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options to change solver type and mode

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Conflicts:
	examples/MultiThreadedDemo/CommonRigidBodyMTBase.h
This commit is contained in:
Lunkhound
2016-11-21 01:43:26 -08:00
parent fb51c3f7ed
commit da03d8ce5a
2 changed files with 177 additions and 8 deletions
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159
examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
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@@ -30,6 +30,11 @@ class btCollisionShape;
#include "BulletDynamics/Dynamics/btSimulationIslandManagerMt.h" // for setSplitIslands()
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
TaskManager gTaskMgr;
@@ -587,11 +592,47 @@ public:
};
btConstraintSolver* createSolverByType( SolverType t )
{
btMLCPSolverInterface* mlcpSolver = NULL;
switch ( t )
{
case SOLVER_TYPE_SEQUENTIAL_IMPULSE:
return new btSequentialImpulseConstraintSolver();
case SOLVER_TYPE_NNCG:
return new btNNCGConstraintSolver();
case SOLVER_TYPE_MLCP_PGS:
mlcpSolver = new btSolveProjectedGaussSeidel();
break;
case SOLVER_TYPE_MLCP_DANTZIG:
mlcpSolver = new btDantzigSolver();
break;
case SOLVER_TYPE_MLCP_LEMKE:
mlcpSolver = new btLemkeSolver();
break;
}
if (mlcpSolver)
{
return new btMLCPSolver(mlcpSolver);
}
return NULL;
}
static bool gMultithreadedWorld = false;
static bool gDisplayProfileInfo = false;
static btScalar gSliderNumThreads = 1.0f; // should be int
static SolverType gSolverType = SOLVER_TYPE_SEQUENTIAL_IMPULSE;
static int gSolverMode = SOLVER_SIMD |
SOLVER_USE_WARMSTARTING |
// SOLVER_RANDMIZE_ORDER |
// SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS |
// SOLVER_USE_2_FRICTION_DIRECTIONS |
0;
static btScalar gSliderSolverIterations = 10.0f; // should be int
static btScalar gSliderNumThreads = 1.0f; // should be int
////////////////////////////////////
CommonRigidBodyMTBase::CommonRigidBodyMTBase( struct GUIHelperInterface* helper )
@@ -622,6 +663,26 @@ void boolPtrButtonCallback(int buttonId, bool buttonState, void* userPointer)
}
}
void toggleSolverModeCallback(int buttonId, bool buttonState, void* userPointer)
{
gSolverMode ^= buttonId;
if (CommonRigidBodyMTBase* crb = reinterpret_cast<CommonRigidBodyMTBase*>(userPointer))
{
if (crb->m_dynamicsWorld)
{
crb->m_dynamicsWorld->getSolverInfo().m_solverMode = gSolverMode;
}
}
}
void setSolverTypeCallback(int buttonId, bool buttonState, void* userPointer)
{
if (buttonId >= 0 && buttonId < SOLVER_TYPE_COUNT)
{
gSolverType = static_cast<SolverType>(buttonId);
}
}
void apiSelectButtonCallback(int buttonId, bool buttonState, void* userPointer)
{
gTaskMgr.setApi(static_cast<TaskManager::Api>(buttonId));
@@ -658,6 +719,7 @@ void setSolverIterationCountCallback(float val, void* userPtr)
void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
{
gNumIslands = 0;
m_solverType = gSolverType;
#if BT_THREADSAFE && (BT_USE_OPENMP || BT_USE_PPL || BT_USE_TBB)
m_multithreadCapable = true;
#endif
@@ -678,9 +740,17 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
m_broadphase = new btDbvtBroadphase();
#if USE_PARALLEL_ISLAND_SOLVER
m_solver = new MyConstraintSolverPool( TaskManager::getMaxNumThreads() );
{
btConstraintSolver* solvers[ BT_MAX_THREAD_COUNT ];
int maxThreadCount = min( BT_MAX_THREAD_COUNT, TaskManager::getMaxNumThreads() );
for ( int i = 0; i < maxThreadCount; ++i )
{
solvers[ i ] = createSolverByType( m_solverType );
}
m_solver = new MyConstraintSolverPool( solvers, maxThreadCount );
}
#else
m_solver = new btSequentialImpulseConstraintSolver();
m_solver = createSolverByType( m_solverType );
#endif //#if USE_PARALLEL_ISLAND_SOLVER
btDiscreteDynamicsWorld* world = new MyDiscreteDynamicsWorld( m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration );
m_dynamicsWorld = world;
@@ -707,15 +777,14 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
m_broadphase = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_solver = createSolverByType( m_solverType );
m_dynamicsWorld = new btDiscreteDynamicsWorld( m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration );
}
m_dynamicsWorld->setInternalTickCallback( profileBeginCallback, NULL, true );
m_dynamicsWorld->setInternalTickCallback( profileEndCallback, NULL, false );
m_dynamicsWorld->setGravity( btVector3( 0, -10, 0 ) );
m_dynamicsWorld->getSolverInfo().m_solverMode = gSolverMode;
createDefaultParameters();
}
@@ -732,12 +801,25 @@ void CommonRigidBodyMTBase::createDefaultParameters()
}
{
// create a button to toggle profile printing
ButtonParams button( "Display profile timings", 0, true );
ButtonParams button( "Display solver info", 0, true );
button.m_userPointer = &gDisplayProfileInfo;
button.m_callback = boolPtrButtonCallback;
m_guiHelper->getParameterInterface()->registerButtonParameter( button );
}
// add buttons for switching to different solver types
for (int i = 0; i < SOLVER_TYPE_COUNT; ++i)
{
char buttonName[256];
SolverType solverType = static_cast<SolverType>(i);
sprintf(buttonName, "Solver Type %s", getSolverTypeName(solverType));
ButtonParams button( buttonName, 0, true );
button.m_buttonId = solverType;
button.m_callback = setSolverTypeCallback;
m_guiHelper->getParameterInterface()->registerButtonParameter( button );
}
{
// a slider for the number of solver iterations
SliderParams slider( "Solver iterations", &gSliderSolverIterations );
slider.m_minVal = 1.0f;
slider.m_maxVal = 30.0f;
@@ -746,6 +828,48 @@ void CommonRigidBodyMTBase::createDefaultParameters()
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
}
{
ButtonParams button( "Solver use SIMD", 0, true );
button.m_buttonId = SOLVER_SIMD;
button.m_callback = toggleSolverModeCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter( button );
}
{
ButtonParams button( "Solver randomize order", 0, true );
button.m_buttonId = SOLVER_RANDMIZE_ORDER;
button.m_callback = toggleSolverModeCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter( button );
}
{
ButtonParams button( "Solver interleave contact/friction", 0, true );
button.m_buttonId = SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS;
button.m_callback = toggleSolverModeCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter( button );
}
{
ButtonParams button( "Solver 2 friction directions", 0, true );
button.m_buttonId = SOLVER_USE_2_FRICTION_DIRECTIONS;
button.m_callback = toggleSolverModeCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter( button );
}
{
ButtonParams button( "Solver friction dir caching", 0, true );
button.m_buttonId = SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
button.m_callback = toggleSolverModeCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter( button );
}
{
ButtonParams button( "Solver warmstarting", 0, true );
button.m_buttonId = SOLVER_USE_WARMSTARTING;
button.m_callback = toggleSolverModeCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter( button );
}
if (m_multithreadedWorld)
{
// create a button for each supported threading API
@@ -781,6 +905,12 @@ void CommonRigidBodyMTBase::drawScreenText()
int xCoord = 400;
int yCoord = 30;
int yStep = 30;
if (m_solverType != gSolverType)
{
sprintf( msg, "restart example to change solver type" );
m_guiHelper->getAppInterface()->drawText( msg, 300, yCoord, 0.4f );
yCoord += yStep;
}
if (m_multithreadCapable)
{
if ( m_multithreadedWorld != gMultithreadedWorld )
@@ -815,7 +945,20 @@ void CommonRigidBodyMTBase::drawScreenText()
m_guiHelper->getAppInterface()->drawText( msg, 100, yCoord, 0.4f );
yCoord += yStep;
}
{
int sm = gSolverMode;
sprintf( msg, "solver %s mode [%s%s%s%s%s%s]",
getSolverTypeName(m_solverType),
sm & SOLVER_SIMD ? "SIMD" : "",
sm & SOLVER_RANDMIZE_ORDER ? " randomize" : "",
sm & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS ? " interleave" : "",
sm & SOLVER_USE_2_FRICTION_DIRECTIONS ? " friction2x" : "",
sm & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING ? " frictionDirCaching" : "",
sm & SOLVER_USE_WARMSTARTING ? " warm" : ""
);
m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f );
yCoord += yStep;
}
sprintf( msg, "internalSimStep %5.3f ms",
gProfiler.getAverageTime( Profiler::kRecordInternalTimeStep )*0.001f
);

