diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/TaskScheduler/btTaskScheduler.cpp')
| -rw-r--r-- | extern/bullet2/src/LinearMath/TaskScheduler/btTaskScheduler.cpp | 792 |
1 files changed, 792 insertions, 0 deletions
diff --git a/extern/bullet2/src/LinearMath/TaskScheduler/btTaskScheduler.cpp b/extern/bullet2/src/LinearMath/TaskScheduler/btTaskScheduler.cpp new file mode 100644 index 00000000000..5f1115c4027 --- /dev/null +++ b/extern/bullet2/src/LinearMath/TaskScheduler/btTaskScheduler.cpp @@ -0,0 +1,792 @@ + +#include "LinearMath/btMinMax.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btThreads.h" +#include "LinearMath/btQuickprof.h" +#include <stdio.h> +#include <algorithm> + +#if BT_THREADSAFE + +#include "btThreadSupportInterface.h" + +#if defined(_WIN32) + +#define WIN32_LEAN_AND_MEAN + +#include <windows.h> + +#endif + +typedef unsigned long long btU64; +static const int kCacheLineSize = 64; + +void btSpinPause() +{ +#if defined(_WIN32) + YieldProcessor(); +#endif +} + +struct WorkerThreadStatus +{ + enum Type + { + kInvalid, + kWaitingForWork, + kWorking, + kSleeping, + }; +}; + +ATTRIBUTE_ALIGNED64(class) +WorkerThreadDirectives +{ + static const int kMaxThreadCount = BT_MAX_THREAD_COUNT; + // directives for all worker threads packed into a single cacheline + char m_threadDirs[kMaxThreadCount]; + +public: + enum Type + { + kInvalid, + kGoToSleep, // go to sleep + kStayAwakeButIdle, // wait for not checking job queue + kScanForJobs, // actively scan job queue for jobs + }; + WorkerThreadDirectives() + { + for (int i = 0; i < kMaxThreadCount; ++i) + { + m_threadDirs[i] = 0; + } + } + + Type getDirective(int threadId) + { + btAssert(threadId < kMaxThreadCount); + return static_cast<Type>(m_threadDirs[threadId]); + } + + void setDirectiveByRange(int threadBegin, int threadEnd, Type dir) + { + btAssert(threadBegin < threadEnd); + btAssert(threadEnd <= kMaxThreadCount); + char dirChar = static_cast<char>(dir); + for (int i = threadBegin; i < threadEnd; ++i) + { + m_threadDirs[i] = dirChar; + } + } +}; + +class JobQueue; + +ATTRIBUTE_ALIGNED64(struct) +ThreadLocalStorage +{ + int m_threadId; + WorkerThreadStatus::Type m_status; + int m_numJobsFinished; + btSpinMutex m_mutex; + btScalar m_sumResult; + WorkerThreadDirectives* m_directive; + JobQueue* m_queue; + btClock* m_clock; + unsigned int m_cooldownTime; +}; + +struct IJob +{ + virtual void executeJob(int threadId) = 0; +}; + +class ParallelForJob : public IJob +{ + const btIParallelForBody* m_body; + int m_begin; + int m_end; + +public: + ParallelForJob(int iBegin, int iEnd, const btIParallelForBody& body) + { + m_body = &body; + m_begin = iBegin; + m_end = iEnd; + } + virtual void executeJob(int threadId) BT_OVERRIDE + { + BT_PROFILE("executeJob"); + + // call the functor body to do the work + m_body->forLoop(m_begin, m_end); + } +}; + +class ParallelSumJob : public IJob +{ + const btIParallelSumBody* m_body; + ThreadLocalStorage* m_threadLocalStoreArray; + int m_begin; + int m_end; + +public: + ParallelSumJob(int iBegin, int iEnd, const btIParallelSumBody& body, ThreadLocalStorage* tls) + { + m_body = &body; + m_threadLocalStoreArray = tls; + m_begin = iBegin; + m_end = iEnd; + } + virtual void executeJob(int threadId) BT_OVERRIDE + { + BT_PROFILE("executeJob"); + + // call the functor body to do the work + btScalar val = m_body->sumLoop(m_begin, m_end); +#if BT_PARALLEL_SUM_DETERMINISTISM + // by truncating bits of the result, we can make the parallelSum