE_API void Finish();
+	D_CORE_API virtual void Finish() override;
 
 	/// Thread function to execute in a perpetual loop until the thread is terminated.
 	/// Each time the thread owner calls function Signal, the loop execute one call to 
 	/// this function and upon return, the thread goes back to wait for another signal  
 	/// or to exit the loop. 
-	virtual void ThreadFunction() = 0;
+	//virtual virtual void ThreadFunction() = 0;
 
 	protected:
-	virtual void Release(){}
-
-	private:
-	void ThreadFunctionCallback();
+	D_CORE_API virtual void Release() override;
+	D_CORE_API virtual void ThreadFunctionCallback() override;
 };
 
 #endif

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCore/ndThreadPool.cpp

@@ -26,6 +26,28 @@
 #include "ndThreadPool.h"
 #include "ndThreadSyncUtils.h"
 
+class ndThreadPool::ndMainThread: public ndThread
+{
+	public:
+	ndMainThread(ndThreadPool* const owner)
+		:ndThread()
+		,m_owner(owner)
+	{
+	}
+
+	void ThreadFunction() override
+	{
+		m_owner->ThreadFunction();
+	}
+
+	virtual void Release() 
+	{
+		m_owner->Release();
+	}
+
+	ndThreadPool* const m_owner;
+};
+
 ndThreadPool::ndWorker::ndWorker()
 	:ndThread()
 	,m_owner(nullptr)
@@ -112,19 +134,21 @@ void ndThreadPool::ndWorker::ThreadFunction()
 
 ndThreadPool::ndThreadPool(const char* const baseName)
 	:ndSyncMutex()
-	,ndThread()
+	,m_main(nullptr)
 	,m_workers(nullptr)
 	,m_count(0)
 {
 	char name[256];
+	m_main = new ndMainThread(this);
 	strncpy(m_baseName, baseName, sizeof (m_baseName));
 	snprintf(name, sizeof (name), "%s_%d", m_baseName, 0);
-	SetName(name);
+	m_main->SetName(name);
 }
 
 ndThreadPool::~ndThreadPool()
 {
 	SetThreadCount(0);
+	delete m_main;
 }
 
 ndInt32 ndThreadPool::GetMaxThreads()
@@ -147,21 +171,29 @@ void ndThreadPool::SetThreadCount(ndInt32 count)
 	{
 		if (m_workers)
 		{
+			//m_count = 0;
+			//delete[] m_workers;
+			//m_workers = nullptr;
+			for (ndInt32 i = m_count - 1; i >= 0; --i)
+			{
+				m_workers[i] = ndSharedPtr<ndWorker>(nullptr);
+			}
 			m_count = 0;
 			delete[] m_workers;
-			m_workers = nullptr;
 		}
 		if (count)
 		{
 			m_count = count;
-			m_workers = new ndWorker[size_t(count)];
+			//m_workers = new ndWorker[size_t(count)];
+			m_workers = new ndSharedPtr<ndWorker>[size_t(count)];
 			for (ndInt32 i = 0; i < count; ++i)
 			{
 				char name[256];
-				m_workers[i].m_owner = this;
-				m_workers[i].m_threadIndex = i;
+				m_workers[i] = ndSharedPtr<ndWorker>(new ndWorker);
+				m_workers[i]->m_owner = this;
+				m_workers[i]->m_threadIndex = i;
 				snprintf(name, sizeof(name), "%s_%d", m_baseName, i + 1);
-				m_workers[i].SetName(name);
+				m_workers[i]->SetName(name);
 			}
 		}
 	}
@@ -173,7 +205,7 @@ void ndThreadPool::Begin()
 	D_TRACKTIME();
 	for (ndInt32 i = 0; i < m_count; ++i)
 	{
-		m_workers[i].Signal();
+		m_workers[i]->Signal();
 	}
 
 	auto BeginJobs = ndMakeObject::ndFunction([this](ndInt32, ndInt32)
@@ -188,9 +220,9 @@ void ndThreadPool::End()
 	#ifndef	D_USE_THREAD_EMULATION
 	for (ndInt32 i = 0; i < m_count; ++i)
 	{
-		m_workers[i].ExecuteTask(nullptr);
+		m_workers[i]->ExecuteTask(nullptr);
 		#if !defined(D_USE_SYNC_SEMAPHORE)
-		m_workers[i].m_begin = 0;
+		m_workers[i]->m_begin = 0;
 		#endif
 	}
 
@@ -200,7 +232,7 @@ void ndThreadPool::End()
 		ndUnsigned8 looping = 0;
 		for (ndInt32 i = 0; i < m_count; ++i)
 		{
-			looping = ndUnsigned8(looping | m_workers[i].m_stillLooping);
+			looping = ndUnsigned8(looping | m_workers[i]->m_stillLooping);
 		}
 		stillLooping = ndUnsigned8(stillLooping & looping);
 		if (m_count)
@@ -216,10 +248,20 @@ void ndThreadPool::Release()
 	ndSyncMutex::Release();
 }
 
