Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -53,102 +53,98 @@ subject to the following restrictions:
|
||||
/// because floating point addition is not associative due to rounding errors.
|
||||
/// The task scheduler can and should ensure that the result of any parallelSum operation is deterministic.
|
||||
///
|
||||
ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolverMt : public btSequentialImpulseConstraintSolver
|
||||
ATTRIBUTE_ALIGNED16(class)
|
||||
btSequentialImpulseConstraintSolverMt : public btSequentialImpulseConstraintSolver
|
||||
{
|
||||
public:
|
||||
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE;
|
||||
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE;
|
||||
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE;
|
||||
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
|
||||
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
|
||||
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
|
||||
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
|
||||
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
|
||||
|
||||
// temp struct used to collect info from persistent manifolds into a cache-friendly struct using multiple threads
|
||||
struct btContactManifoldCachedInfo
|
||||
{
|
||||
static const int MAX_NUM_CONTACT_POINTS = 4;
|
||||
// temp struct used to collect info from persistent manifolds into a cache-friendly struct using multiple threads
|
||||
struct btContactManifoldCachedInfo
|
||||
{
|
||||
static const int MAX_NUM_CONTACT_POINTS = 4;
|
||||
|
||||
int numTouchingContacts;
|
||||
int solverBodyIds[ 2 ];
|
||||
int contactIndex;
|
||||
int rollingFrictionIndex;
|
||||
bool contactHasRollingFriction[ MAX_NUM_CONTACT_POINTS ];
|
||||
btManifoldPoint* contactPoints[ MAX_NUM_CONTACT_POINTS ];
|
||||
};
|
||||
// temp struct used for setting up joint constraints in parallel
|
||||
struct JointParams
|
||||
{
|
||||
int m_solverConstraint;
|
||||
int m_solverBodyA;
|
||||
int m_solverBodyB;
|
||||
};
|
||||
void internalInitMultipleJoints(btTypedConstraint** constraints, int iBegin, int iEnd);
|
||||
void internalConvertMultipleJoints( const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal );
|
||||
int numTouchingContacts;
|
||||
int solverBodyIds[2];
|
||||
int contactIndex;
|
||||
int rollingFrictionIndex;
|
||||
bool contactHasRollingFriction[MAX_NUM_CONTACT_POINTS];
|
||||
btManifoldPoint* contactPoints[MAX_NUM_CONTACT_POINTS];
|
||||
};
|
||||
// temp struct used for setting up joint constraints in parallel
|
||||
struct JointParams
|
||||
{
|
||||
int m_solverConstraint;
|
||||
int m_solverBodyA;
|
||||
int m_solverBodyB;
|
||||
};
|
||||
void internalInitMultipleJoints(btTypedConstraint * *constraints, int iBegin, int iEnd);
|
||||
void internalConvertMultipleJoints(const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
// parameters to control batching
|
||||
static bool s_allowNestedParallelForLoops; // whether to allow nested parallel operations
|
||||
static int s_minimumContactManifoldsForBatching; // don't even try to batch if fewer manifolds than this
|
||||
static btBatchedConstraints::BatchingMethod s_contactBatchingMethod;
|
||||
static btBatchedConstraints::BatchingMethod s_jointBatchingMethod;
|
||||
static int s_minBatchSize; // desired number of constraints per batch
|
||||
static int s_maxBatchSize;
|
||||
// parameters to control batching
|
||||
static bool s_allowNestedParallelForLoops; // whether to allow nested parallel operations
|
||||
static int s_minimumContactManifoldsForBatching; // don't even try to batch if fewer manifolds than this
|
||||
static btBatchedConstraints::BatchingMethod s_contactBatchingMethod;
|
||||
static btBatchedConstraints::BatchingMethod s_jointBatchingMethod;
|
||||
static int s_minBatchSize; // desired number of constraints per batch
|
||||
static int s_maxBatchSize;
|
||||
|
||||
protected:
|
||||
static const int CACHE_LINE_SIZE = 64;
|
||||
static const int CACHE_LINE_SIZE = 64;
|
||||
|
||||
btBatchedConstraints m_batchedContactConstraints;
|
||||
btBatchedConstraints m_batchedJointConstraints;
|
||||
int m_numFrictionDirections;
|
||||
bool m_useBatching;
|
||||
bool m_useObsoleteJointConstraints;
|
||||
btAlignedObjectArray<btContactManifoldCachedInfo> m_manifoldCachedInfoArray;
|
||||
btAlignedObjectArray<int> m_rollingFrictionIndexTable; // lookup table mapping contact index to rolling friction index
|
||||
btSpinMutex m_bodySolverArrayMutex;
|
||||
char m_antiFalseSharingPadding[CACHE_LINE_SIZE]; // padding to keep mutexes in separate cachelines
|
||||
btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex;
|
||||
btAlignedObjectArray<char> m_scratchMemory;
|
||||
btBatchedConstraints m_batchedContactConstraints;
|
||||
btBatchedConstraints m_batchedJointConstraints;
|
||||
int m_numFrictionDirections;
|
||||
bool m_useBatching;
|
||||
bool m_useObsoleteJointConstraints;
|
||||
btAlignedObjectArray<btContactManifoldCachedInfo> m_manifoldCachedInfoArray;
|
||||
btAlignedObjectArray<int> m_rollingFrictionIndexTable; // lookup table mapping contact index to rolling friction index
|
||||
btSpinMutex m_bodySolverArrayMutex;
|
||||
char m_antiFalseSharingPadding[CACHE_LINE_SIZE]; // padding to keep mutexes in separate cachelines
|
||||
btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex;
|
||||
btAlignedObjectArray<char> m_scratchMemory;
|
||||
|
||||
virtual void randomizeConstraintOrdering( int iteration, int numIterations );
|
||||
virtual btScalar resolveAllJointConstraints( int iteration );
|
||||
virtual btScalar resolveAllContactConstraints();
|
||||
virtual btScalar resolveAllContactFrictionConstraints();
|
||||
virtual btScalar resolveAllContactConstraintsInterleaved();
|
||||
virtual btScalar resolveAllRollingFrictionConstraints();
|
||||
virtual void randomizeConstraintOrdering(int iteration, int numIterations);
|
||||
virtual btScalar resolveAllJointConstraints(int iteration);
|
||||
virtual btScalar resolveAllContactConstraints();
|
||||
virtual btScalar resolveAllContactFrictionConstraints();
|
||||
virtual btScalar resolveAllContactConstraintsInterleaved();
|
||||
virtual btScalar resolveAllRollingFrictionConstraints();
|
||||
|
||||
virtual void setupBatchedContactConstraints();
|
||||
virtual void setupBatchedJointConstraints();
|
||||
virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
|
||||
virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
|
||||
virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
|
||||
virtual void setupBatchedContactConstraints();
|
||||
virtual void setupBatchedJointConstraints();
|
||||
virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
|
||||
virtual void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
|
||||
virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
|
||||
|
||||
int getOrInitSolverBodyThreadsafe(btCollisionObject& body, btScalar timeStep);
|
||||
void allocAllContactConstraints(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
|
||||
void setupAllContactConstraints(const btContactSolverInfo& infoGlobal);
|
||||
void randomizeBatchedConstraintOrdering( btBatchedConstraints* batchedConstraints );
|
||||
int getOrInitSolverBodyThreadsafe(btCollisionObject & body, btScalar timeStep);
|
||||
void allocAllContactConstraints(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
|
||||
void setupAllContactConstraints(const btContactSolverInfo& infoGlobal);
|
||||
void randomizeBatchedConstraintOrdering(btBatchedConstraints * batchedConstraints);
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btSequentialImpulseConstraintSolverMt();
|
||||
virtual ~btSequentialImpulseConstraintSolverMt();
|
||||
|
||||
btScalar resolveMultipleJointConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration );
|
||||
btScalar resolveMultipleContactConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
|
||||
btScalar resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
|
||||
btScalar resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
|
||||
btScalar resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
|
||||
btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd );
|
||||
btScalar resolveMultipleJointConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration);
|
||||
btScalar resolveMultipleContactConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
|
||||
btScalar resolveMultipleContactSplitPenetrationImpulseConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
|
||||
btScalar resolveMultipleContactFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
|
||||
btScalar resolveMultipleContactRollingFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
|
||||
btScalar resolveMultipleContactConstraintsInterleaved(const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd);
|
||||
|
||||
void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
|
||||
void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds);
|
||||
void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal);
|
||||
void internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo * cachedInfoArray, btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
|
||||
void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds);
|
||||
void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal);
|
||||
void internalConvertBodies(btCollisionObject * *bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
|
||||
|
||||
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
|
||||
|
||||
Reference in New Issue
Block a user