Add PhysicsEffects to Extras. The build is only tested on Windows and Android.
The Android/NEON optimized version of Physics Effects is thanks to Graham Rhodes and Anthony Hamilton, See Issue 587
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erwin.coumans
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/*
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Copyright (C) 2010 Sony Computer Entertainment Inc.
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All rights reserved.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btLowLevelConstraintSolver2.h"
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#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
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#include "LinearMath/btQuickprof.h"
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#include "BulletMultiThreaded/btThreadSupportInterface.h"
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#include "BulletMultiThreaded/HeapManager.h"
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#include "BulletMultiThreaded/PlatformDefinitions.h"
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#include "BulletPhysicsEffects/btLowLevelData.h"
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#include "BulletMultiThreaded/vectormath2bullet.h"
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//#include "PfxSimdUtils.h"
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#include "LinearMath/btScalar.h"
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#include "BulletMultiThreaded/HeapManager.h"
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/////////////////
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#define TMP_BUFF_BYTES (15*1024*1024)
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static unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
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btLowLevelConstraintSolver2::btLowLevelConstraintSolver2(btLowLevelData* lowLevelData)
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:m_lowLevelData(lowLevelData)
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{
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}
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btLowLevelConstraintSolver2::~btLowLevelConstraintSolver2()
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{
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}
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static void solveConstraints(btLowLevelData* lowLevelData, btScalar timeStep, btScalar separateBias, int iteration)
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{
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PfxPerfCounter pc;
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HeapManager pool((unsigned char*)tmp_buff,TMP_BUFF_BYTES);
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unsigned int numCurrentPairs = lowLevelData->m_numPairs[lowLevelData->m_pairSwap];
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PfxBroadphasePair *currentPairs = lowLevelData->m_pairsBuff[lowLevelData->m_pairSwap];
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pc.countBegin("setup solver bodies");
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{
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PfxSetupSolverBodiesParam param;
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param.states = lowLevelData->m_states;
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param.bodies = lowLevelData->m_bodies;
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param.solverBodies = lowLevelData->m_solverBodies;
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param.numRigidBodies = lowLevelData->m_numRigidBodies;
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int ret = pfxSetupSolverBodies(param);
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if(ret != SCE_PFX_OK)
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SCE_PFX_PRINTF("pfxSetupSolverBodies failed %d\n",ret);
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}
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pc.countEnd();
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pc.countBegin("setup contact constraints");
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{
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PfxSetupContactConstraintsParam param;
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param.contactPairs = currentPairs;
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param.numContactPairs = numCurrentPairs;
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param.offsetContactManifolds = lowLevelData->m_contacts;
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param.offsetRigidStates = lowLevelData->m_states;
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param.offsetRigidBodies = lowLevelData->m_bodies;
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param.offsetSolverBodies = lowLevelData->m_solverBodies;
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param.numRigidBodies = lowLevelData->m_numRigidBodies;
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param.timeStep = timeStep;
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param.separateBias = separateBias;
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int ret = pfxSetupContactConstraints(param);
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if(ret != SCE_PFX_OK) SCE_PFX_PRINTF("pfxSetupJointConstraints failed %d\n",ret);
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}
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pc.countEnd();
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#if 0
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pc.countBegin("setup joint constraints");
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{
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PfxSetupJointConstraintsParam param;
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param.jointPairs = 0;//jointPairs;
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param.numJointPairs = 0;//numJoints;
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param.offsetJoints = 0;//joints;
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param.offsetRigidStates = lowLevelData->m_states;
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param.offsetRigidBodies = lowLevelData->m_bodies;
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param.offsetSolverBodies = lowLevelData->m_solverBodies;
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param.numRigidBodies = lowLevelData->m_numRigidBodies;
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param.timeStep = timeStep;
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for(int i=0;i<numJoints;i++) {
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pfxUpdateJointPairs(jointPairs[i],i,joints[i],states[joints[i].m_rigidBodyIdA],states[joints[i].m_rigidBodyIdB]);
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}
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int ret = pfxSetupJointConstraints(param);
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if(ret != SCE_PFX_OK) SCE_PFX_PRINTF("pfxSetupJointConstraints failed %d\n",ret);
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}
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pc.countEnd();
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#endif
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pc.countBegin("solve constraints");
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{
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PfxSolveConstraintsParam param;
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param.workBytes = pfxGetWorkBytesOfSolveConstraints(lowLevelData->m_numRigidBodies,numCurrentPairs,0);//numJoints);
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param.workBuff = pool.allocate(param.workBytes);
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param.contactPairs = currentPairs;
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param.numContactPairs = numCurrentPairs;
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param.offsetContactManifolds = lowLevelData->m_contacts;
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param.jointPairs = 0;//jointPairs;
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param.numJointPairs = 0;//numJoints;
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param.offsetJoints = 0;//joints;
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param.offsetRigidStates = lowLevelData->m_states;
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param.offsetSolverBodies = lowLevelData->m_solverBodies;
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param.numRigidBodies = lowLevelData->m_numRigidBodies;
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param.iteration = iteration;
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int ret = pfxSolveConstraints(param);
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if(ret != SCE_PFX_OK) SCE_PFX_PRINTF("pfxSolveConstraints failed %d\n",ret);
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pool.deallocate(param.workBuff);
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}
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pc.countEnd();
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//pc.printCount();
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}
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btScalar btLowLevelConstraintSolver2::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher)
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{
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//copy velocity from BT to PE
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{
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BT_PROFILE("copy back");
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for (int i=0;i<numRigidBodies;i++)
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{
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btCollisionObject* obj = bodies1[i];
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btRigidBody* rb = btRigidBody::upcast(obj);
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if (rb && (rb->getInvMass()>0.f))
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{
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int objectIndex = rb->getBroadphaseProxy()->m_uniqueId;
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sce::PhysicsEffects::PfxRigidState& state = m_lowLevelData->m_states[objectIndex];
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state.setLinearVelocity(getVmVector3(rb->getLinearVelocity()));
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state.setAngularVelocity(getVmVector3(rb->getAngularVelocity()));
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}
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}
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}
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btScalar separateBias = 0.1f;
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solveConstraints(m_lowLevelData, infoGlobal.m_timeStep, separateBias, infoGlobal.m_numIterations);
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//copy resulting velocity back from PE to BT
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{
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BT_PROFILE("copy back");
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for (int i=0;i<numRigidBodies;i++)
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{
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btCollisionObject* obj = bodies1[i];
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btRigidBody* rb = btRigidBody::upcast(obj);
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if (rb && (rb->getInvMass()>0.f))
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{
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int objectIndex = rb->getBroadphaseProxy()->m_uniqueId;
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sce::PhysicsEffects::PfxRigidState& state = m_lowLevelData->m_states[objectIndex];
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rb->setLinearVelocity(btVector3(state.getLinearVelocity().getX(),state.getLinearVelocity().getY(),state.getLinearVelocity().getZ()));
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rb->setAngularVelocity(btVector3(state.getAngularVelocity().getX(),state.getAngularVelocity().getY(),state.getAngularVelocity().getZ()));
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}
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}
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}
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return 0.f;
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}
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