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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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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);
}
}