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- removed warnings in GLUI, thanks Jorrit Tyberghein for the patch!

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- removed memory leaks from BasicDemo and Bullet library (other demos needs to be cleaned up!)
- added memory leak debugging functionality in btAlignedAlloc.h: #define BT_DEBUG_MEMORY_ALLOCATIONS
This commit is contained in:
ejcoumans
2007-10-31 08:00:03 +00:00
parent 42fc5b37cc
commit a101719687
15 changed files with 374 additions and 152 deletions
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122
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -124,6 +124,10 @@ m_btSeed2(0)
}
}
btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
{
}
void initSolverBody(btSolverBody* solverBody, btRigidBody* rigidbody)
{
@@ -360,18 +364,14 @@ btScalar resolveSingleFrictionCacheFriendly(
#endif //NO_FRICTION_TANGENTIALS
btAlignedObjectArray<btSolverBody> tmpSolverBodyPool;
btAlignedObjectArray<btSolverConstraint> tmpSolverConstraintPool;
btAlignedObjectArray<btSolverConstraint> tmpSolverFrictionConstraintPool;
btAlignedObjectArray<int> gOrderTmpConstraintPool;
btAlignedObjectArray<int> gOrderFrictionConstraintPool;
void addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btRigidBody* rb0,btRigidBody* rb1, btScalar relaxation)
void btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btRigidBody* rb0,btRigidBody* rb1, btScalar relaxation)
{
btSolverConstraint& solverConstraint = tmpSolverFrictionConstraintPool.expand();
btSolverConstraint& solverConstraint = m_tmpSolverFrictionConstraintPool.expand();
solverConstraint.m_contactNormal = normalAxis;
solverConstraint.m_solverBodyIdA = solverBodyIdA;
@@ -469,7 +469,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
//todo: use stack allocator for this temp memory
int minReservation = numManifolds*2;
//tmpSolverBodyPool.reserve(minReservation);
//m_tmpSolverBodyPool.reserve(minReservation);
//don't convert all bodies, only the one we need so solver the constraints
/*
@@ -480,8 +480,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
if (rb && (rb->getIslandTag() >= 0))
{
btAssert(rb->getCompanionId() < 0);
int solverBodyId = tmpSolverBodyPool.size();
btSolverBody& solverBody = tmpSolverBodyPool.expand();
int solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody(&solverBody,rb);
rb->setCompanionId(solverBodyId);
}
@@ -489,8 +489,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
*/
//tmpSolverConstraintPool.reserve(minReservation);
//tmpSolverFrictionConstraintPool.reserve(minReservation);
//m_tmpSolverConstraintPool.reserve(minReservation);
//m_tmpSolverFrictionConstraintPool.reserve(minReservation);
{
int i;
@@ -519,16 +519,16 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverBodyIdA = rb0->getCompanionId();
} else
{
solverBodyIdA = tmpSolverBodyPool.size();
btSolverBody& solverBody = tmpSolverBodyPool.expand();
solverBodyIdA = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody(&solverBody,rb0);
rb0->setCompanionId(solverBodyIdA);
}
} else
{
//create a static body
solverBodyIdA = tmpSolverBodyPool.size();
btSolverBody& solverBody = tmpSolverBodyPool.expand();
solverBodyIdA = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody(&solverBody,rb0);
}
@@ -539,16 +539,16 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverBodyIdB = rb1->getCompanionId();
} else
{
solverBodyIdB = tmpSolverBodyPool.size();
btSolverBody& solverBody = tmpSolverBodyPool.expand();
solverBodyIdB = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody(&solverBody,rb1);
rb1->setCompanionId(solverBodyIdB);
}
} else
{
//create a static body
solverBodyIdB = tmpSolverBodyPool.size();
btSolverBody& solverBody = tmpSolverBodyPool.expand();
solverBodyIdB = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody(&solverBody,rb1);
}
}
@@ -580,10 +580,10 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btScalar rel_vel;
