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- stop threads when exiting demo that uses multi threading

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- improved friction model for parallel solver (align the friction direction with projected velocity, unless the projection is close to zero (only then use 2 arbitrary axis orthogonal to contact normal)
This commit is contained in:
ejcoumans
2007-11-11 22:48:08 +00:00
parent 232f41353f
commit 56c69bc42e
6 changed files with 76 additions and 19 deletions
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20
Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
View File

@@ -1026,6 +1026,9 @@ void processSolverTask(void* userPtr, void* lsMemory)
btVector3 rel_pos1 = pos1 - rb0->getCenterOfMassPosition();
btVector3 rel_pos2 = pos2 - rb1->getCenterOfMassPosition();
btScalar rel_vel;
btVector3 vel;
// De-penetration
{
SpuSolverInternalConstraint& constraint = localMemory->m_tempInternalConstr[0];
@@ -1034,7 +1037,6 @@ void processSolverTask(void* userPtr, void* lsMemory)
constraint.m_localOffsetBodyB = offsB;
constraint.m_normal = cp.m_normalWorldOnB;
{
//can be optimized, the cross products are already calculated
constraint.m_jacDiagABInv = computeJacobianInverse (rb0, rb1, pos1, pos2, cp.m_normalWorldOnB);
@@ -1046,11 +1048,9 @@ void processSolverTask(void* userPtr, void* lsMemory)
btVector3 vel1 = rb0->getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = rb1->getVelocityInLocalPoint(rel_pos2);
btVector3 vel = vel1 - vel2;
btScalar rel_vel;
vel = vel1 - vel2;
rel_vel = cp.m_normalWorldOnB.dot(vel);
constraint.m_penetration = cp.getDistance();///btScalar(infoGlobal.m_numIterations);
constraint.m_friction = cp.m_combinedFriction;
float rest = - rel_vel * cp.m_combinedRestitution;
@@ -1082,8 +1082,16 @@ void processSolverTask(void* userPtr, void* lsMemory)
btVector3 frictionTangential0a, frictionTangential1b;
btPlaneSpace1(cp.m_normalWorldOnB,frictionTangential0a,frictionTangential1b);
frictionTangential0a = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = frictionTangential0a.length2();
if (lat_rel_vel > SIMD_EPSILON)//0.0f)
{
frictionTangential0a /= btSqrt(lat_rel_vel);
frictionTangential1b = frictionTangential0a.cross(cp.m_normalWorldOnB);
} else
{
btPlaneSpace1(cp.m_normalWorldOnB,frictionTangential0a,frictionTangential1b);
}
{
SpuSolverInternalConstraint& constraint = localMemory->m_tempInternalConstr[1];

36
Extras/BulletMultiThreaded/Win32ThreadSupport.cpp
View File

@@ -52,23 +52,27 @@ DWORD WINAPI Thread_no_1( LPVOID lpParam )
while (1)
{
WaitForSingleObject(status->m_eventStartHandle,INFINITE);
btAssert(status->m_status);
void* userPtr = status->m_userPtr;
if (userPtr)
{
btAssert(status->m_status);
status->m_userThreadFunc(userPtr,status->m_lsMemory);
status->m_status = 2;
SetEvent(status->m_eventCompletetHandle);
} else
{
//exit Thread
status->m_status = 3;
SetEvent(status->m_eventCompletetHandle);
printf("Thread with taskId %i with handle %i exiting\n",status->m_taskId, status->m_threadHandle);
break;
}
}
printf("Thread TERMINATED\n");
return 0;
}
@@ -202,7 +206,7 @@ void Win32ThreadSupport::startThreads(Win32ThreadConstructionInfo& threadConstru
SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
//SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
//SetThreadAffinityMask(handle, 1<<i);
SetThreadAffinityMask(handle, 1<<i);
spuStatus.m_taskId = i;
spuStatus.m_commandId = 0;
@@ -225,10 +229,28 @@ void Win32ThreadSupport::startSPU()
///tell the task scheduler we are done with the SPU tasks
void Win32ThreadSupport::stopSPU()
{
// m_activeSpuStatus.pop_back();
// WaitForSingleObject(spuStatus.bla, INFINITE);
// CloseHandle(spuStatus.m_threadHandle);
int i;
for (i=0;i<m_activeSpuStatus.size();i++)
{
btSpuStatus& spuStatus = m_activeSpuStatus[i];
if (spuStatus.m_status>0)
{
WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
}
spuStatus.m_userPtr = 0;
SetEvent(spuStatus.m_eventStartHandle);
WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
CloseHandle(spuStatus.m_eventCompletetHandle);
CloseHandle(spuStatus.m_eventStartHandle);
CloseHandle(spuStatus.m_threadHandle);
}
m_activeSpuStatus.clear();
m_completeHandles.clear();
}
#endif //USE_WIN32_THREADING