Bullet Collision Detection & Physics Library
btDiscreteDynamicsWorldMt.cpp
Go to the documentation of this file.
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
17 
18 //collision detection
25 #include "LinearMath/btQuickprof.h"
26 
27 //rigidbody & constraints
39 
42 
44 #include "LinearMath/btQuickprof.h"
46 
48 
52 
54 {
55  int i = 0;
56 #if BT_THREADSAFE
57  i = btGetCurrentThreadIndex() % m_solvers.size();
58 #endif // #if BT_THREADSAFE
59  while (true)
60  {
61  ThreadSolver& solver = m_solvers[i];
62  if (solver.mutex.tryLock())
63  {
64  return &solver;
65  }
66  // failed, try the next one
67  i = (i + 1) % m_solvers.size();
68  }
69  return NULL;
70 }
71 
72 void btConstraintSolverPoolMt::init(btConstraintSolver** solvers, int numSolvers)
73 {
75  m_solvers.resize(numSolvers);
76  for (int i = 0; i < numSolvers; ++i)
77  {
78  m_solvers[i].solver = solvers[i];
79  }
80  if (numSolvers > 0)
81  {
82  m_solverType = solvers[0]->getSolverType();
83  }
84 }
85 
86 // create the solvers for me
88 {
90  solvers.reserve(numSolvers);
91  for (int i = 0; i < numSolvers; ++i)
92  {
94  solvers.push_back(solver);
95  }
96  init(&solvers[0], numSolvers);
97 }
98 
99 // pass in fully constructed solvers (destructor will delete them)
101 {
102  init(solvers, numSolvers);
103 }
104 
106 {
107  // delete all solvers
108  for (int i = 0; i < m_solvers.size(); ++i)
109  {
110  ThreadSolver& solver = m_solvers[i];
111  delete solver.solver;
112  solver.solver = NULL;
113  }
114 }
115 
118  int numBodies,
119  btPersistentManifold** manifolds,
120  int numManifolds,
121  btTypedConstraint** constraints,
122  int numConstraints,
123  const btContactSolverInfo& info,
124  btIDebugDraw* debugDrawer,
125  btDispatcher* dispatcher)
126 {
128  ts->solver->solveGroup(bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
129  ts->mutex.unlock();
130  return 0.0f;
131 }
132 
134 {
135  for (int i = 0; i < m_solvers.size(); ++i)
136  {
137  ThreadSolver& solver = m_solvers[i];
138  solver.mutex.lock();
139  solver.solver->reset();
140  solver.mutex.unlock();
141  }
142 }
143 
147 
149  btBroadphaseInterface* pairCache,
150  btConstraintSolverPoolMt* solverPool,
151  btConstraintSolver* constraintSolverMt,
152  btCollisionConfiguration* collisionConfiguration)
153  : btDiscreteDynamicsWorld(dispatcher, pairCache, solverPool, collisionConfiguration)
154 {
156  {
159  }
160  {
161  void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt), 16);
164  m_islandManager = im;
165  }
166  m_constraintSolverMt = constraintSolverMt;
167 }
168 
170 {
171 }
172 
174 {
175  BT_PROFILE("solveConstraints");
176 
178 
182  solverParams.m_solverPool = m_constraintSolver;
183  solverParams.m_solverMt = m_constraintSolverMt;
184  solverParams.m_solverInfo = &solverInfo;
185  solverParams.m_debugDrawer = m_debugDrawer;
186  solverParams.m_dispatcher = getCollisionWorld()->getDispatcher();
188 
190 }
191 
193 {
196 
197  void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
198  {
199  for (int i = iBegin; i < iEnd; ++i)
200  {
201  btRigidBody* body = rigidBodies[i];
202  if (!body->isStaticOrKinematicObject())
203  {
204  //don't integrate/update velocities here, it happens in the constraint solver
205  body->applyDamping(timeStep);
207  }
208  }
209  }
210 };
211 
213 {
214  BT_PROFILE("predictUnconstraintMotion");
215  if (m_nonStaticRigidBodies.size() > 0)
216  {
218  update.timeStep = timeStep;
219  update.rigidBodies = &m_nonStaticRigidBodies[0];
220  int grainSize = 50; // num of iterations per task for task scheduler
221  btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
222  }
223 }
224 
226 {
227  BT_PROFILE("createPredictiveContacts");
229  if (m_nonStaticRigidBodies.size() > 0)
230  {
232  update.world = this;
233  update.timeStep = timeStep;
234  update.rigidBodies = &m_nonStaticRigidBodies[0];
235  int grainSize = 50; // num of iterations per task for task scheduler
236  btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
237  }
238 }
239 
241 {
242  BT_PROFILE("integrateTransforms");
243  if (m_nonStaticRigidBodies.size() > 0)
244  {
246  update.world = this;
247  update.timeStep = timeStep;
