Several changes to sync Bullet trunk with PlayStation 3 spubullet version
Still needs some cross-platform fixes
This commit is contained in:
erwin.coumans
@@ -1,33 +1,53 @@
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
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# For every executable you have with a main method you should have an add_executable line below.
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# For every add executable line you should list every .cpp and .h file you have associated with that executable.
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# You shouldn't have to modify anything below this line
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########################################################
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
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)
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LINK_LIBRARIES(
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OpenGLSupport BulletMultiThreaded BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppMultiThreadedDemo
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main.cpp
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MultiThreadedDemo.cpp
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MultiThreadedDemo.h
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)
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IF (UNIX)
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TARGET_LINK_LIBRARIES(AppMultiThreadedDemo pthread)
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ENDIF(UNIX)
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
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# For every executable you have with a main method you should have an add_executable line below.
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# For every add executable line you should list every .cpp and .h file you have associated with that executable.
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# You shouldn't have to modify anything below this line
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########################################################
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
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${VECTOR_MATH_INCLUDE}
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)
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LINK_LIBRARIES(
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OpenGLSupport BulletMultiThreaded BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppMultiThreadedDemo
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main.cpp
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MultiThreadedDemo.cpp
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MultiThreadedDemo.h
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)
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IF (UNIX)
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TARGET_LINK_LIBRARIES(AppMultiThreadedDemo pthread)
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ENDIF(UNIX)
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IF(WIN32)
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IF (CMAKE_CL_64)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ADD_CUSTOM_COMMAND( TARGET AppMultiThreadedDemo POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR} )
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ADD_CUSTOM_COMMAND( TARGET AppMultiThreadedDemo POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW64.DLL ${CMAKE_CURRENT_BINARY_DIR})
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ENDIF()
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ELSE(CMAKE_CL_64)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ADD_CUSTOM_COMMAND( TARGET AppMultiThreadedDemo POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR})
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ADD_CUSTOM_COMMAND( TARGET AppMultiThreadedDemo POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW32.DLL ${CMAKE_CURRENT_BINARY_DIR})
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ENDIF()
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ENDIF(CMAKE_CL_64)
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ENDIF(WIN32)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppMultiThreadedDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppMultiThreadedDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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@@ -13,12 +13,13 @@ subject to the following restrictions:
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3. This notice may not be removed or altered from any source distribution.
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*/
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//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
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#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
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#define USE_PARALLEL_DISPATCHER 1
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
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#ifdef USE_PARALLEL_DISPATCHER
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#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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@@ -37,18 +38,52 @@ subject to the following restrictions:
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#else
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//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
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#include "BulletMultiThreaded/SequentialThreadSupport.h"
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#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif //USE_LIBSPE2
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#ifdef USE_PARALLEL_SOLVER
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#include "BulletMultiThreaded/SpuParallelSolver.h"
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#include "BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h"
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#include "BulletMultiThreaded/btParallelConstraintSolver.h"
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#include "BulletMultiThreaded/SequentialThreadSupport.h"
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btThreadSupportInterface* createSolverThreadSupport(int maxNumThreads)
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{
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//#define SEQUENTIAL
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#ifdef SEQUENTIAL
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SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
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SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
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threadSupport->startSPU();
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#else
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#ifdef _WIN32
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Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads",SolverThreadFunc,SolverlsMemoryFunc,maxNumThreads);
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Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
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threadSupport->startSPU();
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#elif defined (USE_PTHREADS)
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PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", SolverThreadFunc,
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SolverlsMemoryFunc, maxNumThreads);
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PosixThreadSupport* threadSupport = new PosixThreadSupport(solverConstructionInfo);
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#else
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SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
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SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
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threadSupport->startSPU();
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#endif
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#endif
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return threadSupport;
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}
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#endif //USE_PARALLEL_SOLVER
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#endif//USE_PARALLEL_DISPATCHER
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btIDebugDraw.h"
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@@ -162,8 +197,6 @@ void MultiThreadedDemo::clientMoveAndDisplay()
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int numSimSteps = 0;
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numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
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if (!numSimSteps)
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@@ -182,6 +215,9 @@ void MultiThreadedDemo::clientMoveAndDisplay()
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#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
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#endif
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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#ifdef USE_QUICKPROF
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@@ -321,41 +357,23 @@ m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32Threa
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#ifdef USE_PARALLEL_SOLVER
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#ifdef USE_WIN32_THREADING
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m_threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
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"solver",
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processSolverTask,
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createSolverLocalStoreMemory,
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maxNumOutstandingTasks));
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#elif defