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Fixes for broadphase/paircache determinism.

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Revert definition for ATTRIBUTE_ALIGNED16, and try to force sizeof(btSolverConstraint) by using unions with btScalar, for non-btScalar data types.
Use btAssert and not assert.
Don't access btAlignedObjectArray elements, for zero sets
This commit is contained in:
erwin.coumans
2009-02-10 23:50:21 +00:00
parent be3260280a
commit 7a2a98078a
35 changed files with 323 additions and 205 deletions
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10
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
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@@ -22,7 +22,7 @@ subject to the following restrictions:
#include "LinearMath/btMinMax.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#define ASSERT2 assert
#define ASSERT2 btAssert
#define USE_INTERNAL_APPLY_IMPULSE 1
@@ -114,7 +114,7 @@ btScalar resolveSingleCollision(
btScalar Kcor = Kerp *Kfps;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
btAssert(cpd);
btScalar distance = cpd->m_penetration;
btScalar positionalError = Kcor *-distance;
btScalar velocityError = cpd->m_restitution - rel_vel;// * damping;
@@ -166,7 +166,7 @@ btScalar resolveSingleFriction(
btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
btAssert(cpd);
btScalar combinedFriction = cpd->m_friction;
@@ -255,7 +255,7 @@ btScalar resolveSingleFrictionOriginal(
btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
btAssert(cpd);
btScalar combinedFriction = cpd->m_friction;
@@ -337,7 +337,7 @@ btScalar resolveSingleCollisionCombined(
btScalar Kcor = Kerp *Kfps;
btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
btAssert(cpd);
btScalar distance = cpd->m_penetration;
btScalar positionalError = Kcor *-distance;
btScalar velocityError = cpd->m_restitution - rel_vel;// * damping;

7
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -262,7 +262,6 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_FRICTION_1D;
solverConstraint.m_frictionIndex = frictionIndex;
solverConstraint.m_friction = cp.m_combinedFriction;
@@ -465,6 +464,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
info2.m_J2linearAxis = 0;
info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
///the size of btSolverConstraint needs be a multiple of btScalar
btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
info2.m_constraintError = &currentConstraintRow->m_rhs;
info2.cfm = &currentConstraintRow->m_cfm;
info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
@@ -581,7 +582,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_CONTACT_1D;
solverConstraint.m_originalContactPoint = &cp;
@@ -945,6 +945,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
{
BT_PROFILE("solveGroup");
//we only implement SOLVER_CACHE_FRIENDLY now
//you need to provide at least some bodies

7
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -49,9 +49,10 @@ struct btSimdScalar
}
union
{
__m128 m_vec128;
float m_floats[4];
int m_ints[4];
__m128 m_vec128;
float m_floats[4];
int m_ints[4];
btScalar m_unusedPadding;
};
SIMD_FORCE_INLINE __m128 get128()
{

32
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -37,22 +37,40 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
//btVector3 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
btVector3 m_angularComponentB;
mutable btSimdScalar m_appliedPushImpulse;
mutable btSimdScalar m_appliedImpulse;
int m_solverBodyIdA;
int m_solverBodyIdB;
btScalar m_friction;
btScalar m_restitution;
btScalar m_jacDiagABInv;
btScalar m_penetration;
int m_constraintType;
int m_frictionIndex;
void* m_originalContactPoint;
union
{
int m_frictionIndex;
btScalar m_unusedPadding1;
};
union
{
int m_solverBodyIdA;
btScalar m_unusedPadding2;
};
union
{
int m_solverBodyIdB;
btScalar m_unusedPadding3;
};
union
{
void* m_originalContactPoint;
btScalar m_unusedPadding4;
};
btScalar m_rhs;
btScalar m_cfm;
btScalar m_lowerLimit;

2
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
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@@ -67,7 +67,7 @@ public:
int m_numConstraintRows,nub;
};
ATTRIBUTE_ALIGNED16(struct) btConstraintInfo2 {
struct btConstraintInfo2 {
// integrator parameters: frames per second (1/stepsize), default error
// reduction parameter (0..1).
btScalar fps,erp;

18
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
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@@ -110,16 +110,16 @@ void plDeleteDynamicsWorld(plDynamicsWorldHandle world)
void plStepSimulation(plDynamicsWorldHandle world, plReal timeStep)
{
btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
assert(dynamicsWorld);
btAssert(dynamicsWorld);
dynamicsWorld->stepSimulation(timeStep);
}
void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
{
btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
assert(dynamicsWorld);
btAssert(dynamicsWorld);
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
assert(body);
btAssert(body);
dynamicsWorld->addRigidBody(body);
}
@@ -127,9 +127,9 @@ void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
{
btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
assert(dynamicsWorld);
btAssert(dynamicsWorld);
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
assert(body);
btAssert(body);
dynamicsWorld->removeRigidBody(body);
}
@@ -142,7 +142,7 @@ plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionSh
trans.setIdentity();
btVector3 localInertia(0,0,0);
btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
assert(shape);
btAssert(shape);
if (mass)
{
shape->calculateLocalInertia(mass,localInertia);
@@ -158,7 +158,7 @@ plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionSh
void plDeleteRigidBody(plRigidBodyHandle cbody)
{
btRigidBody* body = reinterpret_cast< btRigidBody* >(cbody);
assert(body);
btAssert(body);
btAlignedFree( body);
}
@@ -262,13 +262,13 @@ void plAddVertex(plCollisionShapeHandle cshape, plReal x,plReal y,plReal z)
void plDeleteShape(plCollisionShapeHandle cshape)
{
btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
assert(shape);
btAssert(shape);
btAlignedFree(shape);
}
void plSetScaling(plCollisionShapeHandle cshape, plVector3 cscaling)
{
btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
assert(shape);
btAssert(shape);
btVector3 scaling(cscaling[0],cscaling[1],cscaling[2]);
shape->setLocalScaling(scaling);
}

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -712,7 +712,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
sortedConstraints[i] = m_constraints[i];
}
// assert(0);
// btAssert(0);

8
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -87,7 +87,7 @@ btWheelInfo& btRaycastVehicle::addWheel( const btVector3& connectionPointCS, con
const btTransform& btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
{
assert(wheelIndex < getNumWheels());
btAssert(wheelIndex < getNumWheels());
const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
return wheel.m_worldTransform;
@@ -175,7 +175,7 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
btVehicleRaycaster::btVehicleRaycasterResult rayResults;
assert(m_vehicleRaycaster);
btAssert(m_vehicleRaycaster);
void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
@@ -359,7 +359,7 @@ void btRaycastVehicle::updateVehicle( btScalar step )
void btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
{
assert(wheel>=0 && wheel < getNumWheels());
btAssert(wheel>=0 && wheel < getNumWheels());
btWheelInfo& wheelInfo = getWheelInfo(wheel);
wheelInfo.m_steering = steering;
@@ -375,7 +375,7 @@ btScalar btRaycastVehicle::getSteeringValue(int wheel) const
void btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
{
assert(wheel>=0 && wheel < getNumWheels());
btAssert(wheel>=0 && wheel < getNumWheels());
btWheelInfo& wheelInfo = getWheelInfo(wheel);
wheelInfo.m_engineForce = force;
}