btVector3 vel;
int frictionIndex = tmpSolverConstraintPool.size();
int frictionIndex = m_tmpSolverConstraintPool.size();
{
btSolverConstraint& solverConstraint = tmpSolverConstraintPool.expand();
btSolverConstraint& solverConstraint = m_tmpSolverConstraintPool.expand();
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
@@ -690,21 +690,21 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
int numConstraintPool = tmpSolverConstraintPool.size();
int numFrictionPool = tmpSolverFrictionConstraintPool.size();
int numConstraintPool = m_tmpSolverConstraintPool.size();
int numFrictionPool = m_tmpSolverFrictionConstraintPool.size();
///todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
gOrderTmpConstraintPool.resize(numConstraintPool);
gOrderFrictionConstraintPool.resize(numFrictionPool);
m_orderTmpConstraintPool.resize(numConstraintPool);
m_orderFrictionConstraintPool.resize(numFrictionPool);
{
int i;
for (i=0;i<numConstraintPool;i++)
{
gOrderTmpConstraintPool[i] = i;
m_orderTmpConstraintPool[i] = i;
}
for (i=0;i<numFrictionPool;i++)
{
gOrderFrictionConstraintPool[i] = i;
m_orderFrictionConstraintPool[i] = i;
}
}
@@ -719,8 +719,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
BEGIN_PROFILE("solveConstraintsIterations");
int numConstraintPool = tmpSolverConstraintPool.size();
int numFrictionPool = tmpSolverFrictionConstraintPool.size();
int numConstraintPool = m_tmpSolverConstraintPool.size();
int numFrictionPool = m_tmpSolverFrictionConstraintPool.size();
//should traverse the contacts random order...
int iteration;
@@ -733,17 +733,17 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
{
if ((iteration & 7) == 0) {
for (j=0; j<numConstraintPool; ++j) {
int tmp = gOrderTmpConstraintPool[j];
int tmp = m_orderTmpConstraintPool[j];
int swapi = btRandInt2(j+1);
gOrderTmpConstraintPool[j] = gOrderTmpConstraintPool[swapi];
gOrderTmpConstraintPool[swapi] = tmp;
m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
m_orderTmpConstraintPool[swapi] = tmp;
}
for (j=0; j<numFrictionPool; ++j) {
int tmp = gOrderFrictionConstraintPool[j];
int tmp = m_orderFrictionConstraintPool[j];
int swapi = btRandInt2(j+1);
gOrderFrictionConstraintPool[j] = gOrderFrictionConstraintPool[swapi];
gOrderFrictionConstraintPool[swapi] = tmp;
m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
m_orderFrictionConstraintPool[swapi] = tmp;
}
}
}
@@ -755,47 +755,47 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
if ((constraint->getRigidBodyA().getIslandTag() >= 0) && (constraint->getRigidBodyA().getCompanionId() >= 0))
{
tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].writebackVelocity();
m_tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].writebackVelocity();
}
if ((constraint->getRigidBodyB().getIslandTag() >= 0) && (constraint->getRigidBodyB().getCompanionId() >= 0))
{
tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].writebackVelocity();
m_tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].writebackVelocity();
}
constraint->solveConstraint(infoGlobal.m_timeStep);
if ((constraint->getRigidBodyA().getIslandTag() >= 0) && (constraint->getRigidBodyA().getCompanionId() >= 0))
{
tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].readVelocity();
m_tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].readVelocity();
}
if ((constraint->getRigidBodyB().getIslandTag() >= 0) && (constraint->getRigidBodyB().getCompanionId() >= 0))
{
tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].readVelocity();
m_tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].readVelocity();
}
}
{
int numPoolConstraints = tmpSolverConstraintPool.size();
int numPoolConstraints = m_tmpSolverConstraintPool.size();
for (j=0;j<numPoolConstraints;j++)
{
const btSolverConstraint& solveManifold = tmpSolverConstraintPool[gOrderTmpConstraintPool[j]];
resolveSingleCollisionCombinedCacheFriendly(tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal);