deterministic (at the expense of precision) + const float TRUNC_SCALE = float(1 << 19); + val = floor(val * TRUNC_SCALE + 0.5f) / TRUNC_SCALE; // truncate some bits +#endif + m_threadLocalStoreArray[threadId].m_sumResult += val; + } +}; + +ATTRIBUTE_ALIGNED64(class) +JobQueue +{ + btThreadSupportInterface* m_threadSupport; + btCriticalSection* m_queueLock; + btSpinMutex m_mutex; + + btAlignedObjectArray<IJob*> m_jobQueue; + char* m_jobMem; + int m_jobMemSize; + bool m_queueIsEmpty; + int m_tailIndex; + int m_headIndex; + int m_allocSize; + bool m_useSpinMutex; + btAlignedObjectArray<JobQueue*> m_neighborContexts; + char m_cachePadding[kCacheLineSize]; // prevent false sharing + + void freeJobMem() + { + if (m_jobMem) + { + // free old + btAlignedFree(m_jobMem); + m_jobMem = NULL; + } + } + void resizeJobMem(int newSize) + { + if (newSize > m_jobMemSize) + { + freeJobMem(); + m_jobMem = static_cast<char*>(btAlignedAlloc(newSize, kCacheLineSize)); + m_jobMemSize = newSize; + } + } + +public: + JobQueue() + { + m_jobMem = NULL; + m_jobMemSize = 0; + m_threadSupport = NULL; + m_queueLock = NULL; + m_headIndex = 0; + m_tailIndex = 0; + m_useSpinMutex = false; + } + ~JobQueue() + { + exit(); + } + void exit() + { + freeJobMem(); + if (m_queueLock && m_threadSupport) + { + m_threadSupport->deleteCriticalSection(m_queueLock); + m_queueLock = NULL; + m_threadSupport = 0; + } + } + + void init(btThreadSupportInterface * threadSup, btAlignedObjectArray<JobQueue> * contextArray) + { + m_threadSupport = threadSup; + if (threadSup) + { + m_queueLock = m_threadSupport->createCriticalSection(); + } + setupJobStealing(contextArray, contextArray->size()); + } + void setupJobStealing(btAlignedObjectArray<JobQueue> * contextArray, int numActiveContexts) + { + btAlignedObjectArray<JobQueue>& contexts = *contextArray; + int selfIndex = 0; + for (int i = 0; i < contexts.size(); ++i) + { + if (this == &contexts[i]) + { + selfIndex = i; + break; + } + } + int numNeighbors = btMin(2, contexts.size() - 1); + int neighborOffsets[] = {-1, 1, -2, 2, -3, 3}; + int numOffsets = sizeof(neighborOffsets) / sizeof(neighborOffsets[0]); + m_neighborContexts.reserve(numNeighbors); + m_neighborContexts.resizeNoInitialize(0); + for (int i = 0; i < numOffsets && m_neighborContexts.size() < numNeighbors; i++) + { + int neighborIndex = selfIndex + neighborOffsets[i]; + if (neighborIndex >= 0 && neighborIndex < numActiveContexts) + { + m_neighborContexts.push_back(&contexts[neighborIndex]); + } + } + } + + bool isQueueEmpty() const { return m_queueIsEmpty; } + void lockQueue() + { + if (m_useSpinMutex) + { + m_mutex.lock(); + } + else + { + m_queueLock->lock(); + } + } + void unlockQueue() + { + if (m_useSpinMutex) + { + m_mutex.unlock(); + } + else + { + m_queueLock->unlock(); + } + } + void clearQueue(int jobCount, int jobSize) + { + lockQueue(); + m_headIndex = 0; + m_tailIndex = 0; + m_allocSize = 0; + m_queueIsEmpty = true; + int jobBufSize = jobSize * jobCount; + // make sure we have enough memory allocated to store jobs + if (jobBufSize > m_jobMemSize) + { + resizeJobMem(jobBufSize); + } + // make sure job queue is big enough + if (jobCount > m_jobQueue.capacity()) + { + m_jobQueue.reserve(jobCount); + } + unlockQueue(); + m_jobQueue.resizeNoInitialize(0); + } + void* allocJobMem(int jobSize) + { + btAssert(m_jobMemSize >= (m_allocSize + jobSize)); + void* jobMem = &m_jobMem[m_allocSize]; + m_allocSize += jobSize; + return jobMem; + } + void submitJob(IJob * job) + { + btAssert(reinterpret_cast<char*>(job) >= &m_jobMem[0] && reinterpret_cast<char*>(job) < &m_jobMem[0] + m_allocSize); + m_jobQueue.push_back(job); + lockQueue(); + m_tailIndex++; + m_queueIsEmpty = false; + unlockQueue(); + } + IJob* consumeJobFromOwnQueue() + { + if (m_queueIsEmpty) + { + // lock free path. even if this is taken erroneously it isn't harmful + return NULL; + } + IJob* job = NULL; + lockQueue(); + if (!m_queueIsEmpty) + { + job = m_jobQueue[m_headIndex++]; + btAssert(reinterpret_cast<char*>(job) >= &m_jobMem[0] && reinterpret_cast<char*>(job) < &m_jobMem[0] + m_allocSize); + if (m_headIndex == m_tailIndex) + { + m_queueIsEmpty = true; + } + } + unlockQueue(); + return job; + } + IJob* consumeJob() + { + if (IJob* job = consumeJobFromOwnQueue()) + { + return job; + } + // own queue is empty, try to steal from neighbor + for (int i = 0; i < m_neighborContexts.size(); ++i) + { + JobQueue* otherContext = m_neighborContexts[i]; + if (IJob* job = otherContext->consumeJobFromOwnQueue()) + { + return job; + } + } + return NULL; + } +}; + +static void WorkerThreadFunc(void* userPtr) +{ + BT_PROFILE("WorkerThreadFunc"); + ThreadLocalStorage* localStorage = (ThreadLocalStorage*)userPtr; + JobQueue* jobQueue = localStorage->m_queue; + + bool shouldSleep = false; + int threadId = localStorage->m_threadId; + while (!shouldSleep) + { + // do work + localStorage->m_mutex.lock(); + while (IJob* job = jobQueue->consumeJob()) + { + localStorage->m_status = WorkerThreadStatus::kWorking; + job->executeJob(threadId); + localStorage->m_numJobsFinished++; + } + localStorage->m_status = WorkerThreadStatus::kWaitingForWork; + localStorage->m_mutex.unlock(); + btU64 clockStart = localStorage->m_clock->getTimeMicroseconds(); + // while queue is empty, + while (jobQueue->isQueueEmpty()) + { + // todo: spin wait a bit to avoid hammering the empty queue + btSpinPause(); + if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kGoToSleep) + { + shouldSleep = true; + break; + } + // if jobs are incoming, + if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kScanForJobs) + { + clockStart = localStorage->m_clock->getTimeMicroseconds(); // reset clock + } + else + { + for (int i = 0; i < 50; ++i) + { + btSpinPause(); + btSpinPause(); + btSpinPause(); + btSpinPause(); + if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kScanForJobs || !jobQueue->isQueueEmpty()) + { + break; + } + } + // if no jobs incoming and queue has been empty for the cooldown time, sleep + btU64 timeElapsed = localStorage->m_clock->getTimeMicroseconds() - clockStart; + if (timeElapsed > localStorage->m_cooldownTime) + { + shouldSleep = true; + break; + } + } + } + } + { + BT_PROFILE("sleep"); + // go sleep + localStorage->m_mutex.lock(); + localStorage->m_status = WorkerThreadStatus::kSleeping; + localStorage->m_mutex.unlock(); + } +} + +class btTaskSchedulerDefault : public btITaskScheduler +{ + btThreadSupportInterface* m_threadSupport; + WorkerThreadDirectives* m_workerDirective; + btAlignedObjectArray<JobQueue> m_jobQueues; + btAlignedObjectArray<JobQueue*> m_perThreadJobQueues; + btAlignedObjectArray<ThreadLocalStorage> m_threadLocalStorage; + btSpinMutex m_antiNestingLock; // prevent nested parallel-for + btClock m_clock; + int m_numThreads; + int m_numWorkerThreads; + int m_numActiveJobQueues; + int m_maxNumThreads; + int m_numJobs; + static const int kFirstWorkerThreadId = 1; + +public: + btTaskSchedulerDefault() : btITaskScheduler("ThreadSupport") + { + m_threadSupport = NULL; + m_workerDirective = NULL; + } + + virtual ~btTaskSchedulerDefault() + { + waitForWorkersToSleep(); + + for (int i = 0; i < m_jobQueues.size(); ++i) + { + m_jobQueues[i].exit(); + } + + if (m_threadSupport) + { + delete m_threadSupport; + m_threadSupport = NULL; + } + if (m_workerDirective) + { + btAlignedFree(m_workerDirective); + m_workerDirective = NULL; + } + } + + void init() + { + btThreadSupportInterface::ConstructionInfo constructionInfo("TaskScheduler", WorkerThreadFunc); + m_threadSupport = btThreadSupportInterface::create(constructionInfo); + m_workerDirective = static_cast<WorkerThreadDirectives*>(btAlignedAlloc(sizeof(*m_workerDirective), 64)); + + m_numWorkerThreads = m_threadSupport->getNumWorkerThreads(); + m_maxNumThreads = m_threadSupport->getNumWorkerThreads() + 1; + m_numThreads = m_maxNumThreads; + // ideal to have one job queue for each physical processor (except for the main thread which needs no queue) + int numThreadsPerQueue = m_threadSupport->getLogicalToPhysicalCoreRatio(); + int numJobQueues = (numThreadsPerQueue == 1) ? (m_maxNumThreads - 1) : (m_maxNumThreads / numThreadsPerQueue); + m_jobQueues.resize(numJobQueues); + m_numActiveJobQueues = numJobQueues; + for (int i = 0; i < m_jobQueues.size(); ++i) + { + m_jobQueues[i].init(m_threadSupport, &m_jobQueues); + } + m_perThreadJobQueues.resize(m_numThreads); + for (int i = 0; i < m_numThreads; i++) + { + JobQueue* jq = NULL; + // only worker threads get a job queue + if (i > 0) + { + if (numThreadsPerQueue == 1) + { + // one queue per worker thread + jq = &m_jobQueues[i - kFirstWorkerThreadId]; + } + else + { + // 2 threads share each queue + jq = &m_jobQueues[i / numThreadsPerQueue]; + } + } + m_perThreadJobQueues[i] = jq; + } + m_threadLocalStorage.resize(m_numThreads); + for (int i = 0; i < m_numThreads; i++) + { + ThreadLocalStorage& storage = m_threadLocalStorage[i]; + storage.m_threadId = i; + storage.m_directive = m_workerDirective; + storage.m_status = WorkerThreadStatus::kSleeping; + storage.m_cooldownTime = 100; // 100 microseconds, threads go to sleep after this long if they have nothing to do + storage.m_clock = &m_clock; + storage.m_queue = m_perThreadJobQueues[i]; + } + setWorkerDirectives(WorkerThreadDirectives::kGoToSleep); // no work for them yet + setNumThreads(m_threadSupport->getCacheFriendlyNumThreads()); + } + + void setWorkerDirectives(WorkerThreadDirectives::Type dir) + { + m_workerDirective->setDirectiveByRange(kFirstWorkerThreadId, m_numThreads, dir); + } + + virtual int getMaxNumThreads() const BT_OVERRIDE + { + return m_maxNumThreads; + } + + virtual int getNumThreads() const BT_OVERRIDE + { + return m_numThreads; + } + + virtual void setNumThreads(int numThreads) BT_OVERRIDE + { + m_numThreads = btMax(btMin(numThreads, int(m_maxNumThreads)), 1); + m_numWorkerThreads = m_numThreads - 1; + m_numActiveJobQueues = 0; + // if there is at least 1 worker, + if (m_numWorkerThreads > 0) + { + // re-setup job stealing between queues to avoid attempting to steal from an inactive job queue + JobQueue* lastActiveContext = m_perThreadJobQueues[m_numThreads - 1]; + int iLastActiveContext = lastActiveContext - &m_jobQueues[0]; + m_numActiveJobQueues = iLastActiveContext + 1; + for (int i = 0; i < m_jobQueues.size(); ++i) + { + m_jobQueues[i].setupJobStealing(&m_jobQueues, m_numActiveJobQueues); + } + } + m_workerDirective->setDirectiveByRange(m_numThreads, BT_MAX_THREAD_COUNT, WorkerThreadDirectives::kGoToSleep); + } + + void