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Merge pull request #1981 from erwincoumans/master

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fix some race conditions
This commit is contained in:
erwincoumans
2018-11-05 18:12:52 -08:00
committed by GitHub
parent 1cb8dc383f 882252f8c0
commit 0b513c825d
11 changed files with 71 additions and 66 deletions
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2
Extras/InverseDynamics/invdyn_bullet_comparison.cpp
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@@ -176,7 +176,7 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
btAlignedObjectArray<btQuaternion> world_to_local;
btAlignedObjectArray<btVector3> local_origin;
btmb->forwardKinematics(world_to_local, local_origin);
btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass);
btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass, false, false);
// read generalized accelerations back from btMultiBody
// the mapping from scratch variables to accelerations is taken from the implementation

9
examples/MultiBody/InvertedPendulumPDControl.cpp
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@@ -48,9 +48,6 @@ InvertedPendulumPDControl::~InvertedPendulumPDControl()
{
}
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GUIHelperInterface* guiHelper, const btTransform& baseWorldTrans, bool fixedBase)
{
@@ -315,8 +312,10 @@ void InvertedPendulumPDControl::initPhysics()
}
int upAxis = 1;
gJointFeedbackInWorldSpace = true;
gJointFeedbackInJointFrame = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis);

9
examples/MultiBody/MultiBodyConstraintFeedback.cpp
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@@ -44,14 +44,9 @@ MultiBodyConstraintFeedbackSetup::~MultiBodyConstraintFeedbackSetup()
{
}
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
void MultiBodyConstraintFeedbackSetup::initPhysics()
{
int upAxis = 2;
gJointFeedbackInWorldSpace = true;
gJointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis);
btVector4 colors[4] =
@@ -69,6 +64,10 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
//btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
//create a static ground object
if (1)
{

9
examples/MultiBody/TestJointTorqueSetup.cpp
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@@ -44,15 +44,10 @@ TestJointTorqueSetup::~TestJointTorqueSetup()
{
}
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
void TestJointTorqueSetup::initPhysics()
{
int upAxis = 1;
gJointFeedbackInWorldSpace = true;
gJointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis);
@@ -71,6 +66,10 @@ void TestJointTorqueSetup::initPhysics()
//btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
//create a static ground object
if (1)
{

10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -96,8 +96,6 @@
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
@@ -7697,11 +7695,11 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[2] = grav[2];
serverCmd.m_simulationParameterResultArgs.m_internalSimFlags = gInternalSimFlags;
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode = 0;
if (gJointFeedbackInWorldSpace)
if (m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace)
{
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode |= JOINT_FEEDBACK_IN_WORLD_SPACE;
}
if (gJointFeedbackInJointFrame)
if (m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame)
{
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode |= JOINT_FEEDBACK_IN_JOINT_FRAME;
}
@@ -7747,8 +7745,8 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE)
{
gJointFeedbackInWorldSpace = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_WORLD_SPACE) != 0;
gJointFeedbackInJointFrame = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_JOINT_FRAME) != 0;
m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_WORLD_SPACE) != 0;
m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_JOINT_FRAME) != 0;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_DELTA_TIME)