const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[m_orderTmpConstraintPool[j]];
resolveSingleCollisionCombinedCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal);
}
}
{
int numFrictionPoolConstraints = tmpSolverFrictionConstraintPool.size();
int numFrictionPoolConstraints = m_tmpSolverFrictionConstraintPool.size();
for (j=0;j<numFrictionPoolConstraints;j++)
{
const btSolverConstraint& solveManifold = tmpSolverFrictionConstraintPool[gOrderFrictionConstraintPool[j]];
const btSolverConstraint& solveManifold = m_tmpSolverFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
resolveSingleFrictionCacheFriendly(tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal,
tmpSolverConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse);
resolveSingleFrictionCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal,
m_tmpSolverConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse);
}
}
@@ -819,29 +819,29 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
BEGIN_PROFILE("solveWriteBackVelocity");
for ( i=0;i<tmpSolverBodyPool.size();i++)
for ( i=0;i<m_tmpSolverBodyPool.size();i++)
{
tmpSolverBodyPool[i].writebackVelocity();
m_tmpSolverBodyPool[i].writebackVelocity();
}
END_PROFILE("solveWriteBackVelocity");
// printf("tmpSolverConstraintPool.size() = %i\n",tmpSolverConstraintPool.size());
// printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size());
/*
printf("tmpSolverBodyPool.size() = %i\n",tmpSolverBodyPool.size());
printf("tmpSolverConstraintPool.size() = %i\n",tmpSolverConstraintPool.size());
printf("tmpSolverFrictionConstraintPool.size() = %i\n",tmpSolverFrictionConstraintPool.size());
printf("m_tmpSolverBodyPool.size() = %i\n",m_tmpSolverBodyPool.size());
printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size());
printf("m_tmpSolverFrictionConstraintPool.size() = %i\n",m_tmpSolverFrictionConstraintPool.size());
printf("tmpSolverBodyPool.capacity() = %i\n",tmpSolverBodyPool.capacity());
printf("tmpSolverConstraintPool.capacity() = %i\n",tmpSolverConstraintPool.capacity());
printf("tmpSolverFrictionConstraintPool.capacity() = %i\n",tmpSolverFrictionConstraintPool.capacity());
printf("m_tmpSolverBodyPool.capacity() = %i\n",m_tmpSolverBodyPool.capacity());
printf("m_tmpSolverConstraintPool.capacity() = %i\n",m_tmpSolverConstraintPool.capacity());
printf("m_tmpSolverFrictionConstraintPool.capacity() = %i\n",m_tmpSolverFrictionConstraintPool.capacity());
*/
tmpSolverBodyPool.resize(0);
tmpSolverConstraintPool.resize(0);
tmpSolverFrictionConstraintPool.resize(0);
m_tmpSolverBodyPool.resize(0);
m_tmpSolverConstraintPool.resize(0);
m_tmpSolverFrictionConstraintPool.resize(0);
return 0.f;

13
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -19,7 +19,8 @@ subject to the following restrictions:
#include "btConstraintSolver.h"
class btIDebugDraw;
#include "btContactConstraint.h"
#include "btSolverBody.h"
#include "btSolverConstraint.h"
/// btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
@@ -29,10 +30,18 @@ class btIDebugDraw;
class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
btAlignedObjectArray<btSolverConstraint> m_tmpSolverConstraintPool;
btAlignedObjectArray<btSolverConstraint> m_tmpSolverFrictionConstraintPool;
btAlignedObjectArray<int> m_orderTmpConstraintPool;
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
protected:
btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
void prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
void addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btRigidBody* rb0,btRigidBody* rb1, btScalar relaxation);
ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
@@ -68,7 +77,7 @@ public:
m_frictionDispatch[type0][type1] = func;
}
virtual ~btSequentialImpulseConstraintSolver() {}
virtual ~btSequentialImpulseConstraintSolver();
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);