waitJobs() + { + BT_PROFILE("waitJobs"); + // have the main thread work until the job queues are empty + int numMainThreadJobsFinished = 0; + for (int i = 0; i < m_numActiveJobQueues; ++i) + { + while (IJob* job = m_jobQueues[i].consumeJob()) + { + job->executeJob(0); + numMainThreadJobsFinished++; + } + } + + // done with jobs for now, tell workers to rest (but not sleep) + setWorkerDirectives(WorkerThreadDirectives::kStayAwakeButIdle); + + btU64 clockStart = m_clock.getTimeMicroseconds(); + // wait for workers to finish any jobs in progress + while (true) + { + int numWorkerJobsFinished = 0; + for (int iThread = kFirstWorkerThreadId; iThread < m_numThreads; ++iThread) + { + ThreadLocalStorage* storage = &m_threadLocalStorage[iThread]; + storage->m_mutex.lock(); + numWorkerJobsFinished += storage->m_numJobsFinished; + storage->m_mutex.unlock(); + } + if (numWorkerJobsFinished + numMainThreadJobsFinished == m_numJobs) + { + break; + } + btU64 timeElapsed = m_clock.getTimeMicroseconds() - clockStart; + btAssert(timeElapsed < 1000); + if (timeElapsed > 100000) + { + break; + } + btSpinPause(); + } + } + + void wakeWorkers(int numWorkersToWake) + { + BT_PROFILE("wakeWorkers"); + btAssert(m_workerDirective->getDirective(1) == WorkerThreadDirectives::kScanForJobs); + int numDesiredWorkers = btMin(numWorkersToWake, m_numWorkerThreads); + int numActiveWorkers = 0; + for (int iWorker = 0; iWorker < m_numWorkerThreads; ++iWorker) + { + // note this count of active workers is not necessarily totally reliable, because a worker thread could be + // just about to put itself to sleep. So we may on occasion fail to wake up all the workers. It should be rare. + ThreadLocalStorage& storage = m_threadLocalStorage[kFirstWorkerThreadId + iWorker]; + if (storage.m_status != WorkerThreadStatus::kSleeping) + { + numActiveWorkers++; + } + } + for (int iWorker = 0; iWorker < m_numWorkerThreads && numActiveWorkers < numDesiredWorkers; ++iWorker) + { + ThreadLocalStorage& storage = m_threadLocalStorage[kFirstWorkerThreadId + iWorker]; + if (storage.m_status == WorkerThreadStatus::kSleeping) + { + m_threadSupport->runTask(iWorker, &storage); + numActiveWorkers++; + } + } + } + + void waitForWorkersToSleep() + { + BT_PROFILE("waitForWorkersToSleep"); + setWorkerDirectives(WorkerThreadDirectives::kGoToSleep); + m_threadSupport->waitForAllTasks(); + for (int i = kFirstWorkerThreadId; i < m_numThreads; i++) + { + ThreadLocalStorage& storage = m_threadLocalStorage[i]; + btAssert(storage.m_status == WorkerThreadStatus::kSleeping); + } + } + + virtual void sleepWorkerThreadsHint() BT_OVERRIDE + { + BT_PROFILE("sleepWorkerThreadsHint"); + // hint the task scheduler that we may not be using these threads for a little while + setWorkerDirectives(WorkerThreadDirectives::kGoToSleep); + } + + void prepareWorkerThreads() + { + for (int i = kFirstWorkerThreadId; i < m_numThreads; ++i) + { + ThreadLocalStorage& storage = m_threadLocalStorage[i]; + storage.m_mutex.lock(); + storage.m_numJobsFinished = 0; + storage.m_mutex.unlock(); + } + setWorkerDirectives(WorkerThreadDirectives::kScanForJobs); + } + + virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE + { + BT_PROFILE("parallelFor_ThreadSupport"); + btAssert(iEnd >= iBegin); + btAssert(grainSize >= 1); + int iterationCount = iEnd - iBegin; + if (iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock()) + { + typedef ParallelForJob JobType; + int jobCount = (iterationCount + grainSize - 