15
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -27,7 +27,6 @@ bool gEnableRendering = true;
bool gActivedVRRealTimeSimulation = false;
bool gEnableSyncPhysicsRendering = true;
bool gEnableUpdateDebugDrawLines = true;
static int gCamVisualizerWidth = 228;
static int gCamVisualizerHeight = 192;
@@ -177,6 +176,7 @@ struct MotionArgs
{
MotionArgs()
: m_debugDrawFlags(0),
m_enableUpdateDebugDrawLines(true),
m_physicsServerPtr(0)
{
for (int i = 0; i < MAX_VR_CONTROLLERS; i++)
@@ -201,7 +201,7 @@ struct MotionArgs
b3CriticalSection* m_csGUI;
int m_debugDrawFlags;
bool m_enableUpdateDebugDrawLines;
btAlignedObjectArray<MyMouseCommand> m_mouseCommands;
b3VRControllerEvent m_vrControllerEvents[MAX_VR_CONTROLLERS];
@@ -423,14 +423,14 @@ void MotionThreadFunc(void* userPtr, void* lsMemory)
{
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents, numSendVrControllers, keyEvents, args->m_sendKeyEvents.size(), mouseEvents, args->m_sendMouseEvents.size());
}
{
if (gEnableUpdateDebugDrawLines)
{
args->m_csGUI->lock();
if (args->m_enableUpdateDebugDrawLines)
{
args->m_physicsServerPtr->physicsDebugDraw(args->m_debugDrawFlags);
gEnableUpdateDebugDrawLines = false;
args->m_csGUI->unlock();
args->m_enableUpdateDebugDrawLines = false;
}
args->m_csGUI->unlock();
}
deltaTimeInSeconds = 0;
}
@@ -1763,7 +1763,6 @@ void PhysicsServerExample::initPhysics()
#endif
}
}
m_args[0].m_cs->lock();
m_args[0].m_cs->setSharedParam(1, eGUIHelperIdle);
m_args[0].m_cs->unlock();
@@ -2845,7 +2844,7 @@ void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
//draw stuff and flush?
this->m_multiThreadedHelper->m_debugDraw->drawDebugDrawerLines();
m_args[0].m_debugDrawFlags = debugDrawFlags;
gEnableUpdateDebugDrawLines = true;
m_args[0].m_enableUpdateDebugDrawLines = true;
m_args[0].m_csGUI->unlock();
}
}

4
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -62,6 +62,8 @@ struct btContactSolverInfoData
btScalar m_singleAxisRollingFrictionThreshold;
btScalar m_leastSquaresResidualThreshold;
btScalar m_restitutionVelocityThreshold;
bool m_jointFeedbackInWorldSpace;
bool m_jointFeedbackInJointFrame;
};
struct btContactSolverInfo : public btContactSolverInfoData
@@ -94,6 +96,8 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_singleAxisRollingFrictionThreshold = 1e30f; ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
m_leastSquaresResidualThreshold = 0.f;
m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
m_jointFeedbackInWorldSpace = false;
m_jointFeedbackInJointFrame = false;
}
};

11
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -30,9 +30,6 @@
//#include "Bullet3Common/b3Logging.h"
// #define INCLUDE_GYRO_TERM
///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals
bool gJointFeedbackInWorldSpace = false;
bool gJointFeedbackInJointFrame = false;
namespace
{
@@ -721,7 +718,9 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v,
btAlignedObjectArray<btMatrix3x3> &scratch_m,
bool isConstraintPass)
bool isConstraintPass,
bool jointFeedbackInWorldSpace,
bool jointFeedbackInJointFrame)
{
// Implement Featherstone's algorithm to calculate joint accelerations (q_double_dot)
// and the base linear & angular accelerations.
@@ -1124,7 +1123,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
btVector3 angularBotVec = (spatInertia[i + 1] * spatAcc[i + 1] + zeroAccSpatFrc[i + 1]).m_bottomVec;
btVector3 linearTopVec = (spatInertia[i + 1] * spatAcc[i + 1] + zeroAccSpatFrc[i + 1]).m_topVec;
if (gJointFeedbackInJointFrame)
if (jointFeedbackInJointFrame)
{
//shift the reaction forces to the joint frame
//linear (force) component is the same
@@ -1132,7 +1131,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
angularBotVec = angularBotVec - linearTopVec.cross(m_links[i].m_dVector);
}
if (gJointFeedbackInWorldSpace)
if (jointFeedbackInWorldSpace)
{
if (isConstraintPass)
{

21
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -338,17 +338,20 @@ public:
btAlignedObjectArray<btScalar> & scratch_r,
btAlignedObjectArray<btVector3> & scratch_v,
btAlignedObjectArray<btMatrix3x3> & scratch_m,
bool isConstraintPass = false);
bool isConstraintPass,
bool jointFeedbackInWorldSpace,
bool jointFeedbackInJointFrame
);
///stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
void stepVelocitiesMultiDof(btScalar dt,
btAlignedObjectArray<btScalar> & scratch_r,
btAlignedObjectArray<btVector3> & scratch_v,
btAlignedObjectArray<btMatrix3x3> & scratch_m,
bool isConstraintPass = false)
{
computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass);
}
//void stepVelocitiesMultiDof(btScalar dt,
// btAlignedObjectArray<btScalar> & scratch_r,
// btAlignedObjectArray<btVector3> & scratch_v,
// btAlignedObjectArray<btMatrix3x3> & scratch_m,
// bool isConstraintPass = false)
//{
// computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass, false, false);
//}
// calcAccelerationDeltasMultiDof
// input: force vector (in same format as jacobian, i.e.:

