diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h | 150 |
1 files changed, 0 insertions, 150 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h deleted file mode 100644 index 1861ddd7d7..0000000000 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h +++ /dev/null @@ -1,150 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H -#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H - -#include "btSequentialImpulseConstraintSolver.h" -#include "btBatchedConstraints.h" -#include "LinearMath/btThreads.h" - -/// -/// btSequentialImpulseConstraintSolverMt -/// -/// A multithreaded variant of the sequential impulse constraint solver. The constraints to be solved are grouped into -/// batches and phases where each batch of constraints within a given phase can be solved in parallel with the rest. -/// Ideally we want as few phases as possible, and each phase should have many batches, and all of the batches should -/// have about the same number of constraints. -/// This method works best on a large island of many constraints. -/// -/// Supports all of the features of the normal sequential impulse solver such as: -/// - split penetration impulse -/// - rolling friction -/// - interleaving constraints -/// - warmstarting -/// - 2 friction directions -/// - randomized constraint ordering -/// - early termination when leastSquaresResidualThreshold is satisfied -/// -/// When the SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS flag is enabled, unlike the normal SequentialImpulse solver, -/// the rolling friction is interleaved as well. -/// Interleaving the contact penetration constraints with friction reduces the number of parallel loops that need to be done, -/// which reduces threading overhead so it can be a performance win, however, it does seem to produce a less stable simulation, -/// at least on stacks of blocks. -/// -/// When the SOLVER_RANDMIZE_ORDER flag is enabled, the ordering of phases, and the ordering of constraints within each batch -/// is randomized, however it does not swap constraints between batches. -/// This is to avoid regenerating the batches for each solver iteration which would be quite costly in performance. -/// -/// Note that a non-zero leastSquaresResidualThreshold could possibly affect the determinism of the simulation -/// if the task scheduler's parallelSum operation is non-deterministic. The parallelSum operation can be non-deterministic -/// 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 -{ -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; - -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); - -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); -}; - -#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H |