+void ndThreadPool::Finish()
+{
+	m_main->Finish();
+}
+
+void ndThreadPool::Signal()
+{
+	m_main->Signal();
+}
+
 void ndThreadPool::TickOne()
 {
 	ndSyncMutex::Tick();
-	ndSemaphore::Signal();
+	m_main->ndSemaphore::Signal();
 #ifdef D_USE_THREAD_EMULATION	
 	ThreadFunction();
 #endif
@@ -234,7 +276,7 @@ void ndThreadPool::WaitForWorkers()
 		ndUnsigned8 inProgess = 0;
 		for (ndInt32 i = 0; i < m_count; ++i)
 		{
-			inProgess = ndUnsigned8(inProgess | (m_workers[i].IsTaskInProgress()));
+			inProgess = ndUnsigned8(inProgess | (m_workers[i]->IsTaskInProgress()));
 		}
 		jobsInProgress = ndUnsigned8 (jobsInProgress & inProgess);
 		if (jobsInProgress)

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCore/ndThreadPool.h

@@ -29,6 +29,9 @@
 #include "ndSyncMutex.h"
 #include "ndSemaphore.h"
 #include "ndClassAlloc.h"
+#include "ndThreadSyncUtils.h"
+#include "ndContainersAlloc.h"
+#include "ndSharedPtr.h"
 
 //#define	D_USE_SYNC_SEMAPHORE
 
@@ -63,16 +66,20 @@ class ndTask
 	virtual void Execute() const = 0;
 };
 
-class ndThreadPool: public ndSyncMutex, public ndThread
+D_MSV_NEWTON_ALIGN_32
+//class ndThreadPool: public ndSyncMutex, public ndThread
+class ndThreadPool: public ndSyncMutex
 {
+	class ndMainThread;
+
 	class ndWorker: public ndThread
 	{
 		public:
 		D_CORE_API ndWorker();
 		D_CORE_API virtual ~ndWorker();
 
-		D_CORE_API ndUnsigned8 IsTaskInProgress() const;
-		D_CORE_API void ExecuteTask(ndTask* const task);
+		D_CORE_API virtual ndUnsigned8 IsTaskInProgress() const;
+		D_CORE_API virtual void ExecuteTask(ndTask* const task);
 
 		private:
 		virtual void ThreadFunction();
@@ -102,6 +109,10 @@ class ndThreadPool: public ndSyncMutex, public ndThread
 	D_CORE_API void TickOne();
 	D_CORE_API void Begin();
 	D_CORE_API void End();
+	D_CORE_API void Signal();
+	D_CORE_API void Finish();
+
+	virtual void ThreadFunction() = 0;
 
 	template <typename Function>
 	void ParallelExecute(const Function& ndFunction);
@@ -110,10 +121,11 @@ class ndThreadPool: public ndSyncMutex, public ndThread
 	D_CORE_API virtual void Release();
 	D_CORE_API virtual void WaitForWorkers();
 
-	ndWorker* m_workers;
+	ndThreadInterface* m_main;
+	ndSharedPtr<ndWorker>* m_workers;
 	ndInt32 m_count;
 	char m_baseName[32];
-};
+}D_GCC_NEWTON_ALIGN_32;
 
 inline ndInt32 ndThreadPool::GetThreadCount() const
 {
@@ -206,7 +218,8 @@ void ndThreadPool::ParallelExecute(const Function& callback)
 		for (ndInt32 i = 0; i < m_count; ++i)
 		{
 			ndTaskImplement<Function>* const job = &jobsArray[i + 1];
-			m_workers[i].ExecuteTask(job);
+			//m_workers[i].ExecuteTask(job);
+			m_workers[i]->ExecuteTask(job);
 		}
 
 		ndTaskImplement<Function>* const job = &jobsArray[0];

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonRigidBody.h

@@ -44,6 +44,10 @@ class UNewtonRigidBody : public USceneComponent
 	public:
 	// Sets default values for this component's properties
 	UNewtonRigidBody();
+	void UpdateTransform();
+	void CalculateLocalTransform();
+	void InterpolateTransform(float param);
+	void CreateRigidBody(ANewtonWorldActor* const worldActor, bool overrideAutoSleep);
 
 	protected:
 	// Called every frame
@@ -56,17 +60,15 @@ class UNewtonRigidBody : public USceneComponent
 	virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
 	virtual void PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent) override;
 
-	void UpdateTransform();
 	void DestroyRigidBody();
-	void CalculateLocalTransform();
+
 	void DrawGizmo(float timestep);
-	void InterpolateTransform(float param);
 
 	virtual void ClearDebug();
 	virtual void ActivateDebug();
 	virtual void ApplyPropertyChanges();
 	ndMatrix CalculateInertiaMatrix() const;
-	void CreateRigidBody(ANewtonWorldActor* const worldActor, bool overrideAutoSleep);
+
 	virtual ndShapeInstance* CreateCollision(const ndMatrix& bodyMatrix) const;
 
 	UPROPERTY(EditAnywhere, Category = Newton)