Bullet Collision Detection & Physics Library
btDiscreteDynamicsWorldMt.h
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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 
16 #ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H
17 #define BT_DISCRETE_DYNAMICS_WORLD_MT_H
18 
22 
33 {
34 public:
35  // create the solvers for me
36  explicit btConstraintSolverPoolMt(int numSolvers);
37 
38  // pass in fully constructed solvers (destructor will delete them)
39  btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers);
40 
41  virtual ~btConstraintSolverPoolMt();
42 
44  virtual btScalar solveGroup(btCollisionObject** bodies,
45  int numBodies,
46  btPersistentManifold** manifolds,
47  int numManifolds,
48  btTypedConstraint** constraints,
49  int numConstraints,
50  const btContactSolverInfo& info,
51  btIDebugDraw* debugDrawer,
52  btDispatcher* dispatcher) BT_OVERRIDE;
53 
54  virtual void reset() BT_OVERRIDE;
56 
57 private:
58  const static size_t kCacheLineSize = 128;
59  struct ThreadSolver
60  {
63  char _cachelinePadding[kCacheLineSize - sizeof(btSpinMutex) - sizeof(void*)]; // keep mutexes from sharing a cache line
64  };
67 
69  void init(btConstraintSolver** solvers, int numSolvers);
70 };
71 
84 {
85 protected:
87 
88  virtual void solveConstraints(btContactSolverInfo & solverInfo) BT_OVERRIDE;
89 
90  virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE;
91 
93  {
97 
98  void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
99  {
100  world->createPredictiveContactsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
101  }
102  };
103  virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE;
104 
106  {
110 
111  void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
112  {
113  world->integrateTransformsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
114  }
115  };
116  virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE;
117 
118 public:
120 
122  btBroadphaseInterface * pairCache,
123  btConstraintSolverPoolMt * solverPool, // Note this should be a solver-pool for multi-threading
124  btConstraintSolver * constraintSolverMt, // single multi-threaded solver for large islands (or NULL)
125  btCollisionConfiguration * collisionConfiguration);
126  virtual ~btDiscreteDynamicsWorldMt();
127 
128  virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE;
129 };
130 
131 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:74
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btSimulationIslandManagerMt.h
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::timeStep
btScalar timeStep
Definition: btDiscreteDynamicsWorldMt.h:107
btContactSolverInfo
Definition: btContactSolverInfo.h:72
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
BT_OVERRIDE
#define BT_OVERRIDE
Definition: btThreads.h:26
btDiscreteDynamicsWorld::integrateTransformsInternal
void integrateTransformsInternal(btRigidBody **bodies, int numBodies, btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:943
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::rigidBodies
btRigidBody ** rigidBodies
Definition: btDiscreteDynamicsWorldMt.h:108
btConstraintSolverPoolMt::kCacheLineSize
const static size_t kCacheLineSize
Definition: btDiscreteDynamicsWorldMt.h:58
btConstraintSolverPoolMt::m_solverType
btConstraintSolverType m_solverType
Definition: btDiscreteDynamicsWorldMt.h:66
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::forLoop
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
Definition: btDiscreteDynamicsWorldMt.h:98
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::world
btDiscreteDynamicsWorldMt * world
Definition: btDiscreteDynamicsWorldMt.h:109
btConstraintSolverPoolMt::getAndLockThreadSolver
ThreadSolver * getAndLockThreadSolver()
btConstraintSolverPoolMt
Definition: btDiscreteDynamicsWorldMt.cpp:53
btConstraintSolverPoolMt::init
void init(btConstraintSolver **solvers, int numSolvers)
Definition: btDiscreteDynamicsWorldMt.cpp:72
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::timeStep
btScalar timeStep
Definition: btDiscreteDynamicsWorldMt.h:94
btConstraintSolverPoolMt::m_solvers
btAlignedObjectArray< ThreadSolver > m_solvers
Definition: btDiscreteDynamicsWorldMt.h:65
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btDiscreteDynamicsWorldMt
btDiscreteDynamicsWorldMt – a version of DiscreteDynamicsWorld with some minor changes to support sol...
Definition: btDiscreteDynamicsWorldMt.h:82
btConstraintSolverPoolMt::ThreadSolver::mutex
btSpinMutex mutex
Definition: btDiscreteDynamicsWorldMt.h:62
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::world
btDiscreteDynamicsWorldMt * world
Definition: btDiscreteDynamicsWorldMt.h:96
btConstraintSolverPoolMt::getSolverType
virtual btConstraintSolverType getSolverType() const BT_OVERRIDE
Definition: btDiscreteDynamicsWorldMt.h:55
btDiscreteDynamicsWorldMt::m_constraintSolverMt
btConstraintSolver * m_constraintSolverMt
Definition: btDiscreteDynamicsWorldMt.h:86
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btConstraintSolver.h
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:45
btDiscreteDynamicsWorld.h
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::forLoop
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
Definition: btDiscreteDynamicsWorldMt.h:111
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:49
btSpinMutex
btSpinMutex – lightweight spin-mutex implemented with atomic ops, never puts a thread to sleep becaus...
Definition: btThreads.h:45
btConstraintSolverType
btConstraintSolverType
btConstraintSolver provides solver interface
Definition: btConstraintSolver.h:32
btConstraintSolverPoolMt::ThreadSolver
Definition: btDiscreteDynamicsWorldMt.h:59
btConstraintSolverPoolMt::~btConstraintSolverPoolMt
virtual ~btConstraintSolverPoolMt()
Definition: btDiscreteDynamicsWorldMt.cpp:105
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::rigidBodies
btRigidBody ** rigidBodies
Definition: btDiscreteDynamicsWorldMt.h:95
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts
Definition: btDiscreteDynamicsWorldMt.h:92
btIParallelForBody
Definition: btThreads.h:101
btConstraintSolverPoolMt
btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of ...
Definition: btDiscreteDynamicsWorldMt.h:32
btDiscreteDynamicsWorld
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
Definition: btDiscreteDynamicsWorld.h:36
btConstraintSolverPoolMt::ThreadSolver::_cachelinePadding
char _cachelinePadding[kCacheLineSize - sizeof(btSpinMutex) - sizeof(void *)]
Definition: btDiscreteDynamicsWorldMt.h:63
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:26
btDiscreteDynamicsWorld::createPredictiveContactsInternal
void createPredictiveContactsInternal(btRigidBody **bodies, int numBodies, btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:841
btConstraintSolverPoolMt::solveGroup
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
Definition: btDiscreteDynamicsWorldMt.cpp:117
btConstraintSolverPoolMt::reset
virtual void reset() BT_OVERRIDE
clear internal cached data and reset random seed
Definition: btDiscreteDynamicsWorldMt.cpp:133
btConstraintSolverPoolMt::btConstraintSolverPoolMt
btConstraintSolverPoolMt(int numSolvers)
Definition: btDiscreteDynamicsWorldMt.cpp:87
btConstraintSolver
Definition: btConstraintSolver.h:41
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms
Definition: btDiscreteDynamicsWorldMt.h:105
btConstraintSolverPoolMt::ThreadSolver::solver
btConstraintSolver * solver
Definition: btDiscreteDynamicsWorldMt.h:61