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parallel solver: various changes

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- threading: adding btSequentialImpulseConstraintSolverMt
 - task scheduler: added parallelSum so that parallel solver can compute residuals
 - CommonRigidBodyMTBase: add slider for solver least squares residual and allow multithreading without needing OpenMP, TBB, or PPL
 - taskScheduler: don't wait for workers to sleep/signal at the end of each parallel block
 - parallel solver: convertContacts split into an allocContactConstraints and setupContactConstraints stage, the latter of which is done in parallel
 - parallel solver: rolling friction is now interleaved along with normal friction
 - parallel solver: batchified split impulse solving + some cleanup
 - parallel solver: sorting batches from largest to smallest
 - parallel solver: added parallel batch creation
 - parallel solver: added warmstartingWriteBackContacts func + other cleanup
 - task scheduler: truncate low bits to preserve determinism with parallelSum
 - parallel solver: reducing dynamic mem allocs and trying to parallelize more of the batch setup
 - parallel solver: parallelize updating constraint batch ids for merging
 - parallel solver: adding debug visualization
 - task scheduler: make TBB task scheduler parallelSum deterministic
 - parallel solver: split batch gen code into separate file; allow selection of batch gen method
 - task scheduler: add sleepWorkerThreadsHint() at end of simulation
 - parallel solver: added grain size per phase
 - task Scheduler: fix for strange threading issue; also no need for main thread to wait for workers to sleep
 - base constraint solver: break out joint setup into separate function for profiling/overriding
 - parallel solver: allow different batching method for contacts vs joints
 - base constraint solver: add convertJoint and convertBodies to make it possible to parallelize joint and body conversion
 - parallel solver: convert joints and bodies in parallel now
 - parallel solver: speed up batch creation with run-length encoding
 - parallel solver: batch gen: run-length expansion in parallel; collect constraint info in parallel
 - parallel solver: adding spatial grid batching method
 - parallel solver: enhancements to spatial grid batching
 - sequential solver: moving code for writing back into functions that derived classes can call
 - parallel solver: do write back of bodies and joints in parallel
 - parallel solver: removed all batching methods except for spatial grid (others were ineffective)
 - parallel solver: added 2D or 3D grid batching options; and a bit of cleanup
 - move btDefaultTaskScheduler into LinearMath project
This commit is contained in:
Lunkhound
2017-06-04 17:57:25 -07:00
parent 94bc897067
commit b8720f2161
25 changed files with 5236 additions and 767 deletions
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31
examples/MultiThreadedDemo/MultiThreadedDemo.cpp
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@@ -25,10 +25,10 @@ subject to the following restrictions:
static btScalar gSliderStackRows = 8.0f;
static btScalar gSliderStackColumns = 6.0f;
static btScalar gSliderStackHeight = 10.0f;
static btScalar gSliderStackWidth = 1.0f;
static btScalar gSliderStackRows = 1.0f;
static btScalar gSliderStackColumns = 1.0f;
static btScalar gSliderStackHeight = 15.0f;
static btScalar gSliderStackWidth = 8.0f;
static btScalar gSliderGroundHorizontalAmplitude = 0.0f;
static btScalar gSliderGroundVerticalAmplitude = 0.0f;
static btScalar gSliderGroundTilt = 0.0f;
@@ -75,6 +75,21 @@ public:
btScalar tilt = gSliderGroundTilt * SIMD_2_PI / 360.0f;
return btQuaternion( btVector3( 1.0f, 0.0f, 0.0f ), tilt );
}
struct TestSumBody : public btIParallelSumBody
{
virtual btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE
{
btScalar sum = 0.0f;
for (int i = iBegin; i < iEnd; ++i)
{
if (i > 0)
{
sum += 1.0f / btScalar(i);
}
}
return sum;
}
};
virtual void stepSimulation( float deltaTime ) BT_OVERRIDE
{
if ( m_dynamicsWorld )
@@ -115,6 +130,14 @@ public:
// always step by 1/60 for benchmarking
m_dynamicsWorld->stepSimulation( 1.0f / 60.0f, 0 );
}
#if 0
{
// test parallelSum
TestSumBody testSumBody;
float testSum = btParallelSum( 1, 10000000, 10000, testSumBody );
printf( "sum = %f\n", testSum );
}
#endif
}
virtual void initPhysics() BT_OVERRIDE;