1) / grainSize; + m_numJobs = jobCount; + btAssert(jobCount >= 2); // need more than one job for multithreading + int jobSize = sizeof(JobType); + + for (int i = 0; i < m_numActiveJobQueues; ++i) + { + m_jobQueues[i].clearQueue(jobCount, jobSize); + } + // prepare worker threads for incoming work + prepareWorkerThreads(); + // submit all of the jobs + int iJob = 0; + int iThread = kFirstWorkerThreadId; // first worker thread + for (int i = iBegin; i < iEnd; i += grainSize) + { + btAssert(iJob < jobCount); + int iE = btMin(i + grainSize, iEnd); + JobQueue* jq = m_perThreadJobQueues[iThread]; + btAssert(jq); + btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues); + void* jobMem = jq->allocJobMem(jobSize); + JobType* job = new (jobMem) ParallelForJob(i, iE, body); // placement new + jq->submitJob(job); + iJob++; + iThread++; + if (iThread >= m_numThreads) + { + iThread = kFirstWorkerThreadId; // first worker thread + } + } + wakeWorkers(jobCount - 1); + + // put the main thread to work on emptying the job queue and then wait for all workers to finish + waitJobs(); + m_antiNestingLock.unlock(); + } + else + { + BT_PROFILE("parallelFor_mainThread"); + // just run on main thread + body.forLoop(iBegin, iEnd); + } + } + virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE + { + BT_PROFILE("parallelSum_ThreadSupport"); + btAssert(iEnd >= iBegin); + btAssert(grainSize >= 1); + int iterationCount = iEnd - iBegin; + if (iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock()) + { + typedef ParallelSumJob JobType; + int jobCount = (iterationCount + grainSize - 1) / grainSize; + m_numJobs = jobCount; + btAssert(jobCount >= 2); // need more than one job for multithreading + int jobSize = sizeof(JobType); + for (int i = 0; i < m_numActiveJobQueues; ++i) + { + m_jobQueues[i].clearQueue(jobCount, jobSize); + } + + // initialize summation + for (int iThread = 0; iThread < m_numThreads; ++iThread) + { + m_threadLocalStorage[iThread].m_sumResult = btScalar(0); + } + + // prepare worker threads for incoming work + prepareWorkerThreads(); + // submit all of the jobs + int iJob = 0; + int iThread = kFirstWorkerThreadId; // first worker thread + for (int i = iBegin; i < iEnd; i += grainSize) + { + btAssert(iJob < jobCount); + int iE = btMin(i + grainSize, iEnd); + JobQueue* jq = m_perThreadJobQueues[iThread]; + btAssert(jq); + btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues); + void* jobMem = jq->allocJobMem(jobSize); + JobType* job = new (jobMem) ParallelSumJob(i, iE, body, &m_threadLocalStorage[0]); // placement new + jq->submitJob(job); + iJob++; + iThread++; + if (iThread >= m_numThreads) + { + iThread = kFirstWorkerThreadId; // first worker thread + } + } + wakeWorkers(jobCount - 1); + + // put the main thread to work on emptying the job queue and then wait for all workers to finish + waitJobs(); + + // add up all the thread sums + btScalar sum = btScalar(0); + for (int iThread = 0; iThread < m_numThreads; ++iThread) + { + sum += m_threadLocalStorage[iThread].m_sumResult; + } + m_antiNestingLock.unlock(); + return sum; + } + else + { + BT_PROFILE("parallelSum_mainThread"); + // just run on main thread + return body.sumLoop(iBegin, iEnd); + } + } +}; + +btITaskScheduler* btCreateDefaultTaskScheduler() +{ + btTaskSchedulerDefault* ts = new btTaskSchedulerDefault(); + ts->init(); + return ts; +} + +#else // #if BT_THREADSAFE + +btITaskScheduler* btCreateDefaultTaskScheduler() +{ + return NULL; +} + +#endif // #else // #if BT_THREADSAFE |