From 6ef96a4027b665ff46826e1a9a0c583dde3e2e3f Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Thu, 20 Oct 2016 10:56:44 -0700 Subject: [PATCH 01/11] Add programmatic render API and a basic test. --- examples/SharedMemory/PhysicsClientC_API.cpp | 25 +++++++++++++ examples/SharedMemory/PhysicsClientC_API.h | 1 + .../SharedMemory/PhysicsClientExample.cpp | 17 +++++++-- .../PhysicsClientSharedMemory.cpp | 9 +++++ .../PhysicsServerCommandProcessor.cpp | 12 +++++++ examples/SharedMemory/SharedMemoryPublic.h | 3 ++ .../TinyRendererVisualShapeConverter.cpp | 36 ++++++++++++++++++- .../TinyRendererVisualShapeConverter.h | 4 +++ examples/TinyRenderer/model.cpp | 9 +++-- 9 files changed, 110 insertions(+), 6 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 813457225..f9f94c047 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1252,7 +1252,32 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu } } +b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient) +{ + /* + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_UPDATE_VISUAL_SHAPE; + command->m_updateFlags = 0; + + return (b3SharedMemoryCommandHandle) command; + */ + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_UPDATE_VISUAL_SHAPE; + //command->m_requestVisualShapeDataArguments.m_bodyUniqueId = 0; + //command->m_requestVisualShapeDataArguments.m_startingVisualShapeIndex = 0; + command->m_updateFlags = 0; + return (b3SharedMemoryCommandHandle) command; +} b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient) { diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 2d2a4460c..80ed8ad06 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -99,6 +99,7 @@ void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3Con b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA); void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo); +b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient); int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz); diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index afb0e1fb8..be4b1fcf0 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -481,6 +481,12 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) } break; } + case CMD_UPDATE_VISUAL_SHAPE: + { + b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + break; + } default: { b3Error("Unknown buttonId"); @@ -560,6 +566,7 @@ void PhysicsClientExample::createButtons() createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger); createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger); createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO, isTrigger); + createButton("Update Visual Shape",CMD_UPDATE_VISUAL_SHAPE, isTrigger); createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger); if (m_options!=eCLIENTEXAMPLE_SERVER) { @@ -997,14 +1004,20 @@ void PhysicsClientExample::stepSimulation(float deltaTime) { b3Warning("Cannot get visual shape information"); } - + if (statusType == CMD_VISUAL_SHAPE_UPDATE_FAILED) + { + b3Warning("Cannot update visual shape"); + } if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED) { b3VisualShapeInformation shapeInfo; b3GetVisualShapeInformation(m_physicsClientHandle, &shapeInfo); b3Printf("Num visual shapes: %d", shapeInfo.m_numVisualShapes); } - + if (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED) + { + b3Printf("Visual shape update completed."); + } if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED) { b3ContactInformation contactPointData; diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 9dda6aca1..3f031384c 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -657,6 +657,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { b3Warning("Visual Shape Info Request failed"); break; } + case CMD_VISUAL_SHAPE_UPDATE_COMPLETED: + { + break; + } + case CMD_VISUAL_SHAPE_UPDATE_FAILED: + { + b3Warning("Visual Shape Update failed"); + break; + } default: { b3Error("Unknown server status %d\n", serverCmd.m_type); btAssert(0); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 613bc0234..75a9b1334 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3001,6 +3001,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm hasStatus = true; break; } + case CMD_UPDATE_VISUAL_SHAPE: + { + SharedMemoryStatus& serverCmd = serverStatusOut; + serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED; + + m_data->m_visualConverter.activateShapeTexture(0, 0); + + serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED; + hasStatus = true; + + break; + } default: { b3Error("Unknown command encountered"); diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index c668e5fe8..1607ec451 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -35,6 +35,7 @@ enum EnumSharedMemoryClientCommand CMD_REQUEST_CONTACT_POINT_INFORMATION, CMD_SAVE_WORLD, CMD_REQUEST_VISUAL_SHAPE_INFO, + CMD_UPDATE_VISUAL_SHAPE, //don't go beyond this command! CMD_MAX_CLIENT_COMMANDS, @@ -81,6 +82,8 @@ enum EnumSharedMemoryServerStatus CMD_SAVE_WORLD_FAILED, CMD_VISUAL_SHAPE_INFO_COMPLETED, CMD_VISUAL_SHAPE_INFO_FAILED, + CMD_VISUAL_SHAPE_UPDATE_COMPLETED, + CMD_VISUAL_SHAPE_UPDATE_FAILED, //don't go beyond 'CMD_MAX_SERVER_COMMANDS! CMD_MAX_SERVER_COMMANDS }; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 4ef4b0efc..2fd57b31a 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -33,6 +33,7 @@ subject to the following restrictions: #include #include "../Importers/ImportURDFDemo/UrdfParser.h" #include "../SharedMemory/SharedMemoryPublic.h"//for b3VisualShapeData +#include "../TinyRenderer/model.h" enum MyFileType @@ -68,6 +69,7 @@ struct TinyRendererVisualShapeConverterInternalData int m_swWidth; int m_swHeight; TGAImage m_rgbColorBuffer; + TGAImage m_texture; b3AlignedObjectArray m_depthBuffer; b3AlignedObjectArray m_segmentationMaskBuffer; @@ -77,7 +79,8 @@ struct TinyRendererVisualShapeConverterInternalData :m_upAxis(2), m_swWidth(START_WIDTH), m_swHeight(START_HEIGHT), - m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB) + m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB), + m_texture(START_WIDTH,START_HEIGHT,TGAImage::RGB) { m_depthBuffer.resize(m_swWidth*m_swHeight); m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1); @@ -827,3 +830,34 @@ void TinyRendererVisualShapeConverter::resetAll() m_data->m_swRenderInstances.clear(); } +// Get shapeUniqueId from getVisualShapesData? +void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId) +{ + /* + // Use shapeUniqueId? + int objectArrayIndex = 0; + int objectIndex = 0; + TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(objectArrayIndex); + TinyRendererObjectArray* visualArray = *visualArrayPtr; + unsigned char textureImage[3] = {10, 10, 255}; + int textureWidth = 1000; + int textureHeight = 1000; + visualArray->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); + */ + + int objectArrayIndex = 0; + int objectIndex = 0; + for (int i=0;im_swRenderInstances.size();i++) + { + TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i); + if (ptrptr && *ptrptr) + { + TinyRendererObjectArray* ptr = *ptrptr; + unsigned char textureImage[3] = {255, 10, 10}; + int textureWidth = 1000; + int textureHeight = 1000; + ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); + } + } + +} diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h index df490716b..86455eefb 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h @@ -37,6 +37,10 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter void render(); void render(const float viewMat[16], const float projMat[16]); + + int registerTexture(unsigned char* texels, int width, int height); + void activateShapeTexture(int shapeUniqueId, int textureUniqueId); + void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); }; diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp index 8864d0a2f..7bbd5b357 100644 --- a/examples/TinyRenderer/model.cpp +++ b/examples/TinyRenderer/model.cpp @@ -57,9 +57,12 @@ void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWid for (int j=0;j Date: Thu, 20 Oct 2016 14:20:09 -0700 Subject: [PATCH 02/11] Change texture for one body. --- .../SharedMemory/PhysicsClientExample.cpp | 2 +- .../TinyRendererVisualShapeConverter.cpp | 34 +++++++++++-------- 2 files changed, 21 insertions(+), 15 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index be4b1fcf0..fdb5bbe87 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -242,7 +242,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) { case CMD_LOAD_URDF: { - b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf"); + b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model_white.urdf"); //setting the initial position, orientation and other arguments are optional double startPosX = 0; static double startPosY = 0; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 2fd57b31a..58e164ca7 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -833,20 +833,26 @@ void TinyRendererVisualShapeConverter::resetAll() // Get shapeUniqueId from getVisualShapesData? void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId) { - /* - // Use shapeUniqueId? - int objectArrayIndex = 0; - int objectIndex = 0; - TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(objectArrayIndex); - TinyRendererObjectArray* visualArray = *visualArrayPtr; - unsigned char textureImage[3] = {10, 10, 255}; - int textureWidth = 1000; - int textureHeight = 1000; - visualArray->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); - */ + // Use shapeUniqueId? + int objectArrayIndex = 1; + int objectIndex = 0; + printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size()); + TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(objectArrayIndex); + if (ptrptr && *ptrptr) + { + TinyRendererObjectArray* ptr = *ptrptr; + unsigned char textureImage[3] = {255, 0, 0}; + int textureWidth = 1; + int textureHeight = 1; + ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); + } + + + /* int objectArrayIndex = 0; int objectIndex = 0; + printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size()); for (int i=0;im_swRenderInstances.size();i++) { TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i); @@ -854,10 +860,10 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, i { TinyRendererObjectArray* ptr = *ptrptr; unsigned char textureImage[3] = {255, 10, 10}; - int textureWidth = 1000; - int textureHeight = 1000; + int textureWidth = 1; + int textureHeight = 1; ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); } } - + */ } From 1c04da23dbcd91a0d91582f3bd97a5edd97a9d48 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Thu, 20 Oct 2016 21:40:44 -0700 Subject: [PATCH 03/11] Change texture with loaded texture file. --- examples/SharedMemory/PhysicsClientExample.cpp | 6 ++++++ .../TinyRendererVisualShapeConverter.cpp | 11 +++++++++-- examples/TinyRenderer/model.cpp | 12 ++++++------ 3 files changed, 21 insertions(+), 8 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index fdb5bbe87..dee00ed27 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -256,8 +256,14 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) case CMD_LOAD_SDF: { + /* b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");//kuka_iiwa/model.sdf"); b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + */ + b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "sphere_big.urdf"); + //setting the initial position, orientation and other arguments are optional + b3LoadUrdfCommandSetStartPosition(commandHandle,0.5,0.5,0.5); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); break; } case CMD_REQUEST_CAMERA_IMAGE_DATA: diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 58e164ca7..73d6935a4 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -34,6 +34,7 @@ subject to the following restrictions: #include "../Importers/ImportURDFDemo/UrdfParser.h" #include "../SharedMemory/SharedMemoryPublic.h"//for b3VisualShapeData #include "../TinyRenderer/model.h" +#include "../ThirdPartyLibs/stb_image/stb_image.h" enum MyFileType @@ -833,9 +834,14 @@ void TinyRendererVisualShapeConverter::resetAll() // Get shapeUniqueId from getVisualShapesData? void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId) { + int width,height,n; + const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif"; + unsigned char* image=0; + + image = stbi_load(filename, &width, &height, &n, 3); // Use shapeUniqueId? - int objectArrayIndex = 1; + int objectArrayIndex = 8; int objectIndex = 0; printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size()); TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(objectArrayIndex); @@ -845,7 +851,8 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, i unsigned char textureImage[3] = {255, 0, 0}; int textureWidth = 1; int textureHeight = 1; - ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); + //ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); + ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(image,width,height); } diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp index 7bbd5b357..f0ef25563 100644 --- a/examples/TinyRenderer/model.cpp +++ b/examples/TinyRenderer/model.cpp @@ -57,12 +57,12 @@ void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWid for (int j=0;j Date: Thu, 20 Oct 2016 22:11:38 -0700 Subject: [PATCH 04/11] Add API to load texture file. --- .../PhysicsServerCommandProcessor.cpp | 2 + .../TinyRendererVisualShapeConverter.cpp | 54 ++++++++----------- .../TinyRendererVisualShapeConverter.h | 1 + 3 files changed, 24 insertions(+), 33 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 75a9b1334..8c275af6e 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3006,6 +3006,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED; + const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif"; + m_data->m_visualConverter.loadTextureFile(filename); m_data->m_visualConverter.activateShapeTexture(0, 0); serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 73d6935a4..471ad81f5 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -70,7 +70,9 @@ struct TinyRendererVisualShapeConverterInternalData int m_swWidth; int m_swHeight; TGAImage m_rgbColorBuffer; - TGAImage m_texture; + unsigned char* m_texture; + int m_textureWidth; + int m_textureHeight; b3AlignedObjectArray m_depthBuffer; b3AlignedObjectArray m_segmentationMaskBuffer; @@ -80,8 +82,7 @@ struct TinyRendererVisualShapeConverterInternalData :m_upAxis(2), m_swWidth(START_WIDTH), m_swHeight(START_HEIGHT), - m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB), - m_texture(START_WIDTH,START_HEIGHT,TGAImage::RGB) + m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB) { m_depthBuffer.resize(m_swWidth*m_swHeight); m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1); @@ -834,12 +835,6 @@ void TinyRendererVisualShapeConverter::resetAll() // Get shapeUniqueId from getVisualShapesData? void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId) { - int width,height,n; - const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif"; - unsigned char* image=0; - - image = stbi_load(filename, &width, &height, &n, 3); - // Use shapeUniqueId? int objectArrayIndex = 8; int objectIndex = 0; @@ -848,29 +843,22 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, i if (ptrptr && *ptrptr) { TinyRendererObjectArray* ptr = *ptrptr; - unsigned char textureImage[3] = {255, 0, 0}; - int textureWidth = 1; - int textureHeight = 1; - //ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); - ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(image,width,height); + ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(m_data->m_texture,m_data->m_textureWidth,m_data->m_textureHeight); } - - - /* - int objectArrayIndex = 0; - int objectIndex = 0; - printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size()); - for (int i=0;im_swRenderInstances.size();i++) - { - TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i); - if (ptrptr && *ptrptr) - { - TinyRendererObjectArray* ptr = *ptrptr; - unsigned char textureImage[3] = {255, 10, 10}; - int textureWidth = 1; - int textureHeight = 1; - ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); - } - } - */ } + +int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height) +{ + m_data->m_texture = texels; + m_data->m_textureWidth = width; + m_data->m_textureHeight = height; + return 0; +} + +void TinyRendererVisualShapeConverter::loadTextureFile(const char* filename) +{ + int width,height,n; + unsigned char* image=0; + image = stbi_load(filename, &width, &height, &n, 3); + registerTexture(image, width, height); +} \ No newline at end of file diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h index 86455eefb..afd0a2ae6 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h @@ -38,6 +38,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter void render(); void render(const float viewMat[16], const float projMat[16]); + void loadTextureFile(const char* filename); int registerTexture(unsigned char* texels, int width, int height); void activateShapeTexture(int shapeUniqueId, int textureUniqueId); void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); From 4911b14271f132ec6f3a93d2ca13989f178abd3f Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Thu, 20 Oct 2016 23:40:30 -0700 Subject: [PATCH 05/11] Add loading texture API. --- examples/SharedMemory/PhysicsClientC_API.cpp | 39 +++++++++++-------- examples/SharedMemory/PhysicsClientC_API.h | 3 +- .../SharedMemory/PhysicsClientExample.cpp | 10 ++++- .../PhysicsClientSharedMemory.cpp | 9 +++++ .../PhysicsServerCommandProcessor.cpp | 17 ++++++-- examples/SharedMemory/SharedMemoryCommands.h | 13 +++++++ examples/SharedMemory/SharedMemoryPublic.h | 3 ++ .../TinyRendererVisualShapeConverter.cpp | 23 +++++------ 8 files changed, 82 insertions(+), 35 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index f9f94c047..d05847313 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1252,31 +1252,38 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu } } -b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient) +b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename) { - /* - PhysicsClient* cl = (PhysicsClient* ) physClient; - b3Assert(cl); - b3Assert(cl->canSubmitCommand()); - - struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); - b3Assert(command); - command->m_type = CMD_UPDATE_VISUAL_SHAPE; - command->m_updateFlags = 0; - - return (b3SharedMemoryCommandHandle) command; - */ PhysicsClient* cl = (PhysicsClient* ) physClient; b3Assert(cl); b3Assert(cl->canSubmitCommand()); struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); b3Assert(command); - command->m_type = CMD_UPDATE_VISUAL_SHAPE; - //command->m_requestVisualShapeDataArguments.m_bodyUniqueId = 0; - //command->m_requestVisualShapeDataArguments.m_startingVisualShapeIndex = 0; + command->m_type = CMD_LOAD_TEXTURE; + int len = strlen(filename); + if (lenm_loadTextureArguments.m_textureFileName,filename); + } else + { + command->m_loadTextureArguments.m_textureFileName[0] = 0; + } command->m_updateFlags = 0; return (b3SharedMemoryCommandHandle) command; +} +b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int textureUniqueId) +{ + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_UPDATE_VISUAL_SHAPE; + command->m_updateVisualShapeDataArguments.m_bodyUniqueId = bodyUniqueId; + command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId; + command->m_updateFlags = 0; + return (b3SharedMemoryCommandHandle) command; } b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient) diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 80ed8ad06..d76a947a4 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -99,7 +99,8 @@ void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3Con b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA); void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo); -b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient); +b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename); +b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int textureUniqueId); b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient); int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz); diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index dee00ed27..97bc9884e 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -489,7 +489,14 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) } case CMD_UPDATE_VISUAL_SHAPE: { - b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle); + b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,8,0); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + break; + } + case CMD_LOAD_TEXTURE: + { + const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif"; + b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename); b3SubmitClientCommand(m_physicsClientHandle, commandHandle); break; } @@ -572,6 +579,7 @@ void PhysicsClientExample::createButtons() createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger); createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger); createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO, isTrigger); + createButton("Load Texture",CMD_LOAD_TEXTURE, isTrigger); createButton("Update Visual Shape",CMD_UPDATE_VISUAL_SHAPE, isTrigger); createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger); if (m_options!