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revert constraint solver changes to allow block solver, since it breaks the multithreaded solver.

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(re-enable if/when we can redo those changes without breaking multithreading)
This commit is contained in:
Erwin Coumans
2019-09-11 08:39:05 -07:00
parent db9bc4f835
commit 93810cb09a
3 changed files with 170 additions and 800 deletions
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825
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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124
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -29,68 +29,6 @@ class btCollisionObject;
typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
struct btSISolverSingleIterationData
{
btAlignedObjectArray<btSolverBody>& m_tmpSolverBodyPool;
btConstraintArray& m_tmpSolverContactConstraintPool;
btConstraintArray& m_tmpSolverNonContactConstraintPool;
btConstraintArray& m_tmpSolverContactFrictionConstraintPool;
btConstraintArray& m_tmpSolverContactRollingFrictionConstraintPool;
btAlignedObjectArray<int>& m_orderTmpConstraintPool;
btAlignedObjectArray<int>& m_orderNonContactConstraintPool;
btAlignedObjectArray<int>& m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& m_tmpConstraintSizesPool;
unsigned long& m_seed;
btSingleConstraintRowSolver& m_resolveSingleConstraintRowGeneric;
btSingleConstraintRowSolver& m_resolveSingleConstraintRowLowerLimit;
btSingleConstraintRowSolver& m_resolveSplitPenetrationImpulse;
btAlignedObjectArray<int>& m_kinematicBodyUniqueIdToSolverBodyTable;
int& m_fixedBodyId;
int& m_maxOverrideNumSolverIterations;
int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep);
static void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep);
int getSolverBody(btCollisionObject& body) const;
btSISolverSingleIterationData(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
btConstraintArray& tmpSolverContactConstraintPool,
btConstraintArray& tmpSolverNonContactConstraintPool,
btConstraintArray& tmpSolverContactFrictionConstraintPool,
btConstraintArray& tmpSolverContactRollingFrictionConstraintPool,
btAlignedObjectArray<int>& orderTmpConstraintPool,
btAlignedObjectArray<int>& orderNonContactConstraintPool,
btAlignedObjectArray<int>& orderFrictionConstraintPool,
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& tmpConstraintSizesPool,
btSingleConstraintRowSolver& resolveSingleConstraintRowGeneric,
btSingleConstraintRowSolver& resolveSingleConstraintRowLowerLimit,
btSingleConstraintRowSolver& resolveSplitPenetrationImpulse,
btAlignedObjectArray<int>& kinematicBodyUniqueIdToSolverBodyTable,
unsigned long& seed,
int& fixedBodyId,
int& maxOverrideNumSolverIterations
)
:m_tmpSolverBodyPool(tmpSolverBodyPool),
m_tmpSolverContactConstraintPool(tmpSolverContactConstraintPool),
m_tmpSolverNonContactConstraintPool(tmpSolverNonContactConstraintPool),
m_tmpSolverContactFrictionConstraintPool(tmpSolverContactFrictionConstraintPool),
m_tmpSolverContactRollingFrictionConstraintPool(tmpSolverContactRollingFrictionConstraintPool),
m_orderTmpConstraintPool(orderTmpConstraintPool),
m_orderNonContactConstraintPool(orderNonContactConstraintPool),
m_orderFrictionConstraintPool(orderFrictionConstraintPool),
m_tmpConstraintSizesPool(tmpConstraintSizesPool),
m_seed(seed),
m_resolveSingleConstraintRowGeneric(resolveSingleConstraintRowGeneric),
m_resolveSingleConstraintRowLowerLimit(resolveSingleConstraintRowLowerLimit),
m_resolveSplitPenetrationImpulse(resolveSplitPenetrationImpulse),
m_kinematicBodyUniqueIdToSolverBodyTable(kinematicBodyUniqueIdToSolverBodyTable),
m_fixedBodyId(fixedBodyId),
m_maxOverrideNumSolverIterations(maxOverrideNumSolverIterations)
{
}
};
struct btSolverAnalyticsData struct btSolverAnalyticsData
{ {
btSolverAnalyticsData() btSolverAnalyticsData()
@@ -178,7 +116,6 @@ protected:
virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal); virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal);
virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint) btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint)
@@ -204,8 +141,7 @@ protected:
return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint); return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
} }
public: protected:
void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
@@ -213,7 +149,6 @@ public:
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
@@ -225,51 +160,12 @@ public:
virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
static btScalar solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
static void convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
static void convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
static void convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
static void setupContactConstraintInternal(btSISolverSingleIterationData& siData, btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation,
const btVector3& rel_pos1, const btVector3& rel_pos2);
static btScalar restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
static btSolverConstraint& addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.);
static void setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB,
btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
btScalar desiredVelocity, btScalar cfmSlip);
static void setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip);
static btSolverConstraint& addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
static void setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool,
btSolverConstraint& solverConstraint,
int solverBodyIdA, int solverBodyIdB,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
static void convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
int& maxOverrideNumSolverIterations,
btSolverConstraint* currentConstraintRow,
btTypedConstraint* constraint,
const btTypedConstraint::btConstraintInfo1& info1,
int solverBodyIdA,
int solverBodyIdB,
const btContactSolverInfo& infoGlobal);
static btScalar solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
static void writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
static void writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
static void writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
static void solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
///clear internal cached data and reset random seed ///clear internal cached data and reset random seed
virtual void reset(); virtual void reset();
unsigned long btRand2(); unsigned long btRand2();
int btRandInt2(int n);
static unsigned long btRand2a(unsigned long& seed); int btRandInt2(int n);
static int btRandInt2a(int n, unsigned long& seed);
void setRandSeed(unsigned long seed) void setRandSeed(unsigned long seed)
{ {
@@ -305,18 +201,14 @@ public:
///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4 ///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4
static btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
static btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4 ///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4
static btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
static btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric();
static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric();
btSolverAnalyticsData m_analyticsData; btSolverAnalyticsData m_analyticsData;
}; };

21
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h
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@@ -46,31 +46,14 @@ protected:
void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
{ {
btSISolverSingleIterationData siData(m_tmpSolverBodyPool,
m_tmpSolverContactConstraintPool,
m_tmpSolverNonContactConstraintPool,
m_tmpSolverContactFrictionConstraintPool,
m_tmpSolverContactRollingFrictionConstraintPool,
m_orderTmpConstraintPool,
m_orderNonContactConstraintPool,
m_orderFrictionConstraintPool,
m_tmpConstraintSizesPool,
m_resolveSingleConstraintRowGeneric,
m_resolveSingleConstraintRowLowerLimit,
m_resolveSplitPenetrationImpulse,
m_kinematicBodyUniqueIdToSolverBodyTable,
m_btSeed2,
m_fixedBodyId,
m_maxOverrideNumSolverIterations);
for (int i = 0; i < numBodies; i++) for (int i = 0; i < numBodies; i++)
{ {
int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
btRigidBody* body = btRigidBody::upcast(bodies[i]); btRigidBody* body = btRigidBody::upcast(bodies[i]);
if (body && body->getInvMass()) if (body && body->getInvMass())
{ {
btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity; solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity;
solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity;
} }