summaryrefslogtreecommitdiff
path: root/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
diff options
context:
space:
mode:
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h')
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h168
1 files changed, 82 insertions, 86 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
index 55d53474c4..1861ddd7d7 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
@@ -53,102 +53,98 @@ subject to the following restrictions:
/// because floating point addition is not associative due to rounding errors.
/// The task scheduler can and should ensure that the result of any parallelSum operation is deterministic.
///
-ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolverMt : public btSequentialImpulseConstraintSolver
+ATTRIBUTE_ALIGNED16(class)
+btSequentialImpulseConstraintSolverMt : public btSequentialImpulseConstraintSolver
{
public:
- virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE;
- virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE;
- virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE;
- virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
-
- // temp struct used to collect info from persistent manifolds into a cache-friendly struct using multiple threads
- struct btContactManifoldCachedInfo
- {
- static const int MAX_NUM_CONTACT_POINTS = 4;
-
- int numTouchingContacts;
- int solverBodyIds[ 2 ];
- int contactIndex;
- int rollingFrictionIndex;
- bool contactHasRollingFriction[ MAX_NUM_CONTACT_POINTS ];
- btManifoldPoint* contactPoints[ MAX_NUM_CONTACT_POINTS ];
- };
- // temp struct used for setting up joint constraints in parallel
- struct JointParams
- {
- int m_solverConstraint;
- int m_solverBodyA;
- int m_solverBodyB;
- };
- void internalInitMultipleJoints(btTypedConstraint** constraints, int iBegin, int iEnd);
- void internalConvertMultipleJoints( const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal );
-
- // parameters to control batching
- static bool s_allowNestedParallelForLoops; // whether to allow nested parallel operations
- static int s_minimumContactManifoldsForBatching; // don't even try to batch if fewer manifolds than this
- static btBatchedConstraints::BatchingMethod s_contactBatchingMethod;
- static btBatchedConstraints::BatchingMethod s_jointBatchingMethod;
- static int s_minBatchSize; // desired number of constraints per batch
- static int s_maxBatchSize;
+ virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
+ virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
+ virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
+ virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+
+ // temp struct used to collect info from persistent manifolds into a cache-friendly struct using multiple threads
+ struct btContactManifoldCachedInfo
+ {
+ static const int MAX_NUM_CONTACT_POINTS = 4;
+
+ int numTouchingContacts;
+ int solverBodyIds[2];
+ int contactIndex;
+ int rollingFrictionIndex;
+ bool contactHasRollingFriction[MAX_NUM_CONTACT_POINTS];
+ btManifoldPoint* contactPoints[MAX_NUM_CONTACT_POINTS];
+ };
+ // temp struct used for setting up joint constraints in parallel
+ struct JointParams
+ {
+ int m_solverConstraint;
+ int m_solverBodyA;
+ int m_solverBodyB;
+ };
+ void internalInitMultipleJoints(btTypedConstraint * *constraints, int iBegin, int iEnd);
+ void internalConvertMultipleJoints(const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+
+ // parameters to control batching
+ static bool s_allowNestedParallelForLoops; // whether to allow nested parallel operations
+ static int s_minimumContactManifoldsForBatching; // don't even try to batch if fewer manifolds than this
+ static btBatchedConstraints::BatchingMethod s_contactBatchingMethod;
+ static btBatchedConstraints::BatchingMethod s_jointBatchingMethod;
+ static int s_minBatchSize; // desired number of constraints per batch
+ static int s_maxBatchSize;
protected:
- static const int CACHE_LINE_SIZE = 64;
-
- btBatchedConstraints m_batchedContactConstraints;
- btBatchedConstraints m_batchedJointConstraints;
- int m_numFrictionDirections;
- bool m_useBatching;
- bool m_useObsoleteJointConstraints;
- btAlignedObjectArray<btContactManifoldCachedInfo> m_manifoldCachedInfoArray;
- btAlignedObjectArray<int> m_rollingFrictionIndexTable; // lookup table mapping contact index to rolling friction index
- btSpinMutex m_bodySolverArrayMutex;
- char m_antiFalseSharingPadding[CACHE_LINE_SIZE]; // padding to keep mutexes in separate cachelines
- btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex;
- btAlignedObjectArray<char> m_scratchMemory;
-
- virtual void randomizeConstraintOrdering( int iteration, int numIterations );
- virtual btScalar resolveAllJointConstraints( int iteration );
- virtual btScalar resolveAllContactConstraints();