31
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -491,11 +491,14 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
m_scratch_v.resize(bod->getNumLinks() + 1);
m_scratch_m.resize(bod->getNumLinks() + 1);
bool doNotUpdatePos = false;
bool isConstraintPass = false;
{
if (!bod->isUsingRK4Integration())
{
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
}
else
{
@@ -593,7 +596,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
btScalar h = solverInfo.m_timeStep;
#define output &m_scratch_r[bod->getNumDofs()]
//calc qdd0 from: q0 & qd0
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd0, 0, numDofs);
//calc q1 = q0 + h/2 * qd0
pResetQx();
@@ -603,7 +608,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
//
//calc qdd1 from: q1 & qd1
pCopyToVelocityVector(bod, scratch_qd1);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd1, 0, numDofs);
//calc q2 = q0 + h/2 * qd1
pResetQx();
@@ -613,7 +620,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
//
//calc qdd2 from: q2 & qd2
pCopyToVelocityVector(bod, scratch_qd2);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd2, 0, numDofs);
//calc q3 = q0 + h * qd2
pResetQx();
@@ -623,7 +632,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
//
//calc qdd3 from: q3 & qd3
pCopyToVelocityVector(bod, scratch_qd3);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
pCopy(output, scratch_qdd3, 0, numDofs);
//
@@ -660,7 +671,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
for (int link = 0; link < bod->getNumLinks(); ++link)
bod->getLink(link).updateCacheMultiDof();
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m,
isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
}
}
}
@@ -708,7 +721,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
if (!bod->isUsingRK4Integration())
{
bool isConstraintPass = true;
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
}
}
}

10
src/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
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@@ -198,12 +198,10 @@ static void* threadFunction(void* argument)
status->m_status = 3;
status->m_cs->unlock();
checkPThreadFunction(sem_post(status->m_mainSemaphore));
printf("Thread with taskId %i exiting\n", status->m_taskId);
break;
}
}
printf("Thread TERMINATED\n");
return 0;
}
@@ -272,7 +270,6 @@ void btThreadSupportPosix::waitForAllTasks()
void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructionInfo)
{
m_numThreads = btGetNumHardwareThreads() - 1; // main thread exists already
printf("%s creating %i threads.\n", __FUNCTION__, m_numThreads);
m_activeThreadStatus.resize(m_numThreads);
m_startedThreadsMask = 0;
@@ -281,7 +278,6 @@ void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructi
for (int i = 0; i < m_numThreads; i++)
{
printf("starting thread %d\n", i);
btThreadStatus& threadStatus = m_activeThreadStatus[i];
threadStatus.startSemaphore = createSem("threadLocal");
threadStatus.m_userPtr = 0;
@@ -294,7 +290,6 @@ void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructi
threadStatus.threadUsed = 0;
checkPThreadFunction(pthread_create(&threadStatus.thread, NULL, &threadFunction, (void*)&threadStatus));
printf("started thread %d \n", i);
}
}
@@ -304,20 +299,15 @@ void btThreadSupportPosix::stopThreads()
for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
{
btThreadStatus& threadStatus = m_activeThreadStatus[t];
printf("%s: Thread %i used: %ld\n", __FUNCTION__, int(t), threadStatus.threadUsed);
threadStatus.m_userPtr = 0;
checkPThreadFunction(sem_post(threadStatus.startSemaphore));
checkPThreadFunction(sem_wait(m_mainSemaphore));
printf("destroy semaphore\n");
destroySem(threadStatus.startSemaphore);
printf("semaphore destroyed\n");
checkPThreadFunction(pthread_join(threadStatus.thread, 0));
}
printf("destroy main semaphore\n");
destroySem(m_mainSemaphore);
printf("main semaphore destroyed\n");
m_activeThreadStatus.clear();
}