26
examples/MultiThreadedDemo/CommonRigidBodyMTBase.h
View File

@@ -11,6 +11,31 @@
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonWindowInterface.h"
enum SolverType
{
SOLVER_TYPE_SEQUENTIAL_IMPULSE,
SOLVER_TYPE_NNCG,
SOLVER_TYPE_MLCP_PGS,
SOLVER_TYPE_MLCP_DANTZIG,
SOLVER_TYPE_MLCP_LEMKE,
SOLVER_TYPE_COUNT
};
inline const char* getSolverTypeName( SolverType t )
{
switch (t)
{
case SOLVER_TYPE_SEQUENTIAL_IMPULSE: return "SequentialImpulse";
case SOLVER_TYPE_NNCG: return "NNCG";
case SOLVER_TYPE_MLCP_PGS: return "MLCP ProjectedGaussSeidel";
case SOLVER_TYPE_MLCP_DANTZIG: return "MLCP Dantzig";
case SOLVER_TYPE_MLCP_LEMKE: return "MLCP Lemke";
}
btAssert( !"unhandled solver type in switch" );
return "???";
}
struct CommonRigidBodyMTBase : public CommonExampleInterface
{
//keep the collision shapes, for deletion/cleanup
@@ -20,6 +45,7 @@ struct CommonRigidBodyMTBase : public CommonExampleInterface
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btDiscreteDynamicsWorld* m_dynamicsWorld;
SolverType m_solverType;
bool m_multithreadedWorld;
bool m_multithreadCapable;