- virtual btScalar resolveAllContactFrictionConstraints();
- virtual btScalar resolveAllContactConstraintsInterleaved();
- virtual btScalar resolveAllRollingFrictionConstraints();
-
- virtual void setupBatchedContactConstraints();
- virtual void setupBatchedJointConstraints();
- virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
- virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
- virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
-
- int getOrInitSolverBodyThreadsafe(btCollisionObject& body, btScalar timeStep);
- void allocAllContactConstraints(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
- void setupAllContactConstraints(const btContactSolverInfo& infoGlobal);
- void randomizeBatchedConstraintOrdering( btBatchedConstraints* batchedConstraints );
+ static const int CACHE_LINE_SIZE = 64;
+
+ btBatchedConstraints m_batchedContactConstraints;
+ btBatchedConstraints m_batchedJointConstraints;
+ int m_numFrictionDirections;
+ bool m_useBatching;
+ bool m_useObsoleteJointConstraints;
+ btAlignedObjectArray<btContactManifoldCachedInfo> m_manifoldCachedInfoArray;
+ btAlignedObjectArray<int> m_rollingFrictionIndexTable; // lookup table mapping contact index to rolling friction index
+ btSpinMutex m_bodySolverArrayMutex;
+ char m_antiFalseSharingPadding[CACHE_LINE_SIZE]; // padding to keep mutexes in separate cachelines
+ btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex;
+ btAlignedObjectArray<char> m_scratchMemory;
+
+ virtual void randomizeConstraintOrdering(int iteration, int numIterations);
+ virtual btScalar resolveAllJointConstraints(int iteration);
+ virtual btScalar resolveAllContactConstraints();
+ virtual btScalar resolveAllContactFrictionConstraints();
+ virtual btScalar resolveAllContactConstraintsInterleaved();
+ virtual btScalar resolveAllRollingFrictionConstraints();
+
+ virtual void setupBatchedContactConstraints();
+ virtual void setupBatchedJointConstraints();
+ virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+ virtual void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+ virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+
+ int getOrInitSolverBodyThreadsafe(btCollisionObject & body, btScalar timeStep);
+ void allocAllContactConstraints(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
+ void setupAllContactConstraints(const btContactSolverInfo& infoGlobal);
+ void randomizeBatchedConstraintOrdering(btBatchedConstraints * batchedConstraints);
public:
-
BT_DECLARE_ALIGNED_ALLOCATOR();
btSequentialImpulseConstraintSolverMt();
virtual ~btSequentialImpulseConstraintSolverMt();
- btScalar resolveMultipleJointConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration );
- btScalar resolveMultipleContactConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
- btScalar resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
- btScalar resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
- btScalar resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
- btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd );
-
- void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
- void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds);
- void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal);
- void internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
- void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
- void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
- void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+ btScalar resolveMultipleJointConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration);
+ btScalar resolveMultipleContactConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
+ btScalar resolveMultipleContactSplitPenetrationImpulseConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
+ btScalar resolveMultipleContactFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
+ btScalar resolveMultipleContactRollingFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
+ btScalar resolveMultipleContactConstraintsInterleaved(const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd);
+
+ void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo * cachedInfoArray, btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
+ void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds);
+ void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal);
+ void internalConvertBodies(btCollisionObject * *bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+ void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+ void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+ void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
};
-
-
-
-#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
-
+#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-07 13:07:41 +0000