=eCLIENTEXAMPLE_SERVER) diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 3f031384c..334806ff5 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -666,6 +666,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { b3Warning("Visual Shape Update failed"); break; } + case CMD_LOAD_TEXTURE_COMPLETED: + { + break; + } + case CMD_LOAD_TEXTURE_FAILED: + { + b3Warning("Load texture failed"); + break; + } default: { b3Error("Unknown server status %d\n", serverCmd.m_type); btAssert(0); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 8c275af6e..a3a46af75 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3006,15 +3006,26 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED; - const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif"; - m_data->m_visualConverter.loadTextureFile(filename); - m_data->m_visualConverter.activateShapeTexture(0, 0); + m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId); serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED; hasStatus = true; break; } + case CMD_LOAD_TEXTURE: + { + SharedMemoryStatus& serverCmd = serverStatusOut; + serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; + + m_data->m_visualConverter.loadTextureFile(clientCmd.m_loadTextureArguments.m_textureFileName); + + serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED; + hasStatus = true; + + break; + } + default: { b3Error("Unknown command encountered"); diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 5a1141821..c4e6af179 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -157,6 +157,17 @@ struct RequestVisualShapeDataArgs int m_startingVisualShapeIndex; }; +struct UpdateVisualShapeDataArgs +{ + int m_bodyUniqueId; + int m_textureUniqueId; +}; + +struct LoadTextureArgs +{ + char m_textureFileName[MAX_FILENAME_LENGTH]; +}; + struct SendVisualShapeDataArgs { int m_bodyUniqueId; @@ -477,6 +488,8 @@ struct SharedMemoryCommand struct CreateJointArgs m_createJointArguments; struct RequestContactDataArgs m_requestContactPointArguments; struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments; + struct UpdateVisualShapeDataArgs m_updateVisualShapeDataArguments; + struct LoadTextureArgs m_loadTextureArguments; struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments; }; }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 1607ec451..b435a38a5 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -36,6 +36,7 @@ enum EnumSharedMemoryClientCommand CMD_SAVE_WORLD, CMD_REQUEST_VISUAL_SHAPE_INFO, CMD_UPDATE_VISUAL_SHAPE, + CMD_LOAD_TEXTURE, //don't go beyond this command! CMD_MAX_CLIENT_COMMANDS, @@ -84,6 +85,8 @@ enum EnumSharedMemoryServerStatus CMD_VISUAL_SHAPE_INFO_FAILED, CMD_VISUAL_SHAPE_UPDATE_COMPLETED, CMD_VISUAL_SHAPE_UPDATE_FAILED, + CMD_LOAD_TEXTURE_COMPLETED, + CMD_LOAD_TEXTURE_FAILED, //don't go beyond 'CMD_MAX_SERVER_COMMANDS! CMD_MAX_SERVER_COMMANDS }; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 471ad81f5..ea0db8f95 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -70,9 +70,7 @@ struct TinyRendererVisualShapeConverterInternalData int m_swWidth; int m_swHeight; TGAImage m_rgbColorBuffer; - unsigned char* m_texture; - int m_textureWidth; - int m_textureHeight; + b3AlignedObjectArray m_textures; b3AlignedObjectArray m_depthBuffer; b3AlignedObjectArray m_segmentationMaskBuffer; @@ -832,27 +830,24 @@ void TinyRendererVisualShapeConverter::resetAll() m_data->m_swRenderInstances.clear(); } -// Get shapeUniqueId from getVisualShapesData? void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId) { - // Use shapeUniqueId? - int objectArrayIndex = 8; - int objectIndex = 0; - printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size()); - TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(objectArrayIndex); + TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId); if (ptrptr && *ptrptr) { TinyRendererObjectArray* ptr = *ptrptr; - ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(m_data->m_texture,m_data->m_textureWidth,m_data->m_textureHeight); + ptr->m_renderObjects[0]->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData,m_data->m_textures[textureUniqueId].m_width,m_data->m_textures[textureUniqueId].m_height); } } int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height) { - m_data->m_texture = texels; - m_data->m_textureWidth = width; - m_data->m_textureHeight = height; - return 0; + MyTexture2 texData; + texData.m_width = width; + texData.m_height = height; + texData.textureData = texels; + m_data->m_textures.push_back(texData); + return m_data->m_textures.size()-1; } void TinyRendererVisualShapeConverter::loadTextureFile(const char* filename) From 3d799617259dc516d942e43ce56ebfc9fcf81858 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Fri, 21 Oct 2016 11:55:27 -0700 Subject: [PATCH 06/11] Add API to change texture with object id and link index. --- examples/SharedMemory/PhysicsClientC_API.cpp | 4 +- examples/SharedMemory/PhysicsClientC_API.h | 2 +- .../SharedMemory/PhysicsClientExample.cpp | 40 +++++++++++++++---- .../PhysicsServerCommandProcessor.cpp | 2 +- examples/SharedMemory/SharedMemoryCommands.h | 2 + .../TinyRendererVisualShapeConverter.cpp | 24 +++++++++++ 6 files changed, 63 insertions(+), 11 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index d05847313..583f38ba9 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1272,7 +1272,7 @@ b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, return (b3SharedMemoryCommandHandle) command; } -b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int textureUniqueId) +b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) { PhysicsClient* cl = (PhysicsClient* ) physClient; b3Assert(cl); @@ -1281,6 +1281,8 @@ b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physCl b3Assert(command); command->m_type = CMD_UPDATE_VISUAL_SHAPE; command->m_updateVisualShapeDataArguments.m_bodyUniqueId = bodyUniqueId; + command->m_updateVisualShapeDataArguments.m_jointIndex = jointIndex; + command->m_updateVisualShapeDataArguments.m_shapeIndex = shapeIndex; command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId; command->m_updateFlags = 0; return (b3SharedMemoryCommandHandle) command; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index d76a947a4..830717467 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -100,7 +100,7 @@ b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientH void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo); b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename); -b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int textureUniqueId); +b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient); int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz); diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index 97bc9884e..4ab986d17 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -25,6 +25,9 @@ struct MyMotorInfo2 int camVisualizerWidth = 320;//1024/3; int camVisualizerHeight = 240;//768/3; +int loadTextureCount = 0; +int setTextureCount = 0; + enum CustomCommands { CMD_CUSTOM_SET_REALTIME_SIMULATION = CMD_MAX_CLIENT_COMMANDS+1, @@ -242,7 +245,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) { case CMD_LOAD_URDF: { - b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model_white.urdf"); + b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf"); //setting the initial position, orientation and other arguments are optional double startPosX = 0; static double startPosY = 0; @@ -260,9 +263,9 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");//kuka_iiwa/model.sdf"); b3SubmitClientCommand(m_physicsClientHandle, commandHandle); */ - b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "sphere_big.urdf"); + b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "table/table.urdf"); //setting the initial position, orientation and other arguments are optional - b3LoadUrdfCommandSetStartPosition(commandHandle,0.5,0.5,0.5); + b3LoadUrdfCommandSetStartPosition(commandHandle,2.0,2.0,0.5); b3SubmitClientCommand(m_physicsClientHandle, commandHandle); break; } @@ -489,15 +492,36 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) } case CMD_UPDATE_VISUAL_SHAPE: { - b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,8,0); - b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + if (setTextureCount == 0) + { + b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,1,0,0,0); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + } + else if (setTextureCount == 1) + { + b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,1,0,0,1); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + } + setTextureCount++; + if (setTextureCount >=2) + setTextureCount = 0; break; } case CMD_LOAD_TEXTURE: { - const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif"; - b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename); - b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + if (loadTextureCount == 0) + { + const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/cube.png"; + b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + } + else if (loadTextureCount ==1) + { + const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif"; + b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + } + loadTextureCount++; break; } default: diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index a3a46af75..e56ed672e 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3006,7 +3006,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED; - m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId); + m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId); serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED; hasStatus = true; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index c4e6af179..50b099816 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -160,6 +160,8 @@ struct RequestVisualShapeDataArgs struct UpdateVisualShapeDataArgs { int m_bodyUniqueId; + int m_jointIndex; + int m_shapeIndex; int m_textureUniqueId; }; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index ea0db8f95..c6cb3fd29 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -832,6 +832,7 @@ void TinyRendererVisualShapeConverter::resetAll() void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId) { + btAssert(textureUniqueId < m_data->m_textures.size()); TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId); if (ptrptr && *ptrptr) { @@ -840,6 +841,29 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, i } } +void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) +{ + int start = -1; + //find first one, then count how many + for (int i = 0; i < m_data->m_visualShapes.size(); i++) + { + printf("object id: %d\n", m_data->m_visualShapes[i].m_objectUniqueId); + if (m_data->m_visualShapes[i].m_objectUniqueId == objectUniqueId && m_data->m_visualShapes[i].m_linkIndex == jointIndex) + { + start = i; + break; + } + } + + if (start >= 0) + { + if (start + shapeIndex < m_data->m_visualShapes.size()) + { + activateShapeTexture(start + shapeIndex, textureUniqueId); + } + } +} + int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height) { MyTexture2 texData; From 1b312dab3c795d8bdd1739877685b69af6ffdef2 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Fri, 21 Oct 2016 12:42:42 -0700 Subject: [PATCH 07/11] Remove the temporary test code. --- .../SharedMemory/PhysicsClientExample.cpp | 45 ------------------- .../TinyRendererVisualShapeConverter.cpp | 2 - examples/TinyRenderer/model.cpp | 3 -- 3 files changed, 50 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index 4ab986d17..b0fe2be97 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -25,9 +25,6 @@ struct MyMotorInfo2 int camVisualizerWidth = 320;//1024/3; int camVisualizerHeight = 240;//768/3; -int loadTextureCount = 0; -int setTextureCount = 0; - enum CustomCommands { CMD_CUSTOM_SET_REALTIME_SIMULATION = CMD_MAX_CLIENT_COMMANDS+1, @@ -259,14 +256,8 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) case CMD_LOAD_SDF: { - /* b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");//kuka_iiwa/model.sdf"); b3SubmitClientCommand(m_physicsClientHandle, commandHandle); - */ - b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "table/table.urdf"); - //setting the initial position, orientation and other arguments are optional - b3LoadUrdfCommandSetStartPosition(commandHandle,2.0,2.0,0.5); - b3SubmitClientCommand(m_physicsClientHandle, commandHandle); break; } case CMD_REQUEST_CAMERA_IMAGE_DATA: @@ -490,40 +481,6 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) } break; } - case CMD_UPDATE_VISUAL_SHAPE: - { - if (setTextureCount == 0) - { - b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,1,0,0,0); - b3SubmitClientCommand(m_physicsClientHandle, commandHandle); - } - else if (setTextureCount == 1) - { - b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,1,0,0,1); - b3SubmitClientCommand(m_physicsClientHandle, commandHandle); - } - setTextureCount++; - if (setTextureCount >=2) - setTextureCount = 0; - break; - } - case CMD_LOAD_TEXTURE: - { - if (loadTextureCount == 0) - { - const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/cube.png"; - b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename); - b3SubmitClientCommand(m_physicsClientHandle, commandHandle); - } - else if (loadTextureCount ==1) - { - const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif"; - b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename); - b3SubmitClientCommand(m_physicsClientHandle, commandHandle); - } - loadTextureCount++; - break; - } default: { b3Error("Unknown buttonId"); @@ -603,8 +560,6 @@ void PhysicsClientExample::createButtons() createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger); createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger); createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO, isTrigger); - createButton("Load Texture",CMD_LOAD_TEXTURE, isTrigger); - createButton("Update Visual Shape",CMD_UPDATE_VISUAL_SHAPE, isTrigger); createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger); if (m_options!=eCLIENTEXAMPLE_SERVER) { diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index c6cb3fd29..9bf123413 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -844,10 +844,8 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, i void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) { int start = -1; - //find first one, then count how many for (int i = 0; i < m_data->m_visualShapes.size(); i++) { - printf("object id: %d\n", m_data->m_visualShapes[i].m_objectUniqueId); if (m_data->m_visualShapes[i].m_objectUniqueId == objectUniqueId && m_data->m_visualShapes[i].m_linkIndex == jointIndex) { start = i; diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp index f0ef25563..8864d0a2f 100644 --- a/examples/TinyRenderer/model.cpp +++ b/examples/TinyRenderer/model.cpp @@ -60,9 +60,6 @@ void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWid color.bgra[0] = textureImage[(i+j*textureWidth)*3+0]; color.bgra[1] = textureImage[(i+j*textureWidth)*3+1]; color.bgra[2] = textureImage[(i+j*textureWidth)*3+2]; - //color.bgra[0] = textureImage[0]; - //color.bgra[1] = textureImage[1]; - //color.bgra[2] = textureImage[2]; color.bgra[3] = 255; color.bytespp = 3; From 4847e570694033237d6d860ada52688df48d330e Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Fri, 21 Oct 2016 15:54:39 -0700 Subject: [PATCH 08/11] Add script for pybullet. --- build_and_run_cmake_pybullet_double.sh | 6 ++++++ 1 file changed, 6 insertions(+) create mode 100755 build_and_run_cmake_pybullet_double.sh diff --git a/build_and_run_cmake_pybullet_double.sh b/build_and_run_cmake_pybullet_double.sh new file mode 100755 index 000000000..e05d3f06d --- /dev/null +++ b/build_and_run_cmake_pybullet_double.sh @@ -0,0 +1,6 @@ +#!/bin/sh +rm CMakeCache.txt +mkdir build_cmake +cd build_cmake +cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release .. +make -j12 From 9c00b4d9f4a01cd3dca27dafad1a77651d5e64c2 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Fri, 21 Oct 2016 17:48:06 -0700 Subject: [PATCH 09/11] Add texture reset API to pybullet. --- examples/pybullet/pybullet.c | 84 +++++++++++++++++++++++++++++++++++- 1 file changed, 82 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 1af256b47..2cbd35530 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1358,8 +1358,82 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args) return Py_None; } +static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args) +{ + int size = PySequence_Size(args); + int objectUniqueId = -1; + int jointIndex = -1; + int shapeIndex = -1; + int textureUniqueId = -1; + b3SharedMemoryCommandHandle commandHandle; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + + if (size == 4) + { + if (!PyArg_ParseTuple(args, "iiii", &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId)) { + PyErr_SetString(SpamError, "Error parsing object unique id, or joint index, or shape index, or texture unique id"); + return NULL; + } + + commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex, textureUniqueId); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + if (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED) + { + } + else + { + PyErr_SetString(SpamError, "Error resetting visual shape info"); + return NULL; + } + } + else + { + PyErr_SetString(SpamError, "setVisualShapeData requires 4 argument"); + return NULL; + } + + Py_INCREF(Py_None); + return Py_None; +} - +static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args) +{ + int size = PySequence_Size(args); + const char* filename = -1; + b3SharedMemoryCommandHandle commandHandle; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + + if (size == 1) + { + if (!PyArg_ParseTuple(args, "s", &filename)) { + PyErr_SetString(SpamError, "Error parsing file name"); + return NULL; + } + + commandHandle = b3InitLoadTexture(sm, filename); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + if (statusType == CMD_LOAD_TEXTURE_COMPLETED) + { + } + else + { + PyErr_SetString(SpamError, "Error loading texture"); + return NULL; + } + } + else + { + PyErr_SetString(SpamError, "loadTexture requires 1 argument"); + return NULL; + } + + Py_INCREF(Py_None); + return Py_None; +} static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args) { int size = PySequence_Size(args); @@ -2294,9 +2368,15 @@ static PyMethodDef SpamMethods[] = { "object-object collisions. Optional arguments one or two object unique " "ids, that need to be involved in the contact."}, - { "getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS, + {"getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS, "Return the visual shape information for one object." }, + {"resetVisualShapeData", pybullet_resetVisualShapeData, METH_VARARGS, + "Reset part of the visual shape information for one object." }, + + {"loadTexture", pybullet_loadTexture, METH_VARARGS, + "Load texture file." }, + {"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS, "Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to " "quaternion [x,y,z,w]"}, From 1c3686ca51866308d08c97a747eb34a7c450b0c1 Mon Sep 17 00:00:00 2001 From: Lunkhound Date: Tue, 27 Sep 2016 00:01:45 -0700 Subject: [PATCH 10/11] MultiThreaded Demo: - fixing various race conditions throughout (usage of static vars, etc) - addition of a few lightweight mutexes (which are compiled out by default) - slight code rearrangement in discreteDynamicsWorld to facilitate multithreading - PoolAllocator::allocate() can now be called when pool is full without crashing (null pointer returned) - PoolAllocator allocate and freeMemory, are OPTIONALLY threadsafe (default is un-threadsafe) - CollisionDispatcher no longer checks if the pool allocator is full before calling allocate(), instead it just calls allocate() and checks if the return is null -- this avoids a race condition - SequentialImpulseConstraintSolver OPTIONALLY uses different logic in getOrInitSolverBody() to avoid a race condition with kinematic bodies - addition of 2 classes which together allow simulation islands to be run in parallel: - btSimulationIslandManagerMt - btDiscreteDynamicsWorldMt - MultiThreadedDemo example in the example browser demonstrating use of OpenMP, Microsoft PPL, and Intel TBB - use multithreading for other demos - benchmark demo: add parallel raycasting --- CMakeLists.txt | 19 +- examples/BasicDemo/CMakeLists.txt | 3 + examples/BasicDemo/premake4.lua | 7 +- examples/Benchmarks/BenchmarkDemo.cpp | 108 ++- .../CommonGraphicsAppInterface.h | 2 +- .../CommonInterfaces/CommonRigidBodyBase.cpp | 855 ++++++++++++++++++ .../CommonInterfaces/CommonRigidBodyBase.h | 49 +- examples/CommonInterfaces/ParallelFor.h | 336 +++++++ examples/ExampleBrowser/CMakeLists.txt | 43 + examples/ExampleBrowser/ExampleEntries.cpp | 9 +- examples/ExampleBrowser/premake4.lua | 1 + examples/ExtendedTutorials/premake4.lua | 4 + .../MultiThreadedDemo/MultiThreadedDemo.cpp | 229 +++++ .../MultiThreadedDemo/MultiThreadedDemo.h | 22 + examples/OpenGLWindow/SimpleOpenGL2App.cpp | 2 +- examples/OpenGLWindow/SimpleOpenGL2App.h | 2 +- examples/OpenGLWindow/SimpleOpenGL3App.cpp | 4 +- examples/OpenGLWindow/SimpleOpenGL3App.h | 2 +- .../BroadphaseCollision/btDbvt.h | 6 +- .../BroadphaseCollision/btDbvtBroadphase.cpp | 25 + .../BroadphaseCollision/btDbvtBroadphase.h | 1 + src/BulletCollision/CMakeLists.txt | 2 + .../btCollisionDispatcher.cpp | 24 +- .../CollisionDispatch/btCollisionObject.h | 13 +- .../btConvexConvexAlgorithm.cpp | 10 +- .../btConvexConvexAlgorithm.h | 8 +- .../btDefaultCollisionConfiguration.cpp | 9 +- .../btDefaultCollisionConfiguration.h | 9 +- .../btSimulationIslandManagerMt.cpp | 641 +++++++++++++ .../btSimulationIslandManagerMt.h | 109 +++ .../Gimpact/btGImpactShape.cpp | 53 ++ src/BulletCollision/Gimpact/btGImpactShape.h | 28 +- src/BulletDynamics/CMakeLists.txt | 2 + .../btSequentialImpulseConstraintSolver.cpp | 63 +- .../btSequentialImpulseConstraintSolver.h | 8 + .../Dynamics/btDiscreteDynamicsWorld.cpp | 65 +- .../Dynamics/btDiscreteDynamicsWorld.h | 7 +- .../Dynamics/btDiscreteDynamicsWorldMt.cpp | 168 ++++ .../Dynamics/btDiscreteDynamicsWorldMt.h | 44 + .../MLCPSolvers/btMLCPSolver.cpp | 14 +- src/BulletDynamics/MLCPSolvers/btMLCPSolver.h | 11 + src/LinearMath/CMakeLists.txt | 2 + src/LinearMath/btAlignedObjectArray.h | 2 +- src/LinearMath/btConvexHull.cpp | 4 +- src/LinearMath/btPoolAllocator.h | 15 +- src/LinearMath/btQuickprof.cpp | 19 + src/LinearMath/btThreads.cpp | 230 +++++ src/LinearMath/btThreads.h | 76 ++ 48 files changed, 3168 insertions(+), 197 deletions(-) create mode 100644 examples/CommonInterfaces/CommonRigidBodyBase.cpp create mode 100644 examples/CommonInterfaces/ParallelFor.h create mode 100644 examples/MultiThreadedDemo/MultiThreadedDemo.cpp create mode 100644 examples/MultiThreadedDemo/MultiThreadedDemo.h create mode 100644 src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.cpp create mode 100644 src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h create mode 100644 src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp create mode 100644 src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h create mode 100644 src/LinearMath/btThreads.cpp create mode 100644 src/LinearMath/btThreads.h diff --git a/CMakeLists.txt b/CMakeLists.txt index acc474da3..0f7daee05 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,6 +28,7 @@ OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF) OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON) OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF) OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF) +OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF) OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF) OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF) @@ -155,6 +156,13 @@ IF(USE_GRAPHICAL_BENCHMARK) ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK) ENDIF (USE_GRAPHICAL_BENCHMARK) +IF(BULLET2_USE_THREAD_LOCKS) + ADD_DEFINITIONS( -DBT_THREADSAFE=1 ) + IF (NOT MSVC) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + ENDIF (NOT MSVC) +ENDIF (BULLET2_USE_THREAD_LOCKS) + IF (WIN32) OPTION(USE_GLUT "Use Glut" ON) ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS ) @@ -195,8 +203,6 @@ ENDIF (OPENGL_FOUND) #FIND_PACKAGE(GLU) - - IF (APPLE) FIND_LIBRARY(COCOA_LIBRARY Cocoa) ENDIF() @@ -264,6 +270,15 @@ IF(BUILD_BULLET2_DEMOS) IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples) SUBDIRS(examples) ENDIF() + + IF (BULLET2_USE_THREAD_LOCKS) + OPTION(BULLET2_MULTITHREADED_OPEN_MP_DEMO "Build Bullet 2 MultithreadedDemo using OpenMP (requires a compiler with OpenMP support)" OFF) + OPTION(BULLET2_MULTITHREADED_TBB_DEMO "Build Bullet 2 MultithreadedDemo using Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF) + IF (MSVC) + OPTION(BULLET2_MULTITHREADED_PPL_DEMO "Build Bullet 2 MultithreadedDemo using Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF) + ENDIF (MSVC) + ENDIF (BULLET2_USE_THREAD_LOCKS) + ENDIF(BUILD_BULLET2_DEMOS) diff --git a/examples/BasicDemo/CMakeLists.txt b/examples/BasicDemo/CMakeLists.txt index f01a03a51..932e39330 100644 --- a/examples/BasicDemo/CMakeLists.txt +++ b/examples/BasicDemo/CMakeLists.txt @@ -12,12 +12,14 @@ IF (WIN32) ADD_EXECUTABLE(App_BasicExample BasicExample.cpp main.cpp + ../CommonInterfaces/CommonRigidBodyBase.cpp ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc ) ELSE() ADD_EXECUTABLE(App_BasicExample BasicExample.cpp main.cpp + ../CommonInterfaces/CommonRigidBodyBase.cpp ) ENDIF() @@ -53,6 +55,7 @@ SET(AppBasicExampleGui_SRCS ../ExampleBrowser/OpenGLGuiHelper.cpp ../ExampleBrowser/GL_ShapeDrawer.cpp ../ExampleBrowser/CollisionShape2TriangleMesh.cpp + ../CommonInterfaces/CommonRigidBodyBase.cpp ../Utils/b3Clock.cpp ) diff --git a/examples/BasicDemo/premake4.lua b/examples/BasicDemo/premake4.lua index dd924249e..2faa974cd 100644 --- a/examples/BasicDemo/premake4.lua +++ b/examples/BasicDemo/premake4.lua @@ -18,6 +18,7 @@ language "C++" files { "**.cpp", "**.h", + "../CommonInterfaces/*", } @@ -49,6 +50,7 @@ files { "../ExampleBrowser/OpenGLGuiHelper.cpp", "../ExampleBrowser/GL_ShapeDrawer.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../CommonInterfaces/*", "../Utils/b3Clock.cpp", "../Utils/b3Clock.h", } @@ -90,6 +92,7 @@ files { "../ExampleBrowser/OpenGLGuiHelper.cpp", "../ExampleBrowser/GL_ShapeDrawer.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../CommonInterfaces/*", "../TinyRenderer/geometry.cpp", "../TinyRenderer/model.cpp", "../TinyRenderer/tgaimage.cpp", @@ -130,6 +133,7 @@ files { "*.h", "../StandaloneMain/main_tinyrenderer_single_example.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../CommonInterfaces/*", "../OpenGLWindow/SimpleCamera.cpp", "../TinyRenderer/geometry.cpp", "../TinyRenderer/model.cpp", @@ -175,6 +179,7 @@ files { "BasicExample.cpp", "*.h", "../StandaloneMain/hellovr_opengl_main.cpp", + "../CommonInterfaces/*", "../ExampleBrowser/OpenGLGuiHelper.cpp", "../ExampleBrowser/GL_ShapeDrawer.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", @@ -200,4 +205,4 @@ if os.is("MacOSX") then links{"Cocoa.framework"} end -end \ No newline at end of file +end diff --git a/examples/Benchmarks/BenchmarkDemo.cpp b/examples/Benchmarks/BenchmarkDemo.cpp index f659d017c..0eee37149 100644 --- a/examples/Benchmarks/BenchmarkDemo.cpp +++ b/examples/Benchmarks/BenchmarkDemo.cpp @@ -32,10 +32,12 @@ subject to the following restrictions: #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btTransform.h" +#include "../CommonInterfaces/ParallelFor.h" class btDynamicsWorld; #define NUMRAYS 500 +#define USE_PARALLEL_RAYCASTS 1 class btRigidBody; class btBroadphaseInterface; @@ -204,7 +206,39 @@ public: sign = -1.0; } - void cast (btCollisionWorld* cw) + void castRays( btCollisionWorld* cw, int iBegin, int iEnd ) + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]); + + cw->rayTest (source[i], dest[i], cb); + if (cb.hasHit ()) + { + hit[i] = cb.m_hitPointWorld; + normal[i] = cb.m_hitNormalWorld; + normal[i].normalize (); + } else { + hit[i] = dest[i]; + normal[i] = btVector3(1.0, 0.0, 0.0); + } + + } + } + + struct CastRaysLoopBody + { + btRaycastBar2* mRaycasts; + btCollisionWorld* mWorld; + CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {} + + void forLoop( int iBegin, int iEnd ) const + { + mRaycasts->castRays(mWorld, iBegin, iEnd); + } + }; + + void cast (btCollisionWorld* cw, bool multiThreading = false) { #ifdef USE_BT_CLOCK frame_timer.reset (); @@ -228,22 +262,19 @@ public: normal[i].normalize (); } #else - for (int i = 0; i < NUMRAYS; i++) - { - btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]); - - cw->rayTest (source[i], dest[i], cb); - if (cb.hasHit ()) - { - hit[i] = cb.m_hitPointWorld; - normal[i] = cb.m_hitNormalWorld; - normal[i].normalize (); - } else { - hit[i] = dest[i]; - normal[i] = btVector3(1.0, 0.0, 0.0); - } - - } +#if USE_PARALLEL_RAYCASTS + if ( multiThreading ) + { + CastRaysLoopBody rayLooper(cw, this); + int grainSize = 20; // number of raycasts per task + parallelFor( 0, NUMRAYS, grainSize, rayLooper ); + } + else +#endif // USE_PARALLEL_RAYCASTS + { + // single threaded + castRays(cw, 0, NUMRAYS); + } #ifdef USE_BT_CLOCK ms += frame_timer.getTimeMilliseconds (); #endif //USE_BT_CLOCK @@ -354,42 +385,43 @@ void BenchmarkDemo::initPhysics() setCameraDistance(btScalar(100.)); - ///collision configuration contains default setup for memory, collision setup - btDefaultCollisionConstructionInfo cci; - cci.m_defaultMaxPersistentManifoldPoolSize = 32768; - m_collisionConfiguration = new btDefaultCollisionConfiguration(cci); + createEmptyDynamicsWorld(); + /////collision configuration contains default setup for memory, collision setup + //btDefaultCollisionConstructionInfo cci; + //cci.m_defaultMaxPersistentManifoldPoolSize = 32768; + //m_collisionConfiguration = new btDefaultCollisionConfiguration(cci); - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); + /////use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) + //m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); + // + //m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); - ///the maximum size of the collision world. Make sure objects stay within these boundaries - ///Don't make the world AABB size too large, it will harm simulation quality and performance - btVector3 worldAabbMin(-1000,-1000,-1000); - btVector3 worldAabbMax(1000,1000,1000); - - btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache(); - m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache); + /////the maximum size of the collision world. Make sure objects stay within these boundaries + /////Don't make the world AABB size too large, it will harm simulation quality and performance + //btVector3 worldAabbMin(-1000,-1000,-1000); + //btVector3 worldAabbMax(1000,1000,1000); + // + //btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache(); + //m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache); // m_broadphase = new btSimpleBroadphase(); // m_broadphase = new btDbvtBroadphase(); ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) - btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; + //btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; - m_solver = sol; + //m_solver = sol; - btDiscreteDynamicsWorld* dynamicsWorld; - m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); + //btDiscreteDynamicsWorld* dynamicsWorld; + //m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); ///the following 3 lines increase the performance dramatically, with a little bit of loss of quality m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; //don't recalculate friction values each frame - dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations + m_dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations //m_defaultContactProcessingThreshold = 0.f;//used when creating bodies: body->setContactProcessingThreshold(...); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); @@ -1242,7 +1274,7 @@ void BenchmarkDemo::initRays() void BenchmarkDemo::castRays() { - raycastBar.cast (m_dynamicsWorld); + raycastBar.cast (m_dynamicsWorld, m_multithreadedWorld); } void BenchmarkDemo::createTest7() diff --git a/examples/CommonInterfaces/CommonGraphicsAppInterface.h b/examples/CommonInterfaces/CommonGraphicsAppInterface.h index 674807de8..31f0f51ce 100644 --- a/examples/CommonInterfaces/CommonGraphicsAppInterface.h +++ b/examples/CommonInterfaces/CommonGraphicsAppInterface.h @@ -120,7 +120,7 @@ struct CommonGraphicsApp virtual int getUpAxis() const = 0; virtual void swapBuffer() = 0; - virtual void drawText( const char* txt, int posX, int posY) = 0; + virtual void drawText( const char* txt, int posX, int posY, float size = 1.0f) = 0; virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0; virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0; virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)=0; diff --git a/examples/CommonInterfaces/CommonRigidBodyBase.cpp b/examples/CommonInterfaces/CommonRigidBodyBase.cpp new file mode 100644 index 000000000..9ae25c9ed --- /dev/null +++ b/examples/CommonInterfaces/CommonRigidBodyBase.cpp @@ -0,0 +1,855 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "btBulletDynamicsCommon.h" +#include "LinearMath/btIDebugDraw.h" + +#include +#include + +class btCollisionShape; + +#include "CommonExampleInterface.h" +#include "CommonRigidBodyBase.h" +#include "CommonParameterInterface.h" +#include "CommonGUIHelperInterface.h" +#include "CommonRenderInterface.h" +#include "CommonWindowInterface.h" +#include "CommonGraphicsAppInterface.h" +#include "ParallelFor.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btPoolAllocator.h" +#include "btBulletCollisionCommon.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h" // for setSplitIslands() +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" + +TaskManager gTaskMgr; + +#define USE_PARALLEL_NARROWPHASE 1 // detect collisions in parallel +#define USE_PARALLEL_ISLAND_SOLVER 1 // solve simulation islands in parallel +#define USE_PARALLEL_CREATE_PREDICTIVE_CONTACTS 1 +#define USE_PARALLEL_INTEGRATE_TRANSFORMS 1 +#define USE_PARALLEL_PREDICT_UNCONSTRAINED_MOTION 1 + +#if defined (_MSC_VER) && _MSC_VER >= 1600 +// give us a compile error if any signatures of overriden methods is changed +#define BT_OVERRIDE override +#else +#define BT_OVERRIDE +#endif + + +class Profiler +{ +public: + enum RecordType + { + kRecordInternalTimeStep, + kRecordDispatchAllCollisionPairs, + kRecordDispatchIslands, + kRecordPredictUnconstrainedMotion, + kRecordCreatePredictiveContacts, + kRecordIntegrateTransforms, + kRecordCount + }; + +private: + btClock mClock; + + struct Record + { + int mCallCount; + unsigned long long mAccum; + unsigned int mStartTime; + unsigned int mHistory[8]; + + void begin(unsigned int curTime) + { + mStartTime = curTime; + } + void end(unsigned int curTime) + { + unsigned int endTime = curTime; + unsigned int elapsed = endTime - mStartTime; + mAccum += elapsed; + mHistory[ mCallCount & 7 ] = elapsed; + ++mCallCount; + } + float getAverageTime() const + { + int count = btMin( 8, mCallCount ); + if ( count > 0 ) + { + unsigned int sum = 0; + for ( int i = 0; i < count; ++i ) + { + sum += mHistory[ i ]; + } + float avg = float( sum ) / float( count ); + return avg; + } + return 0.0; + } + }; + Record mRecords[ kRecordCount ]; + +public: + void begin(RecordType rt) + { + mRecords[rt].begin(mClock.getTimeMicroseconds()); + } + void end(RecordType rt) + { + mRecords[rt].end(mClock.getTimeMicroseconds()); + } + float getAverageTime(RecordType rt) const + { + return mRecords[rt].getAverageTime(); + } +}; + + +Profiler gProfiler; + +class ProfileHelper +{ + Profiler::RecordType mRecType; +public: + ProfileHelper(Profiler::RecordType rt) + { + mRecType = rt; + gProfiler.begin( mRecType ); + } + ~ProfileHelper() + { + gProfiler.end( mRecType ); + } +}; + +int gThreadsRunningCounter = 0; +btSpinMutex gThreadsRunningCounterMutex; + +void btPushThreadsAreRunning() +{ + gThreadsRunningCounterMutex.lock(); + gThreadsRunningCounter++; + gThreadsRunningCounterMutex.unlock(); +} + +void btPopThreadsAreRunning() +{ + gThreadsRunningCounterMutex.lock(); + gThreadsRunningCounter--; + gThreadsRunningCounterMutex.unlock(); +} + +bool btThreadsAreRunning() +{ + return gThreadsRunningCounter != 0; +} + + +#if USE_PARALLEL_NARROWPHASE + +class MyCollisionDispatcher : public btCollisionDispatcher +{ + btSpinMutex m_manifoldPtrsMutex; + +public: + MyCollisionDispatcher( btCollisionConfiguration* config ) : btCollisionDispatcher( config ) + { + } + + virtual ~MyCollisionDispatcher() + { + } + + btPersistentManifold* getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 ) BT_OVERRIDE + { + // added spin-locks + //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance) + + btScalar contactBreakingThreshold = ( m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD ) ? + btMin( body0->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ), body1->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ) ) + : gContactBreakingThreshold; + + btScalar contactProcessingThreshold = btMin( body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold() ); + + void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) ); + if (NULL == mem) + { + //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert. + if ( ( m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION ) == 0 ) + { + mem = btAlignedAlloc( sizeof( btPersistentManifold ), 16 ); + } + else + { + btAssert( 0 ); + //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration + return 0; + } + } + btPersistentManifold* manifold = new(mem) btPersistentManifold( body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold ); + m_manifoldPtrsMutex.lock(); + manifold->m_index1a = m_manifoldsPtr.size(); + m_manifoldsPtr.push_back( manifold ); + m_manifoldPtrsMutex.unlock(); + + return manifold; + } + + void releaseManifold( btPersistentManifold* manifold ) BT_OVERRIDE + { + clearManifold( manifold ); + + m_manifoldPtrsMutex.lock(); + int findIndex = manifold->m_index1a; + btAssert( findIndex < m_manifoldsPtr.size() ); + m_manifoldsPtr.swap( findIndex, m_manifoldsPtr.size() - 1 ); + m_manifoldsPtr[ findIndex ]->m_index1a = findIndex; + m_manifoldsPtr.pop_back(); + m_manifoldPtrsMutex.unlock(); + + manifold->~btPersistentManifold(); + if ( m_persistentManifoldPoolAllocator->validPtr( manifold ) ) + { + m_persistentManifoldPoolAllocator->freeMemory( manifold ); + } + else + { + btAlignedFree( manifold ); + } + } + + struct Updater + { + btBroadphasePair* mPairArray; + btNearCallback mCallback; + btCollisionDispatcher* mDispatcher; + const btDispatcherInfo* mInfo; + + Updater() + { + mPairArray = NULL; + mCallback = NULL; + mDispatcher = NULL; + mInfo = NULL; + } + void forLoop( int iBegin, int iEnd ) const + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btBroadphasePair* pair = &mPairArray[ i ]; + mCallback( *pair, *mDispatcher, *mInfo ); + } + } + }; + + virtual void dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher ) BT_OVERRIDE + { + ProfileHelper prof(Profiler::kRecordDispatchAllCollisionPairs); + int grainSize = 40; // iterations per task + int pairCount = pairCache->getNumOverlappingPairs(); + Updater updater; + updater.mCallback = getNearCallback(); + updater.mPairArray = pairCount > 0 ? pairCache->getOverlappingPairArrayPtr() : NULL; + updater.mDispatcher = this; + updater.mInfo = &info; + + btPushThreadsAreRunning(); + parallelFor( 0, pairCount, grainSize, updater ); + btPopThreadsAreRunning(); + + if (m_manifoldsPtr.size() < 1) + return; + + // reconstruct the manifolds array to ensure determinism + m_manifoldsPtr.resizeNoInitialize(0); + btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr(); + for (int i = 0; i < pairCount; ++i) + { + btCollisionAlgorithm* algo = pairs[i].m_algorithm; + if (algo) algo->getAllContactManifolds(m_manifoldsPtr); + } + + // update the indices (used when releasing manifolds) + for (int i = 0; i < m_manifoldsPtr.size(); ++i) + m_manifoldsPtr[i]->m_index1a = i; + } +}; + +#endif + + +#if USE_PARALLEL_ISLAND_SOLVER +/// +/// MyConstraintSolverPool - masquerades as a constraint solver, but really it is a threadsafe pool of them. +/// +/// Each solver in the pool is protected by a mutex. When solveGroup is called from a thread, +/// the pool looks for a solver that isn't being used by another thread, locks it, and dispatches the +/// call to the solver. +/// So long as there are at least as many solvers as there are hardware threads, it should never need to +/// spin wait. +/// +class MyConstraintSolverPool : public btConstraintSolver +{ + const static size_t kCacheLineSize = 128; + struct ThreadSolver + { + btConstraintSolver* solver; + btSpinMutex mutex; + char _cachelinePadding[ kCacheLineSize - sizeof( btSpinMutex ) - sizeof( void* ) ]; // keep mutexes from sharing a cache line + }; + btAlignedObjectArray m_solvers; + btConstraintSolverType m_solverType; + + ThreadSolver* getAndLockThreadSolver() + { + while ( true ) + { + for ( int i = 0; i < m_solvers.size(); ++i ) + { + ThreadSolver& solver = m_solvers[ i ]; + if ( solver.mutex.tryLock() ) + { + return &solver; + } + } + } + return NULL; + } + void init( btConstraintSolver** solvers, int numSolvers ) + { + m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER; + m_solvers.resize( numSolvers ); + for ( int i = 0; i < numSolvers; ++i ) + { + m_solvers[ i ].solver = solvers[ i ]; + } + if ( numSolvers > 0 ) + { + m_solverType = solvers[ 0 ]->getSolverType(); + } + } +public: + // create the solvers for me + explicit MyConstraintSolverPool( int numSolvers ) + { + btAlignedObjectArray solvers; + solvers.reserve( numSolvers ); + for ( int i = 0; i < numSolvers; ++i ) + { + btConstraintSolver* solver = new btSequentialImpulseConstraintSolver(); + solvers.push_back( solver ); + } + init( &solvers[ 0 ], numSolvers ); + } + + // pass in fully constructed solvers (destructor will delete them) + MyConstraintSolverPool( btConstraintSolver** solvers, int numSolvers ) + { + init( solvers, numSolvers ); + } + virtual ~MyConstraintSolverPool() + { + // delete all solvers + for ( int i = 0; i < m_solvers.size(); ++i ) + { + ThreadSolver& solver = m_solvers[ i ]; + delete solver.solver; + solver.solver = NULL; + } + } + + //virtual void prepareSolve( int /* numBodies */, int /* numManifolds */ ) { ; } // does nothing + + ///solve a group of constraints + virtual btScalar solveGroup( btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifolds, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& info, + btIDebugDraw* debugDrawer, + btDispatcher* dispatcher + ) + { + ThreadSolver* solver = getAndLockThreadSolver(); + solver->solver->solveGroup( bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher ); + solver->mutex.unlock(); + return 0.0f; + } + + //virtual void allSolved( const btContactSolverInfo& /* info */, class btIDebugDraw* /* debugDrawer */ ) { ; } // does nothing + + ///clear internal cached data and reset random seed + virtual void reset() + { + for ( int i = 0; i < m_solvers.size(); ++i ) + { + ThreadSolver& solver = m_solvers[ i ]; + solver.mutex.lock(); + solver.solver->reset(); + solver.mutex.unlock(); + } + } + + virtual btConstraintSolverType getSolverType() const + { + return m_solverType; + } +}; + +struct UpdateIslandDispatcher +{ + btAlignedObjectArray* islandsPtr; + btSimulationIslandManagerMt::IslandCallback* callback; + + void forLoop( int iBegin, int iEnd ) const + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ]; + btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; + btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; + callback->processIsland( &island->bodyArray[ 0 ], + island->bodyArray.size(), + manifolds, + island->manifoldArray.size(), + constraintsPtr, + island->constraintArray.size(), + island->id + ); + } + } +}; + +static int gNumIslands = 0; + +void parallelIslandDispatch( btAlignedObjectArray* islandsPtr, btSimulationIslandManagerMt::IslandCallback* callback ) +{ + ProfileHelper prof(Profiler::kRecordDispatchIslands); + gNumIslands = islandsPtr->size(); + int grainSize = 1; // iterations per task + UpdateIslandDispatcher dispatcher; + dispatcher.islandsPtr = islandsPtr; + dispatcher.callback = callback; + btPushThreadsAreRunning(); + parallelFor( 0, islandsPtr->size(), grainSize, dispatcher ); + btPopThreadsAreRunning(); +} +#endif //#if USE_PARALLEL_ISLAND_SOLVER + + +void profileBeginCallback(btDynamicsWorld *world, btScalar timeStep) +{ + gProfiler.begin(Profiler::kRecordInternalTimeStep); +} + +void profileEndCallback(btDynamicsWorld *world, btScalar timeStep) +{ + gProfiler.end(Profiler::kRecordInternalTimeStep); +} + +/// +/// MyDiscreteDynamicsWorld +/// +/// Should function exactly like btDiscreteDynamicsWorld. +/// 3 methods that iterate over all of the rigidbodies can run in parallel: +/// - predictUnconstraintMotion +/// - integrateTransforms +/// - createPredictiveContacts +/// +ATTRIBUTE_ALIGNED16( class ) MyDiscreteDynamicsWorld : public btDiscreteDynamicsWorldMt +{ + typedef btDiscreteDynamicsWorld ParentClass; + +protected: +#if USE_PARALLEL_PREDICT_UNCONSTRAINED_MOTION + struct UpdaterUnconstrainedMotion + { + btScalar timeStep; + btRigidBody** rigidBodies; + + void forLoop( int iBegin, int iEnd ) const + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btRigidBody* body = rigidBodies[ i ]; + if ( !body->isStaticOrKinematicObject() ) + { + //don't integrate/update velocities here, it happens in the constraint solver + body->applyDamping( timeStep ); + body->predictIntegratedTransform( timeStep, body->getInterpolationWorldTransform() ); + } + } + } + }; + + virtual void predictUnconstraintMotion( btScalar timeStep ) BT_OVERRIDE + { + ProfileHelper prof( Profiler::kRecordPredictUnconstrainedMotion ); + BT_PROFILE( "predictUnconstraintMotion" ); + int grainSize = 50; // num of iterations per task for TBB + int bodyCount = m_nonStaticRigidBodies.size(); + UpdaterUnconstrainedMotion update; + update.timeStep = timeStep; + update.rigidBodies = bodyCount ? &m_nonStaticRigidBodies[ 0 ] : NULL; + btPushThreadsAreRunning(); + parallelFor( 0, bodyCount, grainSize, update ); + btPopThreadsAreRunning(); + } +#endif // #if USE_PARALLEL_PREDICT_UNCONSTRAINED_MOTION + +#if USE_PARALLEL_CREATE_PREDICTIVE_CONTACTS + struct UpdaterCreatePredictiveContacts + { + btScalar timeStep; + btRigidBody** rigidBodies; + MyDiscreteDynamicsWorld* world; + + void forLoop( int iBegin, int iEnd ) const + { + world->createPredictiveContactsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep ); + } + }; + + virtual void createPredictiveContacts( btScalar timeStep ) + { + ProfileHelper prof( Profiler::kRecordCreatePredictiveContacts ); + releasePredictiveContacts(); + int grainSize = 50; // num of iterations per task for TBB or OPENMP + if ( int bodyCount = m_nonStaticRigidBodies.size() ) + { + UpdaterCreatePredictiveContacts update; + update.world = this; + update.timeStep = timeStep; + update.rigidBodies = &m_nonStaticRigidBodies[ 0 ]; + btPushThreadsAreRunning(); + parallelFor( 0, bodyCount, grainSize, update ); + btPopThreadsAreRunning(); + } + } +#endif // #if USE_PARALLEL_CREATE_PREDICTIVE_CONTACTS + +#if USE_PARALLEL_INTEGRATE_TRANSFORMS + struct UpdaterIntegrateTransforms + { + btScalar timeStep; + btRigidBody** rigidBodies; + MyDiscreteDynamicsWorld* world; + + void forLoop( int iBegin, int iEnd ) const + { + world->integrateTransformsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep ); + } + }; + + virtual void integrateTransforms( btScalar timeStep ) BT_OVERRIDE + { + ProfileHelper prof( Profiler::kRecordIntegrateTransforms ); + BT_PROFILE( "integrateTransforms" ); + int grainSize = 50; // num of iterations per task for TBB or OPENMP + if ( int bodyCount = m_nonStaticRigidBodies.size() ) + { + UpdaterIntegrateTransforms update; + update.world = this; + update.timeStep = timeStep; + update.rigidBodies = &m_nonStaticRigidBodies[ 0 ]; + btPushThreadsAreRunning(); + parallelFor( 0, bodyCount, grainSize, update ); + btPopThreadsAreRunning(); + } + } +#endif // #if USE_PARALLEL_INTEGRATE_TRANSFORMS + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + MyDiscreteDynamicsWorld( btDispatcher* dispatcher, + btBroadphaseInterface* pairCache, + btConstraintSolver* constraintSolver, + btCollisionConfiguration* collisionConfiguration + ) : + btDiscreteDynamicsWorldMt( dispatcher, pairCache, constraintSolver, collisionConfiguration ) + { + } + +}; + +static bool gMultithreadedWorld = false; +static bool gDisplayProfileInfo = false; +static btScalar gSliderNumThreads = 1.0f; // should be int + +//////////////////////////////////// +CommonRigidBodyBase::CommonRigidBodyBase( struct GUIHelperInterface* helper ) + :m_broadphase( 0 ), + m_dispatcher( 0 ), + m_solver( 0 ), + m_collisionConfiguration( 0 ), + m_dynamicsWorld( 0 ), + m_pickedBody( 0 ), + m_pickedConstraint( 0 ), + m_guiHelper( helper ) +{ + m_multithreadedWorld = false; + m_multithreadCapable = false; + gTaskMgr.init(); +} + +CommonRigidBodyBase::~CommonRigidBodyBase() +{ + gTaskMgr.shutdown(); +} + +void boolPtrButtonCallback(int buttonId, bool buttonState, void* userPointer) +{ + if (bool* val = static_cast(userPointer)) + { + *val = ! *val; + } +} + +void apiSelectButtonCallback(int buttonId, bool buttonState, void* userPointer) +{ + gTaskMgr.setApi(static_cast(buttonId)); + if (gTaskMgr.getApi()==TaskManager::apiNone) + { + gSliderNumThreads = 1.0f; + } + else + { + gSliderNumThreads = float(gTaskMgr.getNumThreads()); + } +} + +void setThreadCountCallback(float val) +{ + if (gTaskMgr.getApi()==TaskManager::apiNone) + { + gSliderNumThreads = 1.0f; + } + else + { + gTaskMgr.setNumThreads( int( gSliderNumThreads ) ); + gSliderNumThreads = float(gTaskMgr.getNumThreads()); + } +} + +void CommonRigidBodyBase::createEmptyDynamicsWorld() +{ + gNumIslands = 0; +#if BT_THREADSAFE && (BT_USE_OPENMP || BT_USE_PPL || BT_USE_TBB) + m_multithreadCapable = true; +#endif + if ( gMultithreadedWorld ) + { + m_dispatcher = NULL; + btDefaultCollisionConstructionInfo cci; + cci.m_defaultMaxPersistentManifoldPoolSize = 80000; + cci.m_defaultMaxCollisionAlgorithmPoolSize = 80000; + m_collisionConfiguration = new btDefaultCollisionConfiguration( cci ); + +#if USE_PARALLEL_NARROWPHASE + m_dispatcher = new MyCollisionDispatcher( m_collisionConfiguration ); +#else + m_dispatcher = new btCollisionDispatcher( m_collisionConfiguration ); +#endif //USE_PARALLEL_NARROWPHASE + + m_broadphase = new btDbvtBroadphase(); + +#if USE_PARALLEL_ISLAND_SOLVER + m_solver = new MyConstraintSolverPool( TaskManager::getMaxNumThreads() ); +#else + m_solver = new btSequentialImpulseConstraintSolver(); +#endif //#if USE_PARALLEL_ISLAND_SOLVER + btDiscreteDynamicsWorld* world = new MyDiscreteDynamicsWorld( m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration ); + m_dynamicsWorld = world; + +#if USE_PARALLEL_ISLAND_SOLVER + if ( btSimulationIslandManagerMt* islandMgr = dynamic_cast( world->getSimulationIslandManager() ) ) + { + islandMgr->setIslandDispatchFunction( parallelIslandDispatch ); + m_multithreadedWorld = true; + } +#endif //#if USE_PARALLEL_ISLAND_SOLVER + } + else + { + // single threaded world + m_multithreadedWorld = false; + + ///collision configuration contains default setup for memory, collision setup + m_collisionConfiguration = new btDefaultCollisionConfiguration(); + //m_collisionConfiguration->setConvexConvexMultipointIterations(); + + ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) + m_dispatcher = new btCollisionDispatcher( m_collisionConfiguration ); + + 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_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 ) ); + createDefaultParameters(); +} + + +void CommonRigidBodyBase::createDefaultParameters() +{ + if (m_multithreadCapable) + { + // create a button to toggle multithreaded world + ButtonParams button( "Multithreaded world enable", 0, true ); + button.m_userPointer = &gMultithreadedWorld; + button.m_callback = boolPtrButtonCallback; + m_guiHelper->getParameterInterface()->registerButtonParameter( button ); + } + { + // create a button to toggle profile printing + ButtonParams button( "Display profile timings", 0, true ); + button.m_userPointer = &gDisplayProfileInfo; + button.m_callback = boolPtrButtonCallback; + m_guiHelper->getParameterInterface()->registerButtonParameter( button ); + } + if (m_multithreadedWorld) + { + // create a button for each supported threading API + for (int iApi = 0; iApi < TaskManager::apiCount; ++iApi) + { + TaskManager::Api api = static_cast(iApi); + if (gTaskMgr.isSupported(api)) + { + char str[1024]; + sprintf(str, "API %s", gTaskMgr.getApiName(api)); + ButtonParams button( str, iApi, false ); + button.m_callback = apiSelectButtonCallback; + m_guiHelper->getParameterInterface()->registerButtonParameter( button ); + } + } + { + // create a slider to set the number of threads to use + gSliderNumThreads = float(gTaskMgr.getNumThreads()); + SliderParams slider("Thread count", &gSliderNumThreads); + slider.m_minVal = 1.0f; + slider.m_maxVal = float(gTaskMgr.getMaxNumThreads()*2); + slider.m_callback = setThreadCountCallback; + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); + } + } +} + +void CommonRigidBodyBase::physicsDebugDraw(int debugFlags) +{ + if (m_dynamicsWorld && m_dynamicsWorld->getDebugDrawer()) + { + m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugFlags); + m_dynamicsWorld->debugDrawWorld(); + } + char msg[ 1024 ]; + int xCoord = 400; + int yCoord = 30; + int yStep = 30; + if (m_multithreadCapable) + { + if ( m_multithreadedWorld != gMultithreadedWorld ) + { + sprintf( msg, "restart example to begin in %s mode", + gMultithreadedWorld ? "multithreaded" : "single threaded" + ); + m_guiHelper->getAppInterface()->drawText( msg, 300, yCoord, 0.4f ); + yCoord += yStep; + } + } + if (gDisplayProfileInfo) + { + if ( m_multithreadedWorld ) + { + int numManifolds = m_dispatcher->getNumManifolds(); + int numContacts = 0; + for ( int i = 0; i < numManifolds; ++i ) + { + const btPersistentManifold* man = m_dispatcher->getManifoldByIndexInternal( i ); + numContacts += man->getNumContacts(); + } + const char* mtApi = TaskManager::getApiName( gTaskMgr.getApi() ); + sprintf( msg, "islands=%d bodies=%d manifolds=%d contacts=%d [%s] threads=%d", + gNumIslands, + m_dynamicsWorld->getNumCollisionObjects(), + numManifolds, + numContacts, + mtApi, + gTaskMgr.getApi() == TaskManager::apiNone ? 1 : gTaskMgr.getNumThreads() + ); + m_guiHelper->getAppInterface()->drawText( msg, 100, yCoord, 0.4f ); + yCoord += yStep; + } + + sprintf( msg, "internalSimStep %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordInternalTimeStep )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + + if ( m_multithreadedWorld ) + { + sprintf( msg, + "DispatchCollisionPairs %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordDispatchAllCollisionPairs )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + + sprintf( msg, + "SolveAllIslands %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordDispatchIslands )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + + sprintf( msg, + "PredictUnconstrainedMotion %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordPredictUnconstrainedMotion )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + + sprintf( msg, + "CreatePredictiveContacts %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordCreatePredictiveContacts )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + + sprintf( msg, + "IntegrateTransforms %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordIntegrateTransforms )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + } + } +} + diff --git a/examples/CommonInterfaces/CommonRigidBodyBase.h b/examples/CommonInterfaces/CommonRigidBodyBase.h index 07175ca25..cfbd0053a 100644 --- a/examples/CommonInterfaces/CommonRigidBodyBase.h +++ b/examples/CommonInterfaces/CommonRigidBodyBase.h @@ -21,6 +21,8 @@ struct CommonRigidBodyBase : public CommonExampleInterface btConstraintSolver* m_solver; btDefaultCollisionConfiguration* m_collisionConfiguration; btDiscreteDynamicsWorld* m_dynamicsWorld; + bool m_multithreadedWorld; + bool m_multithreadCapable; //data for picking objects class btRigidBody* m_pickedBody; @@ -31,20 +33,8 @@ struct CommonRigidBodyBase : public CommonExampleInterface btScalar m_oldPickingDist; struct GUIHelperInterface* m_guiHelper; - CommonRigidBodyBase(struct GUIHelperInterface* helper) - :m_broadphase(0), - m_dispatcher(0), - m_solver(0), - m_collisionConfiguration(0), - m_dynamicsWorld(0), - m_pickedBody(0), - m_pickedConstraint(0), - m_guiHelper(helper) - { - } - virtual ~CommonRigidBodyBase() - { - } + CommonRigidBodyBase(struct GUIHelperInterface* helper); + virtual ~CommonRigidBodyBase(); btDiscreteDynamicsWorld* getDynamicsWorld() @@ -52,26 +42,8 @@ struct CommonRigidBodyBase : public CommonExampleInterface return m_dynamicsWorld; } - virtual void createEmptyDynamicsWorld() - { - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btDefaultCollisionConfiguration(); - //m_collisionConfiguration->setConvexConvexMultipointIterations(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - 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_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); - - m_dynamicsWorld->setGravity(btVector3(0, -10, 0)); - } - + virtual void createDefaultParameters(); + virtual void createEmptyDynamicsWorld(); virtual void stepSimulation(float deltaTime) { @@ -81,14 +53,7 @@ struct CommonRigidBodyBase : public CommonExampleInterface } } - virtual void physicsDebugDraw(int debugFlags) - { - if (m_dynamicsWorld && m_dynamicsWorld->getDebugDrawer()) - { - m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugFlags); - m_dynamicsWorld->debugDrawWorld(); - } - } + virtual void physicsDebugDraw(int debugFlags); virtual void exitPhysics() { diff --git a/examples/CommonInterfaces/ParallelFor.h b/examples/CommonInterfaces/ParallelFor.h new file mode 100644 index 000000000..77f6dfe39 --- /dev/null +++ b/examples/CommonInterfaces/ParallelFor.h @@ -0,0 +1,336 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include //printf debugging +#include + + +// choose threading providers: +#if BT_USE_TBB +#define USE_TBB 1 // use Intel Threading Building Blocks for thread management +#endif + +#if BT_USE_PPL +#define USE_PPL 1 // use Microsoft Parallel Patterns Library (installed with Visual Studio 2010 and later) +#endif // BT_USE_PPL + +#if BT_USE_OPENMP +#define USE_OPENMP 1 // use OpenMP (also need to change compiler options for OpenMP support) +#endif + + +#if USE_OPENMP + +#include + +#endif // #if USE_OPENMP + + +#if USE_PPL + +#include // if you get a compile error here, check whether your version of Visual Studio includes PPL +// Visual Studio 2010 and later should come with it +#include // for GetProcessorCount() +#endif // #if USE_PPL + + +#if USE_TBB + +#define __TBB_NO_IMPLICIT_LINKAGE 1 +#include +#include +#include +#include + +#endif // #if USE_TBB + + + +class TaskManager +{ +public: + enum Api + { + apiNone, + apiOpenMP, + apiTbb, + apiPpl, + apiCount + }; + static const char* getApiName( Api api ) + { + switch ( api ) + { + case apiNone: return "None"; + case apiOpenMP: return "OpenMP"; + case apiTbb: return "Intel TBB"; + case apiPpl: return "MS PPL"; + default: return "unknown"; + } + } + + TaskManager() + { + m_api = apiNone; + m_numThreads = 0; +#if USE_TBB + m_tbbSchedulerInit = NULL; +#endif // #if USE_TBB + } + + Api getApi() const + { + return m_api; + } + + bool isSupported( Api api ) const + { +#if USE_OPENMP + if ( api == apiOpenMP ) + { + return true; + } +#endif +#if USE_TBB + if ( api == apiTbb ) + { + return true; + } +#endif +#if USE_PPL + if ( api == apiPpl ) + { + return true; + } +#endif + // apiNone is always "supported" + return api == apiNone; + } + + void setApi( Api api ) + { + if (isSupported(api)) + { + m_api = api; + } + else + { + // no compile time support for selected API, fallback to "none" + m_api = apiNone; + } + } + + static int getMaxNumThreads() + { +#if USE_OPENMP + return omp_get_max_threads(); +#elif USE_PPL + return concurrency::GetProcessorCount(); +#elif USE_TBB + return tbb::task_scheduler_init::default_num_threads(); +#endif + return 1; + } + + int getNumThreads() const + { + return m_numThreads; + } + + int setNumThreads( int numThreads ) + { + m_numThreads = ( std::max )( 1, numThreads ); + +#if USE_OPENMP + omp_set_num_threads( m_numThreads ); +#endif + +#if USE_PPL + { + using namespace concurrency; + if ( CurrentScheduler::Id() != -1 ) + { + CurrentScheduler::Detach(); + } + SchedulerPolicy policy; + policy.SetConcurrencyLimits( m_numThreads, m_numThreads ); + CurrentScheduler::Create( policy ); + } +#endif + +#if USE_TBB + if ( m_tbbSchedulerInit ) + { + delete m_tbbSchedulerInit; + m_tbbSchedulerInit = NULL; + } + m_tbbSchedulerInit = new tbb::task_scheduler_init( m_numThreads ); +#endif + return m_numThreads; + } + + void init() + { + if (m_numThreads == 0) + { +#if USE_PPL + setApi( apiPpl ); +#endif +#if USE_TBB + setApi( apiTbb ); +#endif +#if USE_OPENMP + setApi( apiOpenMP ); +#endif + setNumThreads(getMaxNumThreads()); + } + else + { + setNumThreads(m_numThreads); + } + } + + void shutdown() + { +#if USE_TBB + if ( m_tbbSchedulerInit ) + { + delete m_tbbSchedulerInit; + m_tbbSchedulerInit = NULL; + } +#endif + } + +private: + Api m_api; + int m_numThreads; +#if USE_TBB + tbb::task_scheduler_init* m_tbbSchedulerInit; +#endif // #if USE_TBB +}; + +extern TaskManager gTaskMgr; + + +static void initTaskScheduler() +{ + gTaskMgr.init(); +} + +static void cleanupTaskScheduler() +{ + gTaskMgr.shutdown(); +} + + +#if USE_TBB +/// +/// TbbBodyAdapter -- Converts a body object that implements the +/// "forLoop(int iBegin, int iEnd) const" function +/// into a TBB compatible object that takes a tbb::blocked_range type. +/// +template +struct TbbBodyAdapter +{ + const TBody* mBody; + + void operator()( const tbb::blocked_range& range ) const + { + mBody->forLoop( range.begin(), range.end() ); + } +}; +#endif // #if USE_TBB + +#if USE_PPL +/// +/// PplBodyAdapter -- Converts a body object that implements the +/// "forLoop(int iBegin, int iEnd) const" function +/// into a PPL compatible object that implements "void operator()( int ) const" +/// +template +struct PplBodyAdapter +{ + const TBody* mBody; + int mGrainSize; + int mIndexEnd; + + void operator()( int i ) const + { + mBody->forLoop( i, (std::min)(i + mGrainSize, mIndexEnd) ); + } +}; +#endif // #if USE_PPL + + +/// +/// parallelFor -- interface for submitting work expressed as a for loop to the worker threads +/// +template +void parallelFor( int iBegin, int iEnd, int grainSize, const TBody& body ) +{ +#if USE_OPENMP + if ( gTaskMgr.getApi() == TaskManager::apiOpenMP ) + { +#pragma omp parallel for schedule(static, 1) + for ( int i = iBegin; i < iEnd; i += grainSize ) + { + body.forLoop( i, (std::min)( i + grainSize, iEnd ) ); + } + return; + } +#endif // #if USE_OPENMP + +#if USE_PPL + if ( gTaskMgr.getApi() == TaskManager::apiPpl ) + { + // PPL dispatch + PplBodyAdapter pplBody; + pplBody.mBody = &body; + pplBody.mGrainSize = grainSize; + pplBody.mIndexEnd = iEnd; + // note: MSVC 2010 doesn't support partitioner args, so avoid them + concurrency::parallel_for( iBegin, + iEnd, + grainSize, + pplBody + ); + return; + } +#endif //#if USE_PPL + +#if USE_TBB + if ( gTaskMgr.getApi() == TaskManager::apiTbb ) + { + // TBB dispatch + TbbBodyAdapter tbbBody; + tbbBody.mBody = &body; + tbb::parallel_for( tbb::blocked_range( iBegin, iEnd, grainSize ), + tbbBody, + tbb::simple_partitioner() + ); + return; + } +#endif // #if USE_TBB + + { + // run on main thread + body.forLoop( iBegin, iEnd ); + } + +} + + + + diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 024d928d3..aa8352a95 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -32,6 +32,7 @@ ADD_LIBRARY(BulletExampleBrowserLib GL_ShapeDrawer.cpp CollisionShape2TriangleMesh.cpp CollisionShape2TriangleMesh.h + ../CommonInterfaces/CommonRigidBodyBase.cpp ../Utils/b3Clock.cpp ../Utils/b3Clock.h ../Utils/b3ResourcePath.cpp @@ -108,6 +109,29 @@ ELSE(WIN32) ENDIF(APPLE) ENDIF(WIN32) +IF (BULLET2_MULTITHREADED_OPEN_MP_DEMO) + ADD_DEFINITIONS("-DBT_USE_OPENMP=1") + IF (MSVC) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp") + ELSE (MSVC) + # GCC, Clang + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp") + ENDIF (MSVC) +ENDIF (BULLET2_MULTITHREADED_OPEN_MP_DEMO) + +IF (BULLET2_MULTITHREADED_PPL_DEMO) + ADD_DEFINITIONS("-DBT_USE_PPL=1") +ENDIF (BULLET2_MULTITHREADED_PPL_DEMO) + +IF (BULLET2_MULTITHREADED_TBB_DEMO) + SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.") + SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.") + find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR}) + find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR}) + ADD_DEFINITIONS("-DBT_USE_TBB=1") + INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} ) + LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} ) +ENDIF (BULLET2_MULTITHREADED_TBB_DEMO) SET(ExtendedTutorialsSources ../ExtendedTutorials/Chain.cpp @@ -173,6 +197,8 @@ SET(BulletExampleBrowser_SRCS ../InverseKinematics/InverseKinematicsExample.h ../ForkLift/ForkLiftDemo.cpp ../ForkLift/ForkLiftDemo.h + ../MultiThreadedDemo/MultiThreadedDemo.cpp + ../MultiThreadedDemo/MultiThreadedDemo.h ../Tutorial/Tutorial.cpp ../Tutorial/Tutorial.h ../Tutorial/Dof6ConstraintTutorial.cpp @@ -346,9 +372,26 @@ ADD_CUSTOM_COMMAND( COMMAND ${CMAKE_COMMAND} ARGS -E copy_directory ${BULLET_PHYSICS_SOURCE_DIR}/data ${PROJECT_BINARY_DIR}/data ) +IF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32) + # add a post build command to copy some dlls to the executable directory + set(TBB_VC_VER "vc12") + set(TBB_VC_ARCH "ia32") + # assume 32-bit build in VC12 for now + # checks can be added here at a later time + ADD_CUSTOM_COMMAND(TARGET App_ExampleBrowser POST_BUILD + COMMAND ${CMAKE_COMMAND} -E copy_if_different + "${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbb.dll" + $) + ADD_CUSTOM_COMMAND(TARGET App_ExampleBrowser POST_BUILD + COMMAND ${CMAKE_COMMAND} -E copy_if_different + "${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbbmalloc.dll" + $) +ENDIF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32) + IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES) SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES DEBUG_POSTFIX "_Debug") SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel") SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo") ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES) + diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 87382fbc8..258a70a23 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -8,6 +8,7 @@ #include "../RenderingExamples/TinyRendererSetup.h" #include "../RenderingExamples/DynamicTexturedCubeDemo.h" #include "../ForkLift/ForkLiftDemo.h" +#include "../MultiThreadedDemo/MultiThreadedDemo.h" #include "../BasicDemo/BasicExample.h" #include "../Planar2D/Planar2D.h" #include "../Benchmarks/BenchmarkDemo.h" @@ -284,7 +285,13 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(1,"Fracture demo", "Create a basic custom implementation to model fracturing objects, based on a btCompoundShape. It explicitly propagates the collision impulses and breaks the rigid body into multiple rigid bodies. Press F to toggle fracture and glue mode.", FractureDemoCreateFunc), ExampleEntry(1,"Planar 2D","Show the use of 2D collision shapes and rigid body simulation. The collision shape is wrapped into a btConvex2dShape. The rigid bodies are restricted in a plane using the 'setAngularFactor' and 'setLinearFactor' API call.",Planar2DCreateFunc), - +#if BT_USE_OPENMP || BT_USE_TBB || BT_USE_PPL + // only enable MultiThreaded demo if a task scheduler is available + ExampleEntry( 1, "Multithreaded Demo", + "Stacks of boxes that do not sleep. Good for testing performance with large numbers of bodies and contacts. Sliders can be used to change the number of stacks (restart needed after each change)." + , + MultiThreadedDemoCreateFunc ), +#endif ExampleEntry(0,"Rendering"), diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index c28ae0e5a..571baec95 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -95,6 +95,7 @@ project "App_BulletExampleBrowser" "../RoboticsLearning/*", "../Collision/Internal/*", "../Benchmarks/*", + "../MultiThreadedDemo/*", "../CommonInterfaces/*", "../ForkLift/ForkLiftDemo.*", "../Importers/**", diff --git a/examples/ExtendedTutorials/premake4.lua b/examples/ExtendedTutorials/premake4.lua index 41126e0af..bbfa7c224 100644 --- a/examples/ExtendedTutorials/premake4.lua +++ b/examples/ExtendedTutorials/premake4.lua @@ -17,6 +17,7 @@ language "C++" files { "RigidBodyFromObj.cpp", + "../CommonInterfaces/*", "**.h", "../StandaloneMain/main_console_single_example.cpp", "../Utils/b3ResourcePath.cpp", @@ -68,6 +69,7 @@ files { "RigidBodyFromObj.cpp", "*.h", "../StandaloneMain/main_opengl_single_example.cpp", + "../CommonInterfaces/*", "../ExampleBrowser/OpenGLGuiHelper.cpp", "../ExampleBrowser/GL_ShapeDrawer.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", @@ -132,6 +134,7 @@ files { "../ExampleBrowser/OpenGLGuiHelper.cpp", "../ExampleBrowser/GL_ShapeDrawer.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../CommonInterfaces/*", "../TinyRenderer/geometry.cpp", "../TinyRenderer/model.cpp", "../TinyRenderer/tgaimage.cpp", @@ -193,6 +196,7 @@ files { "../StandaloneMain/main_tinyrenderer_single_example.cpp", "../OpenGLWindow/SimpleCamera.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../CommonInterfaces/*", "../TinyRenderer/geometry.cpp", "../TinyRenderer/model.cpp", "../TinyRenderer/tgaimage.cpp", diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp new file mode 100644 index 000000000..25c20383d --- /dev/null +++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp @@ -0,0 +1,229 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "btBulletDynamicsCommon.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btIDebugDraw.h" + +#include //printf debugging +#include + +class btCollisionShape; + +#include "../CommonInterfaces/CommonExampleInterface.h" +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../CommonInterfaces/CommonParameterInterface.h" +#include "../CommonInterfaces/CommonGUIHelperInterface.h" +#include "../CommonInterfaces/CommonRenderInterface.h" +#include "../CommonInterfaces/CommonWindowInterface.h" +#include "../CommonInterfaces/CommonGraphicsAppInterface.h" +#include "MultiThreadedDemo.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btBulletCollisionCommon.h" + + +#define BT_OVERRIDE + +/// MultiThreadedDemo shows how to setup and use multithreading +class MultiThreadedDemo : public CommonRigidBodyBase +{ + static const int kUpAxis = 1; + + btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape); + + btVector3 m_cameraTargetPos; + float m_cameraPitch; + float m_cameraYaw; + float m_cameraDist; + + void createStack( const btVector3& pos, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size ); + void createSceneObjects(); + void destroySceneObjects(); + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + MultiThreadedDemo( struct GUIHelperInterface* helper ); + + virtual ~MultiThreadedDemo() {} + + virtual void stepSimulation( float deltaTime ) BT_OVERRIDE + { + if ( m_dynamicsWorld ) + { + // always step by 1/60 for benchmarking + m_dynamicsWorld->stepSimulation( 1.0f / 60.0f, 0 ); + } + } + + virtual void initPhysics() BT_OVERRIDE; + virtual void resetCamera() BT_OVERRIDE + { + m_guiHelper->resetCamera( m_cameraDist, + m_cameraPitch, + m_cameraYaw, + m_cameraTargetPos.x(), + m_cameraTargetPos.y(), + m_cameraTargetPos.z() + ); + } + +}; + + +MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper) + : CommonRigidBodyBase( helper ) +{ + m_cameraTargetPos = btVector3( 0.0f, 0.0f, 0.0f ); + m_cameraPitch = 90.0f; + m_cameraYaw = 30.0f; + m_cameraDist = 48.0f; + helper->setUpAxis( kUpAxis ); +} + + +static btScalar gSliderStackRows = 8.0f; +static btScalar gSliderStackColumns = 6.0f; + + +void MultiThreadedDemo::initPhysics() +{ + createEmptyDynamicsWorld(); + + m_dynamicsWorld->setGravity( btVector3( 0, -10, 0 ) ); + + { + SliderParams slider( "Stack rows", &gSliderStackRows ); + slider.m_minVal = 1.0f; + slider.m_maxVal = 20.0f; + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); + } + { + SliderParams slider( "Stack columns", &gSliderStackColumns ); + slider.m_minVal = 1.0f; + slider.m_maxVal = 20.0f; + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); + } + + createSceneObjects(); + + m_guiHelper->createPhysicsDebugDrawer( m_dynamicsWorld ); +} + + + +btRigidBody* MultiThreadedDemo::localCreateRigidBody(btScalar mass, const btTransform& startTransform, btCollisionShape* shape) +{ + btRigidBody* body = createRigidBody(mass, startTransform, shape); + if ( mass > 0.0f ) + { + // prevent bodies from sleeping to make profiling/benchmarking easier + body->forceActivationState( DISABLE_DEACTIVATION ); + } + return body; +} + + +void MultiThreadedDemo::createStack( const btVector3& center, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size ) +{ + btTransform trans; + trans.setIdentity(); + float halfBoxHeight = halfBoxSize.y(); + float halfBoxWidth = halfBoxSize.x(); + + for ( int i = 0; isetLinearVelocity( btVector3( 0, 0, -10 ) ); + } + m_guiHelper->autogenerateGraphicsObjects( m_dynamicsWorld ); + +} + + +CommonExampleInterface* MultiThreadedDemoCreateFunc( struct CommonExampleOptions& options ) +{ + return new MultiThreadedDemo(options.m_guiHelper); +} + diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.h b/examples/MultiThreadedDemo/MultiThreadedDemo.h new file mode 100644 index 000000000..0075e81e7 --- /dev/null +++ b/examples/MultiThreadedDemo/MultiThreadedDemo.h @@ -0,0 +1,22 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +#ifndef MULTITHREADED_DEMO_H +#define MULTITHREADED_DEMO_H + +class CommonExampleInterface* MultiThreadedDemoCreateFunc(struct CommonExampleOptions& options); + +#endif // MULTITHREADED_DEMO_H + + diff --git a/examples/OpenGLWindow/SimpleOpenGL2App.cpp b/examples/OpenGLWindow/SimpleOpenGL2App.cpp index 62f8aba16..a898dd602 100644 --- a/examples/OpenGLWindow/SimpleOpenGL2App.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL2App.cpp @@ -280,7 +280,7 @@ void SimpleOpenGL2App::swapBuffer() m_window->startRendering(); } -void SimpleOpenGL2App::drawText( const char* txt, int posX, int posY) +void SimpleOpenGL2App::drawText( const char* txt, int posX, int posY, float size) { } diff --git a/examples/OpenGLWindow/SimpleOpenGL2App.h b/examples/OpenGLWindow/SimpleOpenGL2App.h index 960dc1d07..3b8a54a5b 100644 --- a/examples/OpenGLWindow/SimpleOpenGL2App.h +++ b/examples/OpenGLWindow/SimpleOpenGL2App.h @@ -17,7 +17,7 @@ public: virtual int getUpAxis() const; virtual void swapBuffer(); - virtual void drawText( const char* txt, int posX, int posY); + virtual void drawText( const char* txt, int posX, int posY, float size); virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA){}; virtual void setBackgroundColor(float red, float green, float blue); virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1) diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp index 6abcd2185..aea665019 100644 --- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp @@ -352,7 +352,7 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world } -void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi) +void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi, float size) { float posX = (float)posXi; @@ -374,7 +374,7 @@ void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi) { bool measureOnly = false; - float fontSize= 64;//512;//128; + float fontSize= 64*size;//512;//128; sth_draw_text(m_data->m_fontStash, m_data->m_droidRegular,fontSize,posX,posY, txt,&dx, this->m_instancingRenderer->getScreenWidth(), diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.h b/examples/OpenGLWindow/SimpleOpenGL3App.h index 8a3f477f6..6902dacf8 100644 --- a/examples/OpenGLWindow/SimpleOpenGL3App.h +++ b/examples/OpenGLWindow/SimpleOpenGL3App.h @@ -31,7 +31,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp virtual int getUpAxis() const; virtual void swapBuffer(); - virtual void drawText( const char* txt, int posX, int posY); + virtual void drawText( const char* txt, int posX, int posY, float size=1.0f); virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size); virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA); struct sth_stash* getFontStash(); diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h index bee17e5c8..1ca175723 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h @@ -267,7 +267,6 @@ struct btDbvt btAlignedObjectArray m_stkStack; - mutable btAlignedObjectArray m_rayTestStack; // Methods @@ -357,6 +356,7 @@ struct btDbvt btScalar lambda_max, const btVector3& aabbMin, const btVector3& aabbMax, + btAlignedObjectArray& stack, DBVT_IPOLICY) const; DBVT_PREFIX @@ -1006,7 +1006,8 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root, btScalar lambda_max, const btVector3& aabbMin, const btVector3& aabbMax, - DBVT_IPOLICY) const + btAlignedObjectArray& stack, + DBVT_IPOLICY ) const { (void) rayTo; DBVT_CHECKTYPE @@ -1016,7 +1017,6 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root, int depth=1; int treshold=DOUBLE_STACKSIZE-2; - btAlignedObjectArray& stack = m_rayTestStack; stack.resize(DOUBLE_STACKSIZE); stack[0]=root; btVector3 bounds[2]; diff --git a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp index 75cfac643..4f33db500 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +++ b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp @@ -16,6 +16,7 @@ subject to the following restrictions: ///btDbvtBroadphase implementation by Nathanael Presson #include "btDbvtBroadphase.h" +#include "LinearMath/btThreads.h" // // Profiling @@ -142,6 +143,11 @@ btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache) { m_stageRoots[i]=0; } +#if BT_THREADSAFE + m_rayTestStacks.resize(BT_MAX_THREAD_COUNT); +#else + m_rayTestStacks.resize(1); +#endif #if DBVT_BP_PROFILE clear(m_profiling); #endif @@ -227,6 +233,23 @@ struct BroadphaseRayTester : btDbvt::ICollide void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax) { BroadphaseRayTester callback(rayCallback); + btAlignedObjectArray* stack = &m_rayTestStacks[0]; +#if BT_THREADSAFE + // for this function to be threadsafe, each thread must have a separate copy + // of this stack. This could be thread-local static to avoid dynamic allocations, + // instead of just a local. + int threadIndex = btGetCurrentThreadIndex(); + btAlignedObjectArray localStack; + if (threadIndex < m_rayTestStacks.size()) + { + // use per-thread preallocated stack if possible to avoid dynamic allocations + stack = &m_rayTestStacks[threadIndex]; + } + else + { + stack = &localStack; + } +#endif m_sets[0].rayTestInternal( m_sets[0].m_root, rayFrom, @@ -236,6 +259,7 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, rayCallback.m_lambda_max, aabbMin, aabbMax, + *stack, callback); m_sets[1].rayTestInternal( m_sets[1].m_root, @@ -246,6 +270,7 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, rayCallback.m_lambda_max, aabbMin, aabbMax, + *stack, callback); } diff --git a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h index 18b64ad0e..a61f00df0 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +++ b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h @@ -87,6 +87,7 @@ struct btDbvtBroadphase : btBroadphaseInterface bool m_releasepaircache; // Release pair cache on delete bool m_deferedcollide; // Defere dynamic/static collision to collide call bool m_needcleanup; // Need to run cleanup? + btAlignedObjectArray< btAlignedObjectArray > m_rayTestStacks; #if DBVT_BP_PROFILE btClock m_clock; struct { diff --git a/src/BulletCollision/CMakeLists.txt b/src/BulletCollision/CMakeLists.txt index 90741a126..1e54a9494 100644 --- a/src/BulletCollision/CMakeLists.txt +++ b/src/BulletCollision/CMakeLists.txt @@ -33,6 +33,7 @@ SET(BulletCollision_SRCS CollisionDispatch/btInternalEdgeUtility.h CollisionDispatch/btManifoldResult.cpp CollisionDispatch/btSimulationIslandManager.cpp + CollisionDispatch/btSimulationIslandManagerMt.cpp CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp @@ -140,6 +141,7 @@ SET(CollisionDispatch_HDRS CollisionDispatch/btHashedSimplePairCache.h CollisionDispatch/btManifoldResult.h CollisionDispatch/btSimulationIslandManager.h + CollisionDispatch/btSimulationIslandManagerMt.h CollisionDispatch/btSphereBoxCollisionAlgorithm.h CollisionDispatch/btSphereSphereCollisionAlgorithm.h CollisionDispatch/btSphereTriangleCollisionAlgorithm.h diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp index d41e98c32..cf1adbefa 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -84,14 +84,10 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObj btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold()); - void* mem = 0; - - if (m_persistentManifoldPoolAllocator->getFreeCount()) + void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) ); + if (NULL == mem) { - mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold)); - } else - { - //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert. + //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert. if ((m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION)==0) { mem = btAlignedAlloc(sizeof(btPersistentManifold),16); @@ -294,13 +290,13 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, void* btCollisionDispatcher::allocateCollisionAlgorithm(int size) { - if (m_collisionAlgorithmPoolAllocator->getFreeCount()) - { - return m_collisionAlgorithmPoolAllocator->allocate(size); - } - - //warn user for overflow? - return btAlignedAlloc(static_cast(size), 16); + void* mem = m_collisionAlgorithmPoolAllocator->allocate( size ); + if (NULL == mem) + { + //warn user for overflow? + return btAlignedAlloc(static_cast(size), 16); + } + return mem; } void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/src/BulletCollision/CollisionDispatch/btCollisionObject.h index d042115e6..11491e41f 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -79,6 +79,7 @@ protected: int m_islandTag1; int m_companionId; + int m_uniqueId; mutable int m_activationState1; mutable btScalar m_deactivationTime; @@ -455,7 +456,17 @@ public: m_companionId = id; } - SIMD_FORCE_INLINE btScalar getHitFraction() const + SIMD_FORCE_INLINE int getUniqueId() const + { + return m_uniqueId; + } + + void setUniqueId( int id ) + { + m_uniqueId = id; + } + + SIMD_FORCE_INLINE btScalar getHitFraction() const { return m_hitFraction; } diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index b9cc04186..80d294895 100644 --- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -179,11 +179,10 @@ static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance( -btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) +btConvexConvexAlgorithm::CreateFunc::CreateFunc(btConvexPenetrationDepthSolver* pdSolver) { m_numPerturbationIterations = 0; m_minimumPointsPerturbationThreshold = 3; - m_simplexSolver = simplexSolver; m_pdSolver = pdSolver; } @@ -191,9 +190,8 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc() { } -btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold) +btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold) : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), -m_simplexSolver(simplexSolver), m_pdSolver(pdSolver), m_ownManifold (false), m_manifoldPtr(mf), @@ -349,8 +347,8 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* btGjkPairDetector::ClosestPointInput input; - - btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver); + btVoronoiSimplexSolver simplexSolver; + btGjkPairDetector gjkPairDetector( min0, min1, &simplexSolver, m_pdSolver ); //TODO: if (dispatchInfo.m_useContinuous) gjkPairDetector.setMinkowskiA(min0); gjkPairDetector.setMinkowskiB(min1); diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h index d0ff3b3c1..cd75ba12d 100644 --- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h +++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h @@ -43,7 +43,6 @@ class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm #ifdef USE_SEPDISTANCE_UTIL2 btConvexSeparatingDistanceUtil m_sepDistance; #endif - btSimplexSolverInterface* m_simplexSolver; btConvexPenetrationDepthSolver* m_pdSolver; btVertexArray worldVertsB1; @@ -62,7 +61,7 @@ class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm public: - btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); + btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); virtual ~btConvexConvexAlgorithm(); @@ -90,18 +89,17 @@ public: { btConvexPenetrationDepthSolver* m_pdSolver; - btSimplexSolverInterface* m_simplexSolver; int m_numPerturbationIterations; int m_minimumPointsPerturbationThreshold; - CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); + CreateFunc(btConvexPenetrationDepthSolver* pdSolver); virtual ~CreateFunc(); virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) { void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm)); - return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); } }; diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp index 9a2e3394d..9e04d2aae 100644 --- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp +++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp @@ -44,9 +44,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault //btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool) { - void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16); - m_simplexSolver = new (mem)btVoronoiSimplexSolver(); - + void* mem = NULL; if (constructionInfo.m_useEpaPenetrationAlgorithm) { mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16); @@ -59,7 +57,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault //default CreationFunctions, filling the m_doubleDispatch table mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16); - m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver); + m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_pdSolver); mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16); m_convexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::CreateFunc; mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16); @@ -193,9 +191,6 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration() m_planeConvexCF->~btCollisionAlgorithmCreateFunc(); btAlignedFree( m_planeConvexCF); - m_simplexSolver->~btVoronoiSimplexSolver(); - btAlignedFree(m_simplexSolver); - m_pdSolver->~btConvexPenetrationDepthSolver(); btAlignedFree(m_pdSolver); diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h index 2078420e1..93a45126b 100644 --- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h +++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h @@ -60,8 +60,7 @@ protected: btPoolAllocator* m_collisionAlgorithmPool; bool m_ownsCollisionAlgorithmPool; - //default simplex/penetration depth solvers - btVoronoiSimplexSolver* m_simplexSolver; + //default penetration depth solver btConvexPenetrationDepthSolver* m_pdSolver; //default CreationFunctions, filling the m_doubleDispatch table @@ -102,12 +101,6 @@ public: } - virtual btVoronoiSimplexSolver* getSimplexSolver() - { - return m_simplexSolver; - } - - virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); ///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm. diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.cpp b/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.cpp new file mode 100644 index 000000000..ad63b6ee0 --- /dev/null +++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.cpp @@ -0,0 +1,641 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#include "LinearMath/btScalar.h" +#include "btSimulationIslandManagerMt.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" + +//#include +#include "LinearMath/btQuickprof.h" + + +SIMD_FORCE_INLINE int calcBatchCost( int bodies, int manifolds, int constraints ) +{ + // rough estimate of the cost of a batch, used for merging + int batchCost = bodies + 8 * manifolds + 4 * constraints; + return batchCost; +} + + +SIMD_FORCE_INLINE int calcBatchCost( const btSimulationIslandManagerMt::Island* island ) +{ + return calcBatchCost( island->bodyArray.size(), island->manifoldArray.size(), island->constraintArray.size() ); +} + + +btSimulationIslandManagerMt::btSimulationIslandManagerMt() +{ + m_minimumSolverBatchSize = calcBatchCost(0, 128, 0); + m_batchIslandMinBodyCount = 32; + m_islandDispatch = defaultIslandDispatch; + m_batchIsland = NULL; +} + + +btSimulationIslandManagerMt::~btSimulationIslandManagerMt() +{ + for ( int i = 0; i < m_allocatedIslands.size(); ++i ) + { + delete m_allocatedIslands[ i ]; + } + m_allocatedIslands.resize( 0 ); + m_activeIslands.resize( 0 ); + m_freeIslands.resize( 0 ); +} + + +inline int getIslandId(const btPersistentManifold* lhs) +{ + const btCollisionObject* rcolObj0 = static_cast(lhs->getBody0()); + const btCollisionObject* rcolObj1 = static_cast(lhs->getBody1()); + int islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag(); + return islandId; +} + + +SIMD_FORCE_INLINE int btGetConstraintIslandId( const btTypedConstraint* lhs ) +{ + const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); + const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); + int islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); + return islandId; +} + +/// function object that routes calls to operator< +class IslandBatchSizeSortPredicate +{ +public: + bool operator() ( const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs ) const + { + int lCost = calcBatchCost( lhs ); + int rCost = calcBatchCost( rhs ); + return lCost > rCost; + } +}; + + +class IslandBodyCapacitySortPredicate +{ +public: + bool operator() ( const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs ) const + { + return lhs->bodyArray.capacity() > rhs->bodyArray.capacity(); + } +}; + + +void btSimulationIslandManagerMt::Island::append( const Island& other ) +{ + // append bodies + for ( int i = 0; i < other.bodyArray.size(); ++i ) + { + bodyArray.push_back( other.bodyArray[ i ] ); + } + // append manifolds + for ( int i = 0; i < other.manifoldArray.size(); ++i ) + { + manifoldArray.push_back( other.manifoldArray[ i ] ); + } + // append constraints + for ( int i = 0; i < other.constraintArray.size(); ++i ) + { + constraintArray.push_back( other.constraintArray[ i ] ); + } +} + + +bool btIsBodyInIsland( const btSimulationIslandManagerMt::Island& island, const btCollisionObject* obj ) +{ + for ( int i = 0; i < island.bodyArray.size(); ++i ) + { + if ( island.bodyArray[ i ] == obj ) + { + return true; + } + } + return false; +} + + +void btSimulationIslandManagerMt::initIslandPools() +{ + // reset island pools + int numElem = getUnionFind().getNumElements(); + m_lookupIslandFromId.resize( numElem ); + for ( int i = 0; i < m_lookupIslandFromId.size(); ++i ) + { + m_lookupIslandFromId[ i ] = NULL; + } + m_activeIslands.resize( 0 ); + m_freeIslands.resize( 0 ); + // check whether allocated islands are sorted by body capacity (largest to smallest) + int lastCapacity = 0; + bool isSorted = true; + for ( int i = 0; i < m_allocatedIslands.size(); ++i ) + { + Island* island = m_allocatedIslands[ i ]; + int cap = island->bodyArray.capacity(); + if ( cap > lastCapacity ) + { + isSorted = false; + break; + } + lastCapacity = cap; + } + if ( !isSorted ) + { + m_allocatedIslands.quickSort( IslandBodyCapacitySortPredicate() ); + } + + m_batchIsland = NULL; + // mark all islands free (but avoid deallocation) + for ( int i = 0; i < m_allocatedIslands.size(); ++i ) + { + Island* island = m_allocatedIslands[ i ]; + island->bodyArray.resize( 0 ); + island->manifoldArray.resize( 0 ); + island->constraintArray.resize( 0 ); + island->id = -1; + island->isSleeping = true; + m_freeIslands.push_back( island ); + } +} + + +btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::getIsland( int id ) +{ + Island* island = m_lookupIslandFromId[ id ]; + if ( island == NULL ) + { + // search for existing island + for ( int i = 0; i < m_activeIslands.size(); ++i ) + { + if ( m_activeIslands[ i ]->id == id ) + { + island = m_activeIslands[ i ]; + break; + } + } + m_lookupIslandFromId[ id ] = island; + } + return island; +} + + +btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::allocateIsland( int id, int numBodies ) +{ + Island* island = NULL; + int allocSize = numBodies; + if ( numBodies < m_batchIslandMinBodyCount ) + { + if ( m_batchIsland ) + { + island = m_batchIsland; + m_lookupIslandFromId[ id ] = island; + // if we've made a large enough batch, + if ( island->bodyArray.size() + numBodies >= m_batchIslandMinBodyCount ) + { + // next time start a new batch + m_batchIsland = NULL; + } + return island; + } + else + { + // need to allocate a batch island + allocSize = m_batchIslandMinBodyCount * 2; + } + } + btAlignedObjectArray& freeIslands = m_freeIslands; + + // search for free island + if ( freeIslands.size() > 0 ) + { + // try to reuse a previously allocated island + int iFound = freeIslands.size(); + // linear search for smallest island that can hold our bodies + for ( int i = freeIslands.size() - 1; i >= 0; --i ) + { + if ( freeIslands[ i ]->bodyArray.capacity() >= allocSize ) + { + iFound = i; + island = freeIslands[ i ]; + island->id = id; + break; + } + } + // if found, shrink array while maintaining ordering + if ( island ) + { + int iDest = iFound; + int iSrc = iDest + 1; + while ( iSrc < freeIslands.size() ) + { + freeIslands[ iDest++ ] = freeIslands[ iSrc++ ]; + } + freeIslands.pop_back(); + } + } + if ( island == NULL ) + { + // no free island found, allocate + island = new Island(); // TODO: change this to use the pool allocator + island->id = id; + island->bodyArray.reserve( allocSize ); + m_allocatedIslands.push_back( island ); + } + m_lookupIslandFromId[ id ] = island; + if ( numBodies < m_batchIslandMinBodyCount ) + { + m_batchIsland = island; + } + m_activeIslands.push_back( island ); + return island; +} + + +void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld ) +{ + + BT_PROFILE("islandUnionFindAndQuickSort"); + + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); + + //we are going to sort the unionfind array, and store the element id in the size + //afterwards, we clean unionfind, to make sure no-one uses it anymore + + getUnionFind().sortIslands(); + int numElem = getUnionFind().getNumElements(); + + int endIslandIndex=1; + int startIslandIndex; + + //update the sleeping state for bodies, if all are sleeping + for ( startIslandIndex=0;startIslandIndexgetIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) + { +// printf("error in island management\n"); + } + + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + if (colObj0->getIslandTag() == islandId) + { + if (colObj0->getActivationState()== ACTIVE_TAG) + { + allSleeping = false; + } + if (colObj0->getActivationState()== DISABLE_DEACTIVATION) + { + allSleeping = false; + } + } + } + + if (allSleeping) + { + int idx; + for (idx=startIslandIndex;idxgetIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) + { +// printf("error in island management\n"); + } + + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + + if (colObj0->getIslandTag() == islandId) + { + colObj0->setActivationState( ISLAND_SLEEPING ); + } + } + } else + { + + int idx; + for (idx=startIslandIndex;idxgetIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) + { +// printf("error in island management\n"); + } + + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + + if (colObj0->getIslandTag() == islandId) + { + if ( colObj0->getActivationState() == ISLAND_SLEEPING) + { + colObj0->setActivationState( WANTS_DEACTIVATION); + colObj0->setDeactivationTime(0.f); + } + } + } + } + } +} + + +void btSimulationIslandManagerMt::addBodiesToIslands( btCollisionWorld* collisionWorld ) +{ + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); + int endIslandIndex = 1; + int startIslandIndex; + int numElem = getUnionFind().getNumElements(); + + // create explicit islands and add bodies to each + for ( startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex ) + { + int islandId = getUnionFind().getElement( startIslandIndex ).m_id; + + // find end index + for ( endIslandIndex = startIslandIndex; ( endIslandIndex < numElem ) && ( getUnionFind().getElement( endIslandIndex ).m_id == islandId ); endIslandIndex++ ) + { + } + // check if island is sleeping + bool islandSleeping = true; + for ( int iElem = startIslandIndex; iElem < endIslandIndex; iElem++ ) + { + int i = getUnionFind().getElement( iElem ).m_sz; + btCollisionObject* colObj = collisionObjects[ i ]; + if ( colObj->isActive() ) + { + islandSleeping = false; + } + } + if ( !islandSleeping ) + { + // want to count the number of bodies before allocating the island to optimize memory usage of the Island structures + int numBodies = endIslandIndex - startIslandIndex; + Island* island = allocateIsland( islandId, numBodies ); + island->isSleeping = false; + + // add bodies to island + for ( int iElem = startIslandIndex; iElem < endIslandIndex; iElem++ ) + { + int i = getUnionFind().getElement( iElem ).m_sz; + btCollisionObject* colObj = collisionObjects[ i ]; + island->bodyArray.push_back( colObj ); + } + } + } + +} + + +void btSimulationIslandManagerMt::addManifoldsToIslands( btDispatcher* dispatcher ) +{ + // walk all the manifolds, activating bodies touched by kinematic objects, and add each manifold to its Island + int maxNumManifolds = dispatcher->getNumManifolds(); + for ( int i = 0; i < maxNumManifolds; i++ ) + { + btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal( i ); + + const btCollisionObject* colObj0 = static_cast( manifold->getBody0() ); + const btCollisionObject* colObj1 = static_cast( manifold->getBody1() ); + + ///@todo: check sleeping conditions! + if ( ( ( colObj0 ) && colObj0->getActivationState() != ISLAND_SLEEPING ) || + ( ( colObj1 ) && colObj1->getActivationState() != ISLAND_SLEEPING ) ) + { + + //kinematic objects don't merge islands, but wake up all connected objects + if ( colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING ) + { + if ( colObj0->hasContactResponse() ) + colObj1->activate(); + } + if ( colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING ) + { + if ( colObj1->hasContactResponse() ) + colObj0->activate(); + } + //filtering for response + if ( dispatcher->needsResponse( colObj0, colObj1 ) ) + { + // scatter manifolds into various islands + int islandId = getIslandId( manifold ); + // if island not sleeping, + if ( Island* island = getIsland( islandId ) ) + { + island->manifoldArray.push_back( manifold ); + } + } + } + } +} + + +void btSimulationIslandManagerMt::addConstraintsToIslands( btAlignedObjectArray& constraints ) +{ + // walk constraints + for ( int i = 0; i < constraints.size(); i++ ) + { + // scatter constraints into various islands + btTypedConstraint* constraint = constraints[ i ]; + if ( constraint->isEnabled() ) + { + int islandId = btGetConstraintIslandId( constraint ); + // if island is not sleeping, + if ( Island* island = getIsland( islandId ) ) + { + island->constraintArray.push_back( constraint ); + } + } + } +} + + +void btSimulationIslandManagerMt::mergeIslands() +{ + // sort islands in order of decreasing batch size + m_activeIslands.quickSort( IslandBatchSizeSortPredicate() ); + + // merge small islands to satisfy minimum batch size + // find first small batch island + int destIslandIndex = m_activeIslands.size(); + for ( int i = 0; i < m_activeIslands.size(); ++i ) + { + Island* island = m_activeIslands[ i ]; + int batchSize = calcBatchCost( island ); + if ( batchSize < m_minimumSolverBatchSize ) + { + destIslandIndex = i; + break; + } + } + int lastIndex = m_activeIslands.size() - 1; + while ( destIslandIndex < lastIndex ) + { + // merge islands from the back of the list + Island* island = m_activeIslands[ destIslandIndex ]; + int numBodies = island->bodyArray.size(); + int numManifolds = island->manifoldArray.size(); + int numConstraints = island->constraintArray.size(); + int firstIndex = lastIndex; + // figure out how many islands we want to merge and find out how many bodies, manifolds and constraints we will have + while ( true ) + { + Island* src = m_activeIslands[ firstIndex ]; + numBodies += src->bodyArray.size(); + numManifolds += src->manifoldArray.size(); + numConstraints += src->constraintArray.size(); + int batchCost = calcBatchCost( numBodies, numManifolds, numConstraints ); + if ( batchCost >= m_minimumSolverBatchSize ) + { + break; + } + if ( firstIndex - 1 == destIslandIndex ) + { + break; + } + firstIndex--; + } + // reserve space for these pointers to minimize reallocation + island->bodyArray.reserve( numBodies ); + island->manifoldArray.reserve( numManifolds ); + island->constraintArray.reserve( numConstraints ); + // merge islands + for ( int i = firstIndex; i <= lastIndex; ++i ) + { + island->append( *m_activeIslands[ i ] ); + } + // shrink array to exclude the islands that were merged from + m_activeIslands.resize( firstIndex ); + lastIndex = firstIndex - 1; + destIslandIndex++; + } +} + + +void btSimulationIslandManagerMt::defaultIslandDispatch( btAlignedObjectArray* islandsPtr, IslandCallback* callback ) +{ + // serial dispatch + btAlignedObjectArray& islands = *islandsPtr; + for ( int i = 0; i < islands.size(); ++i ) + { + Island* island = islands[ i ]; + btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; + btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; + callback->processIsland( &island->bodyArray[ 0 ], + island->bodyArray.size(), + manifolds, + island->manifoldArray.size(), + constraintsPtr, + island->constraintArray.size(), + island->id + ); + } +} + +///@todo: this is random access, it can be walked 'cache friendly'! +void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatcher, + btCollisionWorld* collisionWorld, + btAlignedObjectArray& constraints, + IslandCallback* callback + ) +{ + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); + + buildIslands(dispatcher,collisionWorld); + + BT_PROFILE("processIslands"); + + if(!getSplitIslands()) + { + btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer(); + int maxNumManifolds = dispatcher->getNumManifolds(); + + for ( int i = 0; i < maxNumManifolds; i++ ) + { + btPersistentManifold* manifold = manifolds[ i ]; + + const btCollisionObject* colObj0 = static_cast( manifold->getBody0() ); + const btCollisionObject* colObj1 = static_cast( manifold->getBody1() ); + + ///@todo: check sleeping conditions! + if ( ( ( colObj0 ) && colObj0->getActivationState() != ISLAND_SLEEPING ) || + ( ( colObj1 ) && colObj1->getActivationState() != ISLAND_SLEEPING ) ) + { + + //kinematic objects don't merge islands, but wake up all connected objects + if ( colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING ) + { + if ( colObj0->hasContactResponse() ) + colObj1->activate(); + } + if ( colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING ) + { + if ( colObj1->hasContactResponse() ) + colObj0->activate(); + } + } + } + btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[ 0 ] : NULL; + callback->processIsland(&collisionObjects[0], + collisionObjects.size(), + manifolds, + maxNumManifolds, + constraintsPtr, + constraints.size(), + -1 + ); + } + else + { + initIslandPools(); + + //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated + addBodiesToIslands( collisionWorld ); + addManifoldsToIslands( dispatcher ); + addConstraintsToIslands( constraints ); + + // m_activeIslands array should now contain all non-sleeping Islands, and each Island should + // have all the necessary bodies, manifolds and constraints. + + // if we want to merge islands with small batch counts, + if ( m_minimumSolverBatchSize > 1 ) + { + mergeIslands(); + } + // dispatch islands to solver + m_islandDispatch( &m_activeIslands, callback ); + } +} diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h b/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h new file mode 100644 index 000000000..c1f5018bd --- /dev/null +++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h @@ -0,0 +1,109 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_SIMULATION_ISLAND_MANAGER_MT_H +#define BT_SIMULATION_ISLAND_MANAGER_MT_H + +#include "btSimulationIslandManager.h" + +class btTypedConstraint; + + +/// +/// SimulationIslandManagerMt -- Multithread capable version of SimulationIslandManager +/// Splits the world up into islands which can be solved in parallel. +/// In order to solve islands in parallel, an IslandDispatch function +/// must be provided which will dispatch calls to multiple threads. +/// The amount of parallelism that can be achieved depends on the number +/// of islands. If only a single island exists, then no parallelism is +/// possible. +/// +class btSimulationIslandManagerMt : public btSimulationIslandManager +{ +public: + struct Island + { + // a simulation island consisting of bodies, manifolds and constraints, + // to be passed into a constraint solver. + btAlignedObjectArray bodyArray; + btAlignedObjectArray manifoldArray; + btAlignedObjectArray constraintArray; + int id; // island id + bool isSleeping; + + void append( const Island& other ); // add bodies, manifolds, constraints to my own + }; + struct IslandCallback + { + virtual ~IslandCallback() {}; + + virtual void processIsland( btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifolds, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + int islandId + ) = 0; + }; + typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray* islands, IslandCallback* callback ); + static void defaultIslandDispatch( btAlignedObjectArray* islands, IslandCallback* callback ); +protected: + btAlignedObjectArray m_allocatedIslands; // owner of all Islands + btAlignedObjectArray m_activeIslands; // islands actively in use + btAlignedObjectArray m_freeIslands; // islands ready to be reused + btAlignedObjectArray m_lookupIslandFromId; // big lookup table to map islandId to Island pointer + Island* m_batchIsland; + int m_minimumSolverBatchSize; + int m_batchIslandMinBodyCount; + IslandDispatchFunc m_islandDispatch; + + Island* getIsland( int id ); + virtual Island* allocateIsland( int id, int numBodies ); + virtual void initIslandPools(); + virtual void addBodiesToIslands( btCollisionWorld* collisionWorld ); + virtual void addManifoldsToIslands( btDispatcher* dispatcher ); + virtual void addConstraintsToIslands( btAlignedObjectArray& constraints ); + virtual void mergeIslands(); + +public: + btSimulationIslandManagerMt(); + virtual ~btSimulationIslandManagerMt(); + + virtual void buildAndProcessIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld, btAlignedObjectArray& constraints, IslandCallback* callback ); + + virtual void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld); + + int getMinimumSolverBatchSize() const + { + return m_minimumSolverBatchSize; + } + void setMinimumSolverBatchSize( int sz ) + { + m_minimumSolverBatchSize = sz; + } + IslandDispatchFunc getIslandDispatchFunction() const + { + return m_islandDispatch; + } + // allow users to set their own dispatch function for multithreaded dispatch + void setIslandDispatchFunction( IslandDispatchFunc func ) + { + m_islandDispatch = func; + } +}; + +#endif //BT_SIMULATION_ISLAND_MANAGER_H + diff --git a/src/BulletCollision/Gimpact/btGImpactShape.cpp b/src/BulletCollision/Gimpact/btGImpactShape.cpp index ac8efdf38..30c85e3ff 100644 --- a/src/BulletCollision/Gimpact/btGImpactShape.cpp +++ b/src/BulletCollision/Gimpact/btGImpactShape.cpp @@ -23,6 +23,59 @@ subject to the following restrictions: #include "btGImpactMassUtil.h" +btGImpactMeshShapePart::btGImpactMeshShapePart( btStridingMeshInterface * meshInterface, int part ) +{ + // moved from .h to .cpp because of conditional compilation + // (The setting of BT_THREADSAFE may differ between various cpp files, so it is best to + // avoid using it in h files) + m_primitive_manager.m_meshInterface = meshInterface; + m_primitive_manager.m_part = part; + m_box_set.setPrimitiveManager( &m_primitive_manager ); +#if BT_THREADSAFE + // If threadsafe is requested, this object uses a different lock/unlock + // model with the btStridingMeshInterface -- lock once when the object is constructed + // and unlock once in the destructor. + // The other way of locking and unlocking for each collision check in the narrowphase + // is not threadsafe. Note these are not thread-locks, they are calls to the meshInterface's + // getLockedReadOnlyVertexIndexBase virtual function, which by default just returns a couple of + // pointers. In theory a client could override the lock function to do all sorts of + // things like reading data from GPU memory, or decompressing data on the fly, but such things + // do not seem all that likely or useful, given the performance cost. + m_primitive_manager.lock(); +#endif +} + +btGImpactMeshShapePart::~btGImpactMeshShapePart() +{ + // moved from .h to .cpp because of conditional compilation +#if BT_THREADSAFE + m_primitive_manager.unlock(); +#endif +} + +void btGImpactMeshShapePart::lockChildShapes() const +{ + // moved from .h to .cpp because of conditional compilation +#if ! BT_THREADSAFE + // called in the narrowphase -- not threadsafe! + void * dummy = (void*) ( m_box_set.getPrimitiveManager() ); + TrimeshPrimitiveManager * dummymanager = static_cast( dummy ); + dummymanager->lock(); +#endif +} + +void btGImpactMeshShapePart::unlockChildShapes() const +{ + // moved from .h to .cpp because of conditional compilation +#if ! BT_THREADSAFE + // called in the narrowphase -- not threadsafe! + void * dummy = (void*) ( m_box_set.getPrimitiveManager() ); + TrimeshPrimitiveManager * dummymanager = static_cast( dummy ); + dummymanager->unlock(); +#endif +} + + #define CALC_EXACT_INERTIA 1 diff --git a/src/BulletCollision/Gimpact/btGImpactShape.h b/src/BulletCollision/Gimpact/btGImpactShape.h index 3d1f48d47..9d7e40562 100644 --- a/src/BulletCollision/Gimpact/btGImpactShape.h +++ b/src/BulletCollision/Gimpact/btGImpactShape.h @@ -722,17 +722,8 @@ public: m_box_set.setPrimitiveManager(&m_primitive_manager); } - - btGImpactMeshShapePart(btStridingMeshInterface * meshInterface, int part) - { - m_primitive_manager.m_meshInterface = meshInterface; - m_primitive_manager.m_part = part; - m_box_set.setPrimitiveManager(&m_primitive_manager); - } - - virtual ~btGImpactMeshShapePart() - { - } + btGImpactMeshShapePart( btStridingMeshInterface * meshInterface, int part ); + virtual ~btGImpactMeshShapePart(); //! if true, then its children must get transforms. virtual bool childrenHasTransform() const @@ -742,19 +733,8 @@ public: //! call when reading child shapes - virtual void lockChildShapes() const - { - void * dummy = (void*)(m_box_set.getPrimitiveManager()); - TrimeshPrimitiveManager * dummymanager = static_cast(dummy); - dummymanager->lock(); - } - - virtual void unlockChildShapes() const - { - void * dummy = (void*)(m_box_set.getPrimitiveManager()); - TrimeshPrimitiveManager * dummymanager = static_cast(dummy); - dummymanager->unlock(); - } + virtual void lockChildShapes() const; + virtual void unlockChildShapes() const; //! Gets the number of children virtual int getNumChildShapes() const diff --git a/src/BulletDynamics/CMakeLists.txt b/src/BulletDynamics/CMakeLists.txt index 656fc8433..f3d33fc90 100644 --- a/src/BulletDynamics/CMakeLists.txt +++ b/src/BulletDynamics/CMakeLists.txt @@ -21,6 +21,7 @@ SET(BulletDynamics_SRCS ConstraintSolver/btTypedConstraint.cpp ConstraintSolver/btUniversalConstraint.cpp Dynamics/btDiscreteDynamicsWorld.cpp + Dynamics/btDiscreteDynamicsWorldMt.cpp Dynamics/btRigidBody.cpp Dynamics/btSimpleDynamicsWorld.cpp # Dynamics/Bullet-C-API.cpp @@ -70,6 +71,7 @@ SET(ConstraintSolver_HDRS SET(Dynamics_HDRS Dynamics/btActionInterface.h Dynamics/btDiscreteDynamicsWorld.h + Dynamics/btDiscreteDynamicsWorldMt.h Dynamics/btDynamicsWorld.h Dynamics/btSimpleDynamicsWorld.h Dynamics/btRigidBody.h diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index aced8fae1..988fd2459 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -716,8 +716,64 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionCon int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body,btScalar timeStep) { +#if BT_THREADSAFE + int solverBodyId = -1; + if ( !body.isStaticOrKinematicObject() ) + { + // dynamic body + // Dynamic bodies can only be in one island, so it's safe to write to the companionId + solverBodyId = body.getCompanionId(); + if ( solverBodyId < 0 ) + { + if ( btRigidBody* rb = btRigidBody::upcast( &body ) ) + { + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &solverBody, &body, timeStep ); + body.setCompanionId( solverBodyId ); + } + } + } + else if ( body.isStaticObject() ) + { + // all fixed bodies (inf mass) get mapped to a single solver id + if ( m_fixedBodyId < 0 ) + { + m_fixedBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &fixedBody, 0, timeStep ); + } + solverBodyId = m_fixedBodyId; + } + else + { + // kinematic + // Kinematic bodies can be in multiple islands at once, so it is a + // race condition to write to them, so we use an alternate method + // to record the solverBodyId + int uniqueId = body.getUniqueId(); + const int INVALID_SOLVER_BODY_ID = -1; + if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) + { + m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); + } + solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ]; + // if no table entry yet, + if ( solverBodyId == INVALID_SOLVER_BODY_ID ) + { + // create a table entry for this body + btRigidBody* rb = btRigidBody::upcast( &body ); + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &solverBody, &body, timeStep ); + m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ] = solverBodyId; + } + } + btAssert( solverBodyId < m_tmpSolverBodyPool.size() ); + return solverBodyId; +#else // BT_THREADSAFE - int solverBodyIdA = -1; + int solverBodyIdA = -1; if (body.getCompanionId() >= 0) { @@ -749,6 +805,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } return solverBodyIdA; +#endif // BT_THREADSAFE } #include @@ -1263,7 +1320,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol { bodies[i]->setCompanionId(-1); } - +#if BT_THREADSAFE + m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 ); +#endif // BT_THREADSAFE m_tmpSolverBodyPool.reserve(numBodies+1); m_tmpSolverBodyPool.resize(0); diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 7eafa3a68..7f594208f 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -45,6 +45,14 @@ protected: btAlignedObjectArray m_tmpConstraintSizesPool; int m_maxOverrideNumSolverIterations; int m_fixedBodyId; + // When running solvers on multiple threads, a race condition exists for Kinematic objects that + // participate in more than one solver. + // The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body + // for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island + // (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once. + // To avoid this race condition, this solver does not write the companionId, instead it stores the solver body + // index in this solver-local table, indexed by the uniqueId of the body. + btAlignedObjectArray m_kinematicBodyUniqueIdToSolverBodyTable; // only used for multithreading btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric; btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit; diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index 361a054ec..808f2720c 100644 --- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -878,25 +878,12 @@ public: int gNumClampedCcdMotions=0; -void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) +void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep) { - BT_PROFILE("createPredictiveContacts"); - - { - BT_PROFILE("release predictive contact manifolds"); - - for (int i=0;im_dispatcher1->releaseManifold(manifold); - } - m_predictiveManifolds.clear(); - } - btTransform predictedTrans; - for ( int i=0;isetHitFraction(1.f); if (body->isActive() && (!body->isStaticOrKinematicObject())) @@ -953,7 +940,9 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body,sweepResults.m_hitCollisionObject); + btMutexLock( &m_predictiveManifoldsMutex ); m_predictiveManifolds.push_back(manifold); + btMutexUnlock( &m_predictiveManifoldsMutex ); btVector3 worldPointB = body->getWorldTransform().getOrigin()+distVec; btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse()*worldPointB; @@ -974,13 +963,35 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) } } } -void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) + +void btDiscreteDynamicsWorld::releasePredictiveContacts() +{ + BT_PROFILE( "release predictive contact manifolds" ); + + for ( int i = 0; i < m_predictiveManifolds.size(); i++ ) + { + btPersistentManifold* manifold = m_predictiveManifolds[ i ]; + this->m_dispatcher1->releaseManifold( manifold ); + } + m_predictiveManifolds.clear(); +} + +void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) +{ + BT_PROFILE("createPredictiveContacts"); + releasePredictiveContacts(); + if (m_nonStaticRigidBodies.size() > 0) + { + createPredictiveContactsInternal( &m_nonStaticRigidBodies[ 0 ], m_nonStaticRigidBodies.size(), timeStep ); + } +} + +void btDiscreteDynamicsWorld::integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ) { - BT_PROFILE("integrateTransforms"); btTransform predictedTrans; - for ( int i=0;isetHitFraction(1.f); if (body->isActive() && (!body->isStaticOrKinematicObject())) @@ -1080,7 +1091,17 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) } - ///this should probably be switched on by default, but it is not well tested yet +} + +void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) +{ + BT_PROFILE("integrateTransforms"); + if (m_nonStaticRigidBodies.size() > 0) + { + integrateTransformsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep); + } + + ///this should probably be switched on by default, but it is not well tested yet if (m_applySpeculativeContactRestitution) { BT_PROFILE("apply speculative contact restitution"); @@ -1114,14 +1135,12 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) } } } - } - void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { BT_PROFILE("predictUnconstraintMotion"); diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index dd3d1c366..d2789cc6b 100644 --- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -30,6 +30,7 @@ class btIDebugDraw; struct InplaceSolverIslandCallback; #include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btThreads.h" ///btDiscreteDynamicsWorld provides discrete rigid body simulation @@ -68,9 +69,11 @@ protected: bool m_latencyMotionStateInterpolation; btAlignedObjectArray m_predictiveManifolds; + btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts virtual void predictUnconstraintMotion(btScalar timeStep); + void integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel virtual void integrateTransforms(btScalar timeStep); virtual void calculateSimulationIslands(); @@ -85,7 +88,9 @@ protected: virtual void internalSingleStepSimulation( btScalar timeStep); - void createPredictiveContacts(btScalar timeStep); + void releasePredictiveContacts(); + void createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel + virtual void createPredictiveContacts(btScalar timeStep); virtual void saveKinematicState(btScalar timeStep); diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp new file mode 100644 index 000000000..d0906e9c5 --- /dev/null +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp @@ -0,0 +1,168 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#include "btDiscreteDynamicsWorldMt.h" + +//collision detection +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h" +#include "LinearMath/btTransformUtil.h" +#include "LinearMath/btQuickprof.h" + +//rigidbody & constraints +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h" +#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" +#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h" +#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" +#include "BulletDynamics/ConstraintSolver/btContactConstraint.h" + + +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" + + +#include "BulletDynamics/Dynamics/btActionInterface.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btMotionState.h" + +#include "LinearMath/btSerializer.h" + + +struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::IslandCallback +{ + btContactSolverInfo* m_solverInfo; + btConstraintSolver* m_solver; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; + + InplaceSolverIslandCallbackMt( + btConstraintSolver* solver, + btStackAlloc* stackAlloc, + btDispatcher* dispatcher) + :m_solverInfo(NULL), + m_solver(solver), + m_debugDrawer(NULL), + m_dispatcher(dispatcher) + { + + } + + InplaceSolverIslandCallbackMt& operator=(InplaceSolverIslandCallbackMt& other) + { + btAssert(0); + (void)other; + return *this; + } + + SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btIDebugDraw* debugDrawer) + { + btAssert(solverInfo); + m_solverInfo = solverInfo; + m_debugDrawer = debugDrawer; + } + + + virtual void processIsland( btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifolds, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + int islandId + ) + { + m_solver->solveGroup( bodies, + numBodies, + manifolds, + numManifolds, + constraints, + numConstraints, + *m_solverInfo, + m_debugDrawer, + m_dispatcher + ); + } + +}; + + + +btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) +: btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration) +{ + if (m_ownsIslandManager) + { + m_islandManager->~btSimulationIslandManager(); + btAlignedFree( m_islandManager); + } + { + void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallbackMt),16); + m_solverIslandCallbackMt = new (mem) InplaceSolverIslandCallbackMt (m_constraintSolver, 0, dispatcher); + } + { + void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16); + btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt(); + m_islandManager = im; + im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize ); + } +} + + +btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt() +{ + if (m_solverIslandCallbackMt) + { + m_solverIslandCallbackMt->~InplaceSolverIslandCallbackMt(); + btAlignedFree(m_solverIslandCallbackMt); + } + if (m_ownsConstraintSolver) + { + m_constraintSolver->~btConstraintSolver(); + btAlignedFree(m_constraintSolver); + } +} + + +void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo) +{ + BT_PROFILE("solveConstraints"); + + + m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + + /// solve all the constraints for this island + btSimulationIslandManagerMt* im = static_cast(m_islandManager); + im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, m_solverIslandCallbackMt ); + + m_constraintSolver->allSolved(solverInfo, m_debugDrawer); +} + + +void btDiscreteDynamicsWorldMt::addCollisionObject(btCollisionObject* collisionObject, short int collisionFilterGroup, short int collisionFilterMask) +{ + collisionObject->setUniqueId(m_collisionObjects.size()); + btDiscreteDynamicsWorld::addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask); +} diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h new file mode 100644 index 000000000..af40129b8 --- /dev/null +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h @@ -0,0 +1,44 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H +#define BT_DISCRETE_DYNAMICS_WORLD_MT_H + +#include "btDiscreteDynamicsWorld.h" + +struct InplaceSolverIslandCallbackMt; + +/// +/// btDiscreteDynamicsWorldMt -- a version of DiscreteDynamicsWorld with some minor changes to support +/// solving simulation islands on multiple threads. +/// +ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld +{ +protected: + InplaceSolverIslandCallbackMt* m_solverIslandCallbackMt; + + virtual void solveConstraints(btContactSolverInfo& solverInfo); + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); + + btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + virtual ~btDiscreteDynamicsWorldMt(); +}; + +#endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp index e73f4acc4..8f54c5262 100644 --- a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp +++ b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp @@ -215,12 +215,12 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal) jointNodeArray.reserve(2*m_allConstraintPtrArray.size()); } - static btMatrixXu J3; + btMatrixXu& J3 = m_scratchJ3; { BT_PROFILE("J3.resize"); J3.resize(2*m,8); } - static btMatrixXu JinvM3; + btMatrixXu& JinvM3 = m_scratchJInvM3; { BT_PROFILE("JinvM3.resize/setZero"); @@ -230,7 +230,7 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal) } int cur=0; int rowOffset = 0; - static btAlignedObjectArray ofs; + btAlignedObjectArray& ofs = m_scratchOfs; { BT_PROFILE("ofs resize"); ofs.resize(0); @@ -489,7 +489,7 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal) } } - static btMatrixXu Minv; + btMatrixXu& Minv = m_scratchMInv; Minv.resize(6*numBodies,6*numBodies); Minv.setZero(); for (int i=0;igetInvInertiaTensorWorld()[r][c] : 0); } - static btMatrixXu J; + btMatrixXu& J = m_scratchJ; J.resize(numConstraintRows,6*numBodies); J.setZero(); @@ -541,10 +541,10 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal) } } - static btMatrixXu J_transpose; + btMatrixXu& J_transpose = m_scratchJTranspose; J_transpose= J.transpose(); - static btMatrixXu tmp; + btMatrixXu& tmp = m_scratchTmp; { { diff --git a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h index 88d587c03..26b482ddc 100644 --- a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h +++ b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h @@ -43,6 +43,17 @@ protected: btMLCPSolverInterface* m_solver; int m_fallback; + /// The following scratch variables are not stateful -- contents are cleared prior to each use. + /// They are only cached here to avoid extra memory allocations and deallocations and to ensure + /// that multiple instances of the solver can be run in parallel. + btMatrixXu m_scratchJ3; + btMatrixXu m_scratchJInvM3; + btAlignedObjectArray m_scratchOfs; + btMatrixXu m_scratchMInv; + btMatrixXu m_scratchJ; + btMatrixXu m_scratchJTranspose; + btMatrixXu m_scratchTmp; + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); diff --git a/src/LinearMath/CMakeLists.txt b/src/LinearMath/CMakeLists.txt index 3846fb71d..9c1980442 100644 --- a/src/LinearMath/CMakeLists.txt +++ b/src/LinearMath/CMakeLists.txt @@ -11,6 +11,7 @@ SET(LinearMath_SRCS btPolarDecomposition.cpp btQuickprof.cpp btSerializer.cpp + btThreads.cpp btVector3.cpp ) @@ -38,6 +39,7 @@ SET(LinearMath_HDRS btScalar.h btSerializer.h btStackAlloc.h + btThreads.h btTransform.h btTransformUtil.h btVector3.h diff --git a/src/LinearMath/btAlignedObjectArray.h b/src/LinearMath/btAlignedObjectArray.h index 6193ef7f4..146ae72e8 100644 --- a/src/LinearMath/btAlignedObjectArray.h +++ b/src/LinearMath/btAlignedObjectArray.h @@ -322,7 +322,7 @@ protected: { public: - bool operator() ( const T& a, const T& b ) + bool operator() ( const T& a, const T& b ) const { return ( a < b ); } diff --git a/src/LinearMath/btConvexHull.cpp b/src/LinearMath/btConvexHull.cpp index 2ae855dbc..f8b79a1ab 100644 --- a/src/LinearMath/btConvexHull.cpp +++ b/src/LinearMath/btConvexHull.cpp @@ -87,7 +87,7 @@ btVector3 NormalOf(const btVector3 *vert, const int n); btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1) { // returns the point where the line p0-p1 intersects the plane n&d - static btVector3 dif; + btVector3 dif; dif = p1-p0; btScalar dn= btDot(plane.normal,dif); btScalar t = -(plane.dist+btDot(plane.normal,p0) )/dn; @@ -112,7 +112,7 @@ btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint) { - static btVector3 cp; + btVector3 cp; cp = btCross(udir,vdir).normalized(); btScalar distu = -btDot(cp,ustart); diff --git a/src/LinearMath/btPoolAllocator.h b/src/LinearMath/btPoolAllocator.h index ef2084537..efdeda8ff 100644 --- a/src/LinearMath/btPoolAllocator.h +++ b/src/LinearMath/btPoolAllocator.h @@ -18,6 +18,7 @@ subject to the following restrictions: #include "btScalar.h" #include "btAlignedAllocator.h" +#include "btThreads.h" ///The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately. class btPoolAllocator @@ -27,6 +28,7 @@ class btPoolAllocator int m_freeCount; void* m_firstFree; unsigned char* m_pool; + btSpinMutex m_mutex; // only used if BT_THREADSAFE public: @@ -71,11 +73,16 @@ public: { // release mode fix (void)size; + btMutexLock(&m_mutex); btAssert(!size || size<=m_elemSize); - btAssert(m_freeCount>0); + //btAssert(m_freeCount>0); // should return null if all full void* result = m_firstFree; - m_firstFree = *(void**)m_firstFree; - --m_freeCount; + if (NULL != m_firstFree) + { + m_firstFree = *(void**)m_firstFree; + --m_freeCount; + } + btMutexUnlock(&m_mutex); return result; } @@ -95,9 +102,11 @@ public: if (ptr) { btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize); + btMutexLock(&m_mutex); *(void**)ptr = m_firstFree; m_firstFree = ptr; ++m_freeCount; + btMutexUnlock(&m_mutex); } } diff --git a/src/LinearMath/btQuickprof.cpp b/src/LinearMath/btQuickprof.cpp index cfbda3628..f587770e8 100644 --- a/src/LinearMath/btQuickprof.cpp +++ b/src/LinearMath/btQuickprof.cpp @@ -16,6 +16,9 @@ #include "btQuickprof.h" +#if BT_THREADSAFE +#include "btThreads.h" +#endif //#if BT_THREADSAFE #ifdef __CELLOS_LV2__ @@ -455,6 +458,14 @@ unsigned long int CProfileManager::ResetTime = 0; *=============================================================================================*/ void CProfileManager::Start_Profile( const char * name ) { +#if BT_THREADSAFE + // profile system is not designed for profiling multiple threads + // disable collection on all but the main thread + if ( !btIsMainThread() ) + { + return; + } +#endif //#if BT_THREADSAFE if (name != CurrentNode->Get_Name()) { CurrentNode = CurrentNode->Get_Sub_Node( name ); } @@ -468,6 +479,14 @@ void CProfileManager::Start_Profile( const char * name ) *=============================================================================================*/ void CProfileManager::Stop_Profile( void ) { +#if BT_THREADSAFE + // profile system is not designed for profiling multiple threads + // disable collection on all but the main thread + if ( !btIsMainThread() ) + { + return; + } +#endif //#if BT_THREADSAFE // Return will indicate whether we should back up to our parent (we may // be profiling a recursive function) if (CurrentNode->Return()) { diff --git a/src/LinearMath/btThreads.cpp b/src/LinearMath/btThreads.cpp new file mode 100644 index 000000000..4bef499f7 --- /dev/null +++ b/src/LinearMath/btThreads.cpp @@ -0,0 +1,230 @@ +/* +Copyright (c) 2003-2014 Erwin Coumans http://bullet.googlecode.com + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#include "btThreads.h" + +// +// Lightweight spin-mutex based on atomics +// Using ordinary system-provided mutexes like Windows critical sections was noticeably slower +// presumably because when it fails to lock at first it would sleep the thread and trigger costly +// context switching. +// + +#if BT_THREADSAFE + +#if __cplusplus >= 201103L + +// for anything claiming full C++11 compliance, use C++11 atomics +// on GCC or Clang you need to compile with -std=c++11 +#define USE_CPP11_ATOMICS 1 + +#elif defined( _MSC_VER ) + +// on MSVC, use intrinsics instead +#define USE_MSVC_INTRINSICS 1 + +#elif defined( __GNUC__ ) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7)) + +// available since GCC 4.7 and some versions of clang +// todo: check for clang +#define USE_GCC_BUILTIN_ATOMICS 1 + +#elif defined( __GNUC__ ) && (__GNUC__ == 4 && __GNUC_MINOR__ >= 1) + +// available since GCC 4.1 +#define USE_GCC_BUILTIN_ATOMICS_OLD 1 + +#endif + + +#if USE_CPP11_ATOMICS + +#include +#include + +#define THREAD_LOCAL_STATIC thread_local static + +bool btSpinMutex::tryLock() +{ + std::atomic* aDest = reinterpret_cast*>(&mLock); + int expected = 0; + return std::atomic_compare_exchange_weak_explicit( aDest, &expected, int(1), std::memory_order_acq_rel, std::memory_order_acquire ); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread. + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + std::atomic* aDest = reinterpret_cast*>(&mLock); + std::atomic_store_explicit( aDest, int(0), std::memory_order_release ); +} + + +#elif USE_MSVC_INTRINSICS + +#define WIN32_LEAN_AND_MEAN + +#include +#include + +#define THREAD_LOCAL_STATIC __declspec( thread ) static + + +bool btSpinMutex::tryLock() +{ + volatile long* aDest = reinterpret_cast(&mLock); + return ( 0 == _InterlockedCompareExchange( aDest, 1, 0) ); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + volatile long* aDest = reinterpret_cast( &mLock ); + _InterlockedExchange( aDest, 0 ); +} + +#elif USE_GCC_BUILTIN_ATOMICS + +#define THREAD_LOCAL_STATIC static __thread + + +bool btSpinMutex::tryLock() +{ + int expected = 0; + bool weak = false; + const int memOrderSuccess = __ATOMIC_ACQ_REL; + const int memOrderFail = __ATOMIC_ACQUIRE; + return __atomic_compare_exchange_n(&mLock, &expected, int(1), weak, memOrderSuccess, memOrderFail); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + __atomic_store_n(&mLock, int(0), __ATOMIC_RELEASE); +} + +#elif USE_GCC_BUILTIN_ATOMICS_OLD + + +#define THREAD_LOCAL_STATIC static __thread + +bool btSpinMutex::tryLock() +{ + return __sync_bool_compare_and_swap(&mLock, int(0), int(1)); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + // write 0 + __sync_fetch_and_and(&mLock, int(0)); +} + +#else //#elif USE_MSVC_INTRINSICS + +#error "no threading primitives defined -- unknown platform" + +#endif //#else //#elif USE_MSVC_INTRINSICS + + +struct ThreadsafeCounter +{ + unsigned int mCounter; + btSpinMutex mMutex; + + ThreadsafeCounter() {mCounter=0;} + + unsigned int getNext() + { + // no need to optimize this with atomics, it is only called ONCE per thread! + mMutex.lock(); + unsigned int val = mCounter++; + mMutex.unlock(); + return val; + } +}; + +static ThreadsafeCounter gThreadCounter; + + +// return a unique index per thread, starting with 0 and counting up +unsigned int btGetCurrentThreadIndex() +{ + const unsigned int kNullIndex = ~0U; + THREAD_LOCAL_STATIC unsigned int sThreadIndex = kNullIndex; + if ( sThreadIndex == kNullIndex ) + { + sThreadIndex = gThreadCounter.getNext(); + } + return sThreadIndex; +} + +bool btIsMainThread() +{ + return btGetCurrentThreadIndex() == 0; +} + +#else // #if BT_THREADSAFE + +// These should not be called ever +void btSpinMutex::lock() +{ + btAssert(!"unimplemented btSpinMutex::lock() called"); +} + +void btSpinMutex::unlock() +{ + btAssert(!"unimplemented btSpinMutex::unlock() called"); +} + +bool btSpinMutex::tryLock() +{ + btAssert(!"unimplemented btSpinMutex::tryLock() called"); + return true; +} + +#endif // #else // #if BT_THREADSAFE + diff --git a/src/LinearMath/btThreads.h b/src/LinearMath/btThreads.h new file mode 100644 index 000000000..db710979f --- /dev/null +++ b/src/LinearMath/btThreads.h @@ -0,0 +1,76 @@ +/* +Copyright (c) 2003-2014 Erwin Coumans http://bullet.googlecode.com + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + + +#ifndef BT_THREADS_H +#define BT_THREADS_H + +#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE + +/// +/// btSpinMutex -- lightweight spin-mutex implemented with atomic ops, never puts +/// a thread to sleep because it is designed to be used with a task scheduler +/// which has one thread per core and the threads don't sleep until they +/// run out of tasks. Not good for general purpose use. +/// +class btSpinMutex +{ + int mLock; + +public: + btSpinMutex() + { + mLock = 0; + } + void lock(); + void unlock(); + bool tryLock(); +}; + +#if BT_THREADSAFE + +// for internal Bullet use only +SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex ) +{ + mutex->lock(); +} + +SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex ) +{ + mutex->unlock(); +} + +SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex ) +{ + return mutex->tryLock(); +} + +// for internal use only +bool btIsMainThread(); +unsigned int btGetCurrentThreadIndex(); +const unsigned int BT_MAX_THREAD_COUNT = 64; + +#else + +// for internal Bullet use only +// if BT_THREADSAFE is undefined or 0, should optimize away to nothing +SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* ) {} +SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* ) {} +SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* ) {return true;} + +#endif + + +#endif //BT_THREADS_H From f74a35bacb5762604d0c9c78a2149a8b47a09f3a Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Thu, 3 Nov 2016 07:11:31 -0700 Subject: [PATCH 11/11] serialization structures update, needed to be done since recent addition of src/BulletCollision/CollisionDispatch/btCollisionObject.h recent (since august 26, 2016) serialization dumps my be corrupt. --- src/LinearMath/btSerializer.cpp | 1993 ++++++++++++++++--------------- 1 file changed, 999 insertions(+), 994 deletions(-) diff --git a/src/LinearMath/btSerializer.cpp b/src/LinearMath/btSerializer.cpp index 9838e6c09..2b5740b40 100644 --- a/src/LinearMath/btSerializer.cpp +++ b/src/LinearMath/btSerializer.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(126),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), 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+char(7),char(0),char(-9),char(0),char(0),char(0),char(37),char(0),char(79),char(0),char(4),char(0),char(61),char(0),char(-74),char(0),char(14),char(0),char(-11),char(0), +char(14),char(0),char(-10),char(0),char(8),char(0),char(-9),char(0),char(80),char(0),char(4),char(0),char(7),char(0),char(-8),char(0),char(7),char(0),char(-7),char(0), +char(7),char(0),char(-6),char(0),char(4),char(0),char(79),char(0),char(81),char(0),char(10),char(0),char(80),char(0),char(-5),char(0),char(13),char(0),char(-4),char(0), +char(13),char(0),char(-3),char(0),char(13),char(0),char(-2),char(0),char(13),char(0),char(-1),char(0),char(13),char(0),char(0),char(1),char(7),char(0),char(-99),char(0), +char(7),char(0),char(1),char(1),char(4),char(0),char(2),char(1),char(4),char(0),char(53),char(0),char(82),char(0),char(4),char(0),char(80),char(0),char(-5),char(0), +char(4),char(0),char(3),char(1),char(7),char(0),char(4),char(1),char(4),char(0),char(5),char(1),char(83),char(0),char(4),char(0),char(13),char(0),char(0),char(1), +char(80),char(0),char(-5),char(0),char(4),char(0),char(6),char(1),char(7),char(0),char(7),char(1),char(84),char(0),char(7),char(0),char(13),char(0),char(8),char(1), +char(80),char(0),char(-5),char(0),char(4),char(0),char(9),char(1),char(7),char(0),char(10),char(1),char(7),char(0),char(11),char(1),char(7),char(0),char(12),char(1), +char(4),char(0),char(53),char(0),char(85),char(0),char(6),char(0),char(17),char(0),char(13),char(1),char(13),char(0),char(11),char(1),char(13),char(0),char(14),char(1), +char(60),char(0),char(15),char(1),char(4),char(0),char(16),char(1),char(7),char(0),char(12),char(1),char(86),char(0),char(26),char(0),char(4),char(0),char(17),char(1), +char(7),char(0),char(18),char(1),char(7),char(0),char(127),char(0),char(7),char(0),char(19),char(1),char(7),char(0),char(20),char(1),char(7),char(0),char(21),char(1), +char(7),char(0),char(22),char(1),char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1),char(7),char(0),char(25),char(1),char(7),char(0),char(26),char(1), +char(7),char(0),char(27),char(1),char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1), +char(7),char(0),char(32),char(1),char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1),char(7),char(0),char(35),char(1),char(7),char(0),char(36),char(1), +char(4),char(0),char(37),char(1),char(4),char(0),char(38),char(1),char(4),char(0),char(39),char(1),char(4),char(0),char(40),char(1),char(4),char(0),char(120),char(0), +char(87),char(0),char(12),char(0),char(17),char(0),char(41),char(1),char(17),char(0),char(42),char(1),char(17),char(0),char(43),char(1),char(13),char(0),char(44),char(1), +char(13),char(0),char(45),char(1),char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1),char(4),char(0),char(48),char(1),char(4),char(0),char(49),char(1), +char(4),char(0),char(50),char(1),char(7),char(0),char(10),char(1),char(4),char(0),char(53),char(0),char(88),char(0),char(27),char(0),char(19),char(0),char(51),char(1), +char(17),char(0),char(52),char(1),char(17),char(0),char(53),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(54),char(1),char(13),char(0),char(55),char(1), +char(13),char(0),char(56),char(1),char(13),char(0),char(57),char(1),char(13),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(7),char(0),char(60),char(1), +char(4),char(0),char(61),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1), +char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1), +char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(4),char(0),char(74),char(1),char(4),char(0),char(75),char(1), +char(4),char(0),char(76),char(1),char(89),char(0),char(12),char(0),char(9),char(0),char(77),char(1),char(9),char(0),char(78),char(1),char(13),char(0),char(79),char(1), +char(7),char(0),char(80),char(1),char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1),char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1), +char(4),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0), +char(50),char(0),char(-109),char(0),char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1),char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1), +char(83),char(0),char(91),char(1),char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1),char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1), +char(4),char(0),char(96),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1),char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1), +char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(86),char(0),char(103),char(1),char(91),char(0),char(20),char(0), +char(16),char(0),char(104),char(1),char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1),char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1), +char(14),char(0),char(109),char(1),char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1), +char(4),char(0),char(113),char(1),char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1),char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1), +char(8),char(0),char(118),char(1),char(0),char(0),char(119),char(1),char(0),char(0),char(120),char(1),char(49),char(0),char(121),char(1),char(0),char(0),char(122),char(1), +char(92),char(0),char(20),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),char(13),char(0),char(107),char(1), +char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),char(4),char(0),char(111),char(1), +char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),char(4),char(0),char(113),char(1), +char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(0),char(0),char(119),char(1),char(0),char(0),char(120),char(1),char(50),char(0),char(121),char(1), +char(0),char(0),char(122),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(123),char(1),char(14),char(0),char(124),char(1),char(8),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(127),char(1),char(0),char(0),char(122),char(1),char(4),char(0),char(97),char(1), +char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(127),char(1), +char(19),char(0),char(123),char(1),char(13),char(0),char(124),char(1),char(7),char(0),char(125),char(1),char(4),char(0),char(97),char(1),}; int sBulletDNAlen= sizeof(sBulletDNAstr); + char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(126),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-128),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -682,503 +685,505 @@ char(97),char(110),char(105),char(115),char(111),char(116),char(114),char(111),c char(109),char(95),char(99),char(111),char(110),char(116),char(97),char(99),char(116),char(80),char(114),char(111),char(99),char(101),char(115),char(115),char(105),char(110),char(103),char(84), char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(100),char(101),char(97),char(99),char(116),char(105),char(118),char(97),char(116), char(105),char(111),char(110),char(84),char(105),char(109),char(101),char(0),char(109),char(95),char(102),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109), -char(95),char(114),char(111),char(108),char(108),char(105),char(110),char(103),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(114), -char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(104),char(105),char(116),char(70),char(114),char(97),char(99), -char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),char(99),char(100),char(83),char(119),char(101),char(112),char(116),char(83),char(112),char(104),char(101),char(114), -char(101),char(82),char(97),char(100),char(105),char(117),char(115),char(0),char(109),char(95),char(99),char(99),char(100),char(77),char(111),char(116),char(105),char(111),char(110),char(84), -char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(104),char(97),char(115),char(65),char(110),char(105),char(115),char(111),char(116), -char(114),char(111),char(112),char(105),char(99),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),char(111),char(108),char(108), -char(105),char(115),char(105),char(111),char(110),char(70),char(108),char(97),char(103),char(115),char(0),char(109),char(95),char(105),char(115),char(108),char(97),char(110),char(100),char(84), -char(97),char(103),char(49),char(0),char(109),char(95),char(99),char(111),char(109),char(112),char(97),char(110),char(105),char(111),char(110),char(73),char(100),char(0),char(109),char(95), -char(97),char(99),char(116),char(105),char(118),char(97),char(116),char(105),char(111),char(110),char(83),char(116),char(97),char(116),char(101),char(49),char(0),char(109),char(95),char(105), -char(110),char(116),char(101),char(114),char(110),char(97),char(108),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(99),char(104),char(101),char(99),char(107),char(67), -char(111),char(108),char(108),char(105),char(100),char(101),char(87),char(105),char(116),char(104),char(0),char(109),char(95),char(116),char(97),char(117),char(0),char(109),char(95),char(100), -char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(116),char(105),char(109),char(101),char(83),char(116),char(101),char(112),char(0),char(109),char(95), -char(109),char(97),char(120),char(69),char(114),char(114),char(111),char(114),char(82),char(101),char(100),char(117),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95), -char(115),char(111),char(114),char(0),char(109),char(95),char(101),char(114),char(112),char(0),char(109),char(95),char(101),char(114),char(112),char(50),char(0),char(109),char(95),char(103), -char(108),char(111),char(98),char(97),char(108),char(67),char(102),char(109),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117), -char(108),char(115),char(101),char(80),char(101),char(110),char(101),char(116),char(114),char(97),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104), -char(111),char(108),char(100),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(84),char(117), -char(114),char(110),char(69),char(114),char(112),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(83),char(108),char(111),char(112),char(0),char(109), -char(95),char(119),char(97),char(114),char(109),char(115),char(116),char(97),char(114),char(116),char(105),char(110),char(103),char(70),char(97),char(99),char(116),char(111),char(114),char(0), -char(109),char(95),char(109),char(97),char(120),char(71),char(121),char(114),char(111),char(115),char(99),char(111),char(112),char(105),char(99),char(70),char(111),char(114),char(99),char(101), -char(0),char(109),char(95),char(115),char(105),char(110),char(103),char(108),char(101),char(65),char(120),char(105),char(115),char(82),char(111),char(108),char(108),char(105),char(110),char(103), -char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95), -char(110),char(117),char(109),char(73),char(116),char(101),char(114),char(97),char(116),char(105),char(111),char(110),char(115),char(0),char(109),char(95),char(115),char(111),char(108),char(118), -char(101),char(114),char(77),char(111),char(100),char(101),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(105),char(110),char(103),char(67),char(111),char(110),char(116), -char(97),char(99),char(116),char(82),char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104), -char(111),char(108),char(100),char(0),char(109),char(95),char(109),char(105),char(110),char(105),char(109),char(117),char(109),char(83),char(111),char(108),char(118),char(101),char(114),char(66), -char(97),char(116),char(99),char(104),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117), -char(108),char(115),char(101),char(0),char(109),char(95),char(115),char(111),char(108),char(118),char(101),char(114),char(73),char(110),char(102),char(111),char(0),char(109),char(95),char(103), -char(114),char(97),char(118),char(105),char(116),char(121),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98), 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+char(14),char(0),char(-34),char(0),char(0),char(0),char(-33),char(0),char(0),char(0),char(-32),char(0),char(0),char(0),char(-31),char(0),char(0),char(0),char(-30),char(0), +char(0),char(0),char(-29),char(0),char(0),char(0),char(-59),char(0),char(14),char(0),char(-53),char(0),char(14),char(0),char(-52),char(0),char(14),char(0),char(-28),char(0), +char(14),char(0),char(-27),char(0),char(14),char(0),char(-26),char(0),char(14),char(0),char(-25),char(0),char(14),char(0),char(-24),char(0),char(14),char(0),char(-23),char(0), +char(14),char(0),char(-22),char(0),char(14),char(0),char(-21),char(0),char(14),char(0),char(-20),char(0),char(14),char(0),char(-19),char(0),char(14),char(0),char(-18),char(0), +char(0),char(0),char(-17),char(0),char(0),char(0),char(-16),char(0),char(0),char(0),char(-15),char(0),char(0),char(0),char(-14),char(0),char(0),char(0),char(-13),char(0), +char(4),char(0),char(-12),char(0),char(76),char(0),char(9),char(0),char(59),char(0),char(-74),char(0),char(19),char(0),char(-71),char(0),char(19),char(0),char(-70),char(0), +char(7),char(0),char(-55),char(0),char(7),char(0),char(-54),char(0),char(7),char(0),char(-53),char(0),char(7),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0), +char(4),char(0),char(-50),char(0),char(77),char(0),char(9),char(0),char(61),char(0),char(-74),char(0),char(20),char(0),char(-71),char(0),char(20),char(0),char(-70),char(0), +char(8),char(0),char(-55),char(0),char(8),char(0),char(-54),char(0),char(8),char(0),char(-53),char(0),char(8),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0), +char(4),char(0),char(-50),char(0),char(78),char(0),char(5),char(0),char(58),char(0),char(-74),char(0),char(13),char(0),char(-11),char(0),char(13),char(0),char(-10),char(0), +char(7),char(0),char(-9),char(0),char(0),char(0),char(37),char(0),char(79),char(0),char(4),char(0),char(61),char(0),char(-74),char(0),char(14),char(0),char(-11),char(0), +char(14),char(0),char(-10),char(0),char(8),char(0),char(-9),char(0),char(80),char(0),char(4),char(0),char(7),char(0),char(-8),char(0),char(7),char(0),char(-7),char(0), +char(7),char(0),char(-6),char(0),char(4),char(0),char(79),char(0),char(81),char(0),char(10),char(0),char(80),char(0),char(-5),char(0),char(13),char(0),char(-4),char(0), +char(13),char(0),char(-3),char(0),char(13),char(0),char(-2),char(0),char(13),char(0),char(-1),char(0),char(13),char(0),char(0),char(1),char(7),char(0),char(-99),char(0), +char(7),char(0),char(1),char(1),char(4),char(0),char(2),char(1),char(4),char(0),char(53),char(0),char(82),char(0),char(4),char(0),char(80),char(0),char(-5),char(0), +char(4),char(0),char(3),char(1),char(7),char(0),char(4),char(1),char(4),char(0),char(5),char(1),char(83),char(0),char(4),char(0),char(13),char(0),char(0),char(1), +char(80),char(0),char(-5),char(0),char(4),char(0),char(6),char(1),char(7),char(0),char(7),char(1),char(84),char(0),char(7),char(0),char(13),char(0),char(8),char(1), +char(80),char(0),char(-5),char(0),char(4),char(0),char(9),char(1),char(7),char(0),char(10),char(1),char(7),char(0),char(11),char(1),char(7),char(0),char(12),char(1), +char(4),char(0),char(53),char(0),char(85),char(0),char(6),char(0),char(17),char(0),char(13),char(1),char(13),char(0),char(11),char(1),char(13),char(0),char(14),char(1), +char(60),char(0),char(15),char(1),char(4),char(0),char(16),char(1),char(7),char(0),char(12),char(1),char(86),char(0),char(26),char(0),char(4),char(0),char(17),char(1), 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+char(4),char(0),char(61),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1), +char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1), +char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(4),char(0),char(74),char(1),char(4),char(0),char(75),char(1), +char(4),char(0),char(76),char(1),char(89),char(0),char(12),char(0),char(9),char(0),char(77),char(1),char(9),char(0),char(78),char(1),char(13),char(0),char(79),char(1), +char(7),char(0),char(80),char(1),char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1),char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1), +char(4),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0), +char(50),char(0),char(-109),char(0),char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1),char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1), +char(83),char(0),char(91),char(1),char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1),char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1), +char(4),char(0),char(96),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1),char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1), +char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(86),char(0),char(103),char(1),char(91),char(0),char(20),char(0), +char(16),char(0),char(104),char(1),char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1),char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1), +char(14),char(0),char(109),char(1),char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1), +char(4),char(0),char(113),char(1),char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1),char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1), +char(8),char(0),char(118),char(1),char(0),char(0),char(119),char(1),char(0),char(0),char(120),char(1),char(49),char(0),char(121),char(1),char(0),char(0),char(122),char(1), +char(92),char(0),char(20),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),char(13),char(0),char(107),char(1), +char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),char(4),char(0),char(111),char(1), +char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),char(4),char(0),char(113),char(1), +char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(0),char(0),char(119),char(1),char(0),char(0),char(120),char(1),char(50),char(0),char(121),char(1), +char(0),char(0),char(122),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(123),char(1),char(14),char(0),char(124),char(1),char(8),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(127),char(1),char(0),char(0),char(122),char(1),char(4),char(0),char(97),char(1), +char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(127),char(1), +char(19),char(0),char(123),char(1),char(13),char(0),char(124),char(1),char(7),char(0),char(125),char(1),char(4),char(0),char(97),char(1),}; int sBulletDNAlen64= sizeof(sBulletDNAstr64);