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/* -------------------------------------------------------------------------- *
* Simbody(tm) *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2007-15 Stanford University and the Authors. *
* Authors: Thomas Lau *
* Contributors: *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
#include "SimTKsimbody.h"
#include <time.h>
#include <chrono>
#include <thread>
#include <iostream>
using namespace SimTK;
using namespace std;
class ParallelForceImpl : public Force::Custom::Implementation {
public:
ParallelForceImpl() {}
bool shouldBeParallelIfPossible() const override{
return true;
}
void calcForce(const State& state, Vector_<SpatialVec>& bodyForces,
Vector_<Vec3>& particleForces, Vector& mobilityForces) const override{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
Real calcPotentialEnergy(const State& state) const override{
return 0.0;
}
};
class NonParallelForceImpl : public Force::Custom::Implementation {
public:
NonParallelForceImpl() {}
bool shouldBeParallelIfPossible() const override{
return false;
}
void calcForce(const State& state, Vector_<SpatialVec>& bodyForces,
Vector_<Vec3>& particleForces, Vector& mobilityForces) const override{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
Real calcPotentialEnergy(const State& state) const override{
return 0.0;
}
};
void testParallelForce()
{
MultibodySystem system;
SimbodyMatterSubsystem matter(system);
GeneralForceSubsystem forces(system);
for(int x = 0; x < 50; x++)
Force::Custom custom(forces, new ParallelForceImpl());
system.realizeTopology();
State state = system.getDefaultState();
system.realize(state, Stage::Dynamics);
}
void testNonParallelForce()
{
MultibodySystem system;
SimbodyMatterSubsystem matter(system);
GeneralForceSubsystem forces(system);
for(int x = 0; x < 50; x++)
Force::Custom custom(forces, new NonParallelForceImpl());
system.realizeTopology();
State state = system.getDefaultState();
system.realize(state, Stage::Dynamics);
}
int main()
{
SimTK_START_TEST("TestParallelForces");
//Simply pass the test if only one thread is supported on this machine
unsigned concurrentThreadsSupported = std::thread::hardware_concurrency();
if(concurrentThreadsSupported <= 1)
{
cout << "Unable to test parallelization speed up due to" <<
"insufficient number of supported concurrent threads" << endl;
return 0;
}
auto start = std::chrono::high_resolution_clock::now();
testParallelForce();
auto end = std::chrono::high_resolution_clock::now();
std::chrono::duration<double, std::milli> elapsedParallel = end-start;
start = std::chrono::high_resolution_clock::now();
testNonParallelForce();
end = std::chrono::high_resolution_clock::now();
std::chrono::duration<double, std::milli> elapsedNonParallel = end-start;
cout << "Parallel Forces Time: " << elapsedParallel.count() << endl;
cout << "NonParallel Forces Time: " << elapsedNonParallel.count() << endl;
SimTK_TEST(elapsedNonParallel.count() > elapsedParallel.count());
SimTK_END_TEST();
return 0;
}
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