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Make btParallelConstraintSolver 64-bit ready

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add an optional assert method for the btCollisionDispatcher, to make sure the contact pool is contiguous (needed for btParallelConstraintSolver)
This commit is contained in:
erwin.coumans
2011-04-04 22:38:56 +00:00
parent d419f79770
commit 624dac6128
6 changed files with 81 additions and 24 deletions
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10
Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
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@@ -13,7 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
#define USE_PARALLEL_DISPATCHER 1
#include "btBulletDynamicsCommon.h"
@@ -290,7 +290,9 @@ void MultiThreadedDemo::initPhysics()
m_azi = 90.f;
m_dispatcher=0;
m_collisionConfiguration = new btDefaultCollisionConfiguration();
btDefaultCollisionConstructionInfo cci;
cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
m_collisionConfiguration = new btDefaultCollisionConfiguration(cci);
#ifdef USE_PARALLEL_DISPATCHER
int maxNumOutstandingTasks = 4;
@@ -352,6 +354,8 @@ m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32Threa
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
@@ -359,6 +363,8 @@ m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32Threa
#ifdef USE_PARALLEL_SOLVER
m_threadSupportSolver = createSolverThreadSupport(maxNumOutstandingTasks);
m_solver = new btParallelConstraintSolver(m_threadSupportSolver);
//this solver requires the contacts to be in a contiguous pool, so avoid dynamic allocation
m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
#else
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();

5
src/BulletCollision/BroadphaseCollision/btDispatcher.h
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@@ -26,6 +26,7 @@ class btOverlappingPairCache;
class btPersistentManifold;
class btStackAlloc;
class btPoolAllocator;
struct btDispatcherInfo
{
@@ -97,6 +98,10 @@ public:
virtual btPersistentManifold** getInternalManifoldPointer() = 0;
virtual btPoolAllocator* getInternalManifoldPool() = 0;
virtual const btPoolAllocator* getInternalManifoldPool() const = 0;
virtual void* allocateCollisionAlgorithm(int size) = 0;
virtual void freeCollisionAlgorithm(void* ptr) = 0;

12
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -92,8 +92,16 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
} else
{
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
if ((m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION)==0)
{
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
} else
{
btAssert(0);
//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
return 0;
}
}
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
manifold->m_index1a = m_manifoldsPtr.size();

13
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
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@@ -67,7 +67,8 @@ public:
enum DispatcherFlags
{
CD_STATIC_STATIC_REPORTED = 1,
CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2
CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
};
int getDispatcherFlags() const
@@ -155,6 +156,16 @@ public:
m_collisionConfiguration = config;
}
virtual btPoolAllocator* getInternalManifoldPool()
{
return m_persistentManifoldPoolAllocator;
}
virtual const btPoolAllocator* getInternalManifoldPool() const
{
return m_persistentManifoldPoolAllocator;
}
};
#endif //BT_COLLISION__DISPATCHER_H