248  update.rigidBodies = &m_nonStaticRigidBodies[0];
249  int grainSize = 50; // num of iterations per task for task scheduler
250  btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
251  }
252 }
253 
254 int btDiscreteDynamicsWorldMt::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
255 {
256  int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep);
257  if (btITaskScheduler* scheduler = btGetTaskScheduler())
258  {
259  // tell Bullet's threads to sleep, so other threads can run
260  scheduler->sleepWorkerThreadsHint();
261  }
262  return numSubSteps;
263 }
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifolds, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher) BT_OVERRIDE
solve a group of constraints
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
void push_back(const T &_Val)
btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of ...
btSimulationIslandManager * m_islandManager
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE
void predictIntegratedTransform(btScalar step, btTransform &predictedTransform)
continuous collision detection needs prediction
virtual void solveConstraints(btContactSolverInfo &solverInfo) BT_OVERRIDE
bool tryLock()
Definition: btThreads.cpp:206
btITaskScheduler * btGetTaskScheduler()
Definition: btThreads.cpp:407
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
btDiscreteDynamicsWorldMt(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolverPoolMt *solverPool, btConstraintSolver *constraintSolverMt, btCollisionConfiguration *collisionConfiguration)
btDiscreteDynamicsWorldMt
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, class btIDebugDraw *debugDrawer, btDispatcher *dispatcher)=0
solve a group of constraints
void init(btConstraintSolver **solvers, int numSolvers)
virtual void reset() BT_OVERRIDE
clear internal cached data and reset random seed
virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE
bool isStaticOrKinematicObject() const
btContactSolverInfo m_solverInfo
int getNumCollisionObjects() const
btCollisionWorld * getCollisionWorld()
btConstraintSolver * m_constraintSolverMt
#define BT_OVERRIDE
Definition: btThreads.h:26
btIDebugDraw * m_debugDrawer
void lock()
Definition: btThreads.cpp:196
ThreadSolver * getAndLockThreadSolver()
btConstraintSolverPoolMt
virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE
void unlock()
Definition: btThreads.cpp:201
#define btAlignedFree(ptr)
btCollisionObject can be used to manage collision detection objects.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:26
const btTransform & getInterpolationWorldTransform() const
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
btDispatcher * getDispatcher()
virtual btConstraintSolverType getSolverType() const =0
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep&#39;s
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
int size() const
return the number of elements in the array
#define BT_PROFILE(name)
Definition: btQuickprof.h:198
btAlignedObjectArray< ThreadSolver > m_solvers
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
void applyDamping(btScalar timeStep)
applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping ...
virtual void prepareSolve(int, int)
TypedConstraint is the baseclass for Bullet constraints and vehicles.
virtual void buildAndProcessIslands(btDispatcher *dispatcher, btCollisionWorld *collisionWorld, btAlignedObjectArray< btTypedConstraint *> &constraints, const SolverParams &solverParams)
btConstraintSolverType m_solverType
#define btAlignedAlloc(size, alignment)
btConstraintSolver * m_constraintSolver
void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody &body)
Definition: btThreads.cpp:412
unsigned int btGetCurrentThreadIndex()
Definition: btThreads.cpp:290
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
virtual void reset()=0
clear internal cached data and reset random seed
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep&#39;s
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
SimulationIslandManagerMt – Multithread capable version of SimulationIslandManager Splits the world ...
btAlignedObjectArray< btTypedConstraint * > m_constraints