61
src/BulletMultiThreaded/btParallelConstraintSolver.cpp
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@@ -17,6 +17,9 @@ subject to the following restrictions:
#include "btParallelConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "LinearMath/btPoolAllocator.h"
#include "LinearMath/btQuickprof.h"
#include "BulletMultiThreaded/btThreadSupportInterface.h"
@@ -153,9 +156,10 @@ void btSolveContactConstraint(
void CustomSolveConstraintsTaskParallel(
const PfxParallelGroup *contactParallelGroup,const PfxParallelBatch *contactParallelBatches,
PfxConstraintPair *contactPairs,uint32_t numContactPairs,
btPersistentManifold* offsetContactManifolds__,
btPersistentManifold* offsetContactManifolds,
const PfxParallelGroup *jointParallelGroup,const PfxParallelBatch *jointParallelBatches,
PfxConstraintPair *jointPairs,uint32_t numJointPairs,
btSolverConstraint* offsetSolverConstraints,
TrbState *offsetRigStates,
PfxSolverBody *offsetSolverBodies,
uint32_t numRigidBodies,
@@ -188,7 +192,7 @@ void CustomSolveConstraintsTaskParallel(
}
else {
btSolverConstraint* constraintRow = (btSolverConstraint*) pfxGetContactId1(pair);
btSolverConstraint* constraintRow = &offsetSolverConstraints[pfxGetContactId1(pair)];
int numRows = pfxGetNumConstraints(pair);
int i;
for (i=0;i<numRows;i++)
@@ -215,7 +219,7 @@ void CustomSolveConstraintsTaskParallel(
uint16_t iA = pfxGetRigidBodyIdA(pair);
uint16_t iB = pfxGetRigidBodyIdB(pair);
btPersistentManifold& contact = *(btPersistentManifold*)pfxGetConstraintId1(pair);
btPersistentManifold& contact = offsetContactManifolds[pfxGetConstraintId1(pair)];
PfxSolverBody &solverBodyA = offsetSolverBodies[iA];
@@ -396,6 +400,7 @@ void btSetupContactConstraint(
void CustomSetupContactConstraintsTask(
PfxConstraintPair *contactPairs,uint32_t numContactPairs,
btPersistentManifold* offsetContactManifolds,
TrbState *offsetRigStates,
PfxSolverBody *offsetSolverBodies,
uint32_t numRigidBodies,
@@ -412,7 +417,8 @@ void CustomSetupContactConstraintsTask(
uint16_t iA = pfxGetRigidBodyIdA(pair);
uint16_t iB = pfxGetRigidBodyIdB(pair);
btPersistentManifold &contact = *(btPersistentManifold*)pfxGetConstraintId1(pair);
int id = pfxGetConstraintId1(pair);
btPersistentManifold& contact = offsetContactManifolds[id];
TrbState &stateA = offsetRigStates[iA];
@@ -475,8 +481,8 @@ void SolverThreadFunc(void* userPtr,void* lsMemory)
io->solveConstraints.jointParallelBatches,
io->solveConstraints.jointPairs,
io->solveConstraints.numJointPairs,
io->solveConstraints.offsetRigStates,
io->solveConstraints.offsetSolverConstraints,
io->solveConstraints.offsetRigStates1,
io->solveConstraints.offsetSolverBodies,
io->solveConstraints.numRigidBodies,
io->solveConstraints.iteration,
@@ -518,7 +524,7 @@ void SolverThreadFunc(void* userPtr,void* lsMemory)
if(batch > 0) {
CustomSetupContactConstraintsTask(
io->setupContactConstraints.offsetContactPairs+start,batch,
// io->setupContactConstraints.offsetContactManifolds,
io->setupContactConstraints.offsetContactManifolds,
io->setupContactConstraints.offsetRigStates,
// io->setupContactConstraints.offsetRigBodies,
io->setupContactConstraints.offsetSolverBodies,
@@ -579,6 +585,7 @@ void CustomSetupContactConstraintsNew(
io[t].setupContactConstraints.offsetContactPairs = contactPairs1;
io[t].setupContactConstraints.numContactPairs1 = numContactPairs;
io[t].setupContactConstraints.offsetRigStates = offsetRigStates;
io[t].setupContactConstraints.offsetContactManifolds = offsetContactManifolds;
io[t].setupContactConstraints.offsetSolverBodies = offsetSolverBodies;
io[t].setupContactConstraints.numRigidBodies = numRigidBodies;
io[t].setupContactConstraints.separateBias = separationBias;
@@ -593,7 +600,7 @@ void CustomSetupContactConstraintsNew(
//#define SEQUENTIAL_SETUP
#ifdef SEQUENTIAL_SETUP
CustomSetupContactConstraintsTask(contactPairs1,numContactPairs,offsetRigStates,offsetSolverBodies,numRigidBodies,separationBias,timeStep);
CustomSetupContactConstraintsTask(contactPairs1,numContactPairs,offsetContactManifolds,offsetRigStates,offsetSolverBodies,numRigidBodies,separationBias,timeStep);
#else
threadSupport->sendRequest(1,(ppu_address_t)&io[t],t);
#endif
@@ -722,7 +729,8 @@ void CustomSolveConstraintsParallel(
PfxConstraintPair *contactPairs,uint32_t numContactPairs,
PfxConstraintPair *jointPairs,uint32_t numJointPairs,
btPersistentManifold* offsetContactManifolds,
btSolverConstraint* offsetSolverConstraints,
TrbState *offsetRigStates,
PfxSolverBody *offsetSolverBodies,
uint32_t numRigidBodies,
@@ -782,12 +790,13 @@ void CustomSolveConstraintsParallel(
io[t].solveConstraints.contactParallelBatches = cbatches;
io[t].solveConstraints.contactPairs = contactPairs;
io[t].solveConstraints.numContactPairs = numContactPairs;
// io[t].solveConstraints.offsetContactManifolds = offsetContactManifolds;
io[t].solveConstraints.offsetContactManifolds = offsetContactManifolds;
io[t].solveConstraints.jointParallelGroup = jgroup;
io[t].solveConstraints.jointParallelBatches = jbatches;
io[t].solveConstraints.jointPairs = jointPairs;
io[t].solveConstraints.numJointPairs = numJointPairs;
io[t].solveConstraints.offsetRigStates = offsetRigStates;
io[t].solveConstraints.offsetSolverConstraints = offsetSolverConstraints;
io[t].solveConstraints.offsetRigStates1 = offsetRigStates;
io[t].solveConstraints.offsetSolverBodies = offsetSolverBodies;
io[t].solveConstraints.numRigidBodies = numRigidBodies;
io[t].solveConstraints.iteration = iteration;
@@ -856,10 +865,11 @@ void CustomSolveConstraintsParallel(
void BPE_customConstraintSolverSequentialNew(unsigned int new_num, PfxBroadphasePair *new_pairs1 ,
btPersistentManifold* offsetContactManifolds,
TrbState* states,int numRigidBodies,
struct PfxSolverBody* solverBodies,
btPersistentManifold* contacts,
PfxConstraintPair* jointPairs, unsigned int numJoints,
btSolverConstraint* offsetSolverConstraints,
float separateBias,
float timeStep,
int iteration,
@@ -908,7 +918,8 @@ void BPE_customConstraintSolverSequentialNew(unsigned int new_num, PfxBroadphase
timeStep);
#else
CustomSetupContactConstraintsNew(
(PfxConstraintPair*)new_pairs1,new_num,contacts,
(PfxConstraintPair*)new_pairs1,new_num,
offsetContactManifolds,
states,
solverBodies,
numRigidBodies,
@@ -939,6 +950,8 @@ void BPE_customConstraintSolverSequentialNew(unsigned int new_num, PfxBroadphase
CustomSolveConstraintsParallel(
(PfxConstraintPair*)new_pairs1,new_num,
jointPairs,numJoints,
offsetContactManifolds,
offsetSolverConstraints,
states,
solverBodies,
numRigidBodies,
@@ -1002,6 +1015,8 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
int sz7 = sizeof(TrbState);
*/
btPersistentManifold* offsetContactManifolds= (btPersistentManifold*) dispatcher->getInternalManifoldPool()->getPoolAddress();
m_memoryCache->m_mysolverbodies.resize(numRigidBodies);
m_memoryCache->m_mystates.resize(numRigidBodies);
@@ -1122,8 +1137,9 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
pfxSetActive(pair,numPosPoints>0);
pfxSetBroadphaseFlag(pair,0);
int contactId = m-offsetContactManifolds;
pfxSetContactId(pair,(uint64_t)m);//contactId);
pfxSetContactId(pair,contactId);
pfxSetNumConstraints(pair,numPosPoints);//manifoldPtr[i]->getNumContacts());
actualNumManifolds++;
}
@@ -1136,10 +1152,13 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
int actualNumJoints=0;
btSolverConstraint* offsetSolverConstraints = 0;
//if (1)
{
BT_PROFILE("convert constraints");
{
BT_PROFILE("convert constraints");
int totalNumRows = 0;
int i;
@@ -1153,6 +1172,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
totalNumRows += info1.m_numConstraintRows;
}
m_tmpSolverNonContactConstraintPool.resize(totalNumRows);
offsetSolverConstraints = &m_tmpSolverNonContactConstraintPool[0];
///setup the btSolverConstraints
@@ -1281,7 +1301,8 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
pfxSetMotionMaskB(pair,m_memoryCache->m_mystates[idB].getMotionMask());
pfxSetActive(pair,true);
pfxSetContactId(pair,(uint64_t)currentConstraintRow);//contactId);
int id = currentConstraintRow-offsetSolverConstraints;
pfxSetContactId(pair,id);
actualNumJoints++;
@@ -1326,13 +1347,17 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
// PFX_PRINTF("num points = %d\n",totalPoints);
// PFX_PRINTF("num points PFX = %d\n",total);
BPE_customConstraintSolverSequentialNew(
actualNumManifolds,
&m_memoryCache->m_mypairs[0],
offsetContactManifolds,
&m_memoryCache->m_mystates[0],numRigidBodies,
&m_memoryCache->m_mysolverbodies[0],
0,//manifoldArray,
jointPairs,actualNumJoints,separateBias,timeStep,iteration,
jointPairs,actualNumJoints,
offsetSolverConstraints,
separateBias,timeStep,iteration,
m_solverThreadSupport,m_criticalSection,m_solverIO,m_barrier);
}
}

4
src/BulletMultiThreaded/btParallelConstraintSolver.h
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@@ -197,6 +197,7 @@ enum {
struct PfxSetupContactConstraintsIO {
PfxConstraintPair *offsetContactPairs;
uint32_t numContactPairs1;
btPersistentManifold* offsetContactManifolds;
class TrbState *offsetRigStates;
struct PfxSolverBody *offsetSolverBodies;
uint32_t numRigidBodies;
@@ -217,7 +218,8 @@ struct PfxSolveConstraintsIO {
PfxParallelBatch *jointParallelBatches;
PfxConstraintPair *jointPairs;
uint32_t numJointPairs;
TrbState *offsetRigStates;
struct btSolverConstraint* offsetSolverConstraints;
TrbState *offsetRigStates1;
PfxSolverBody *offsetSolverBodies;
uint32_t numRigidBodies;
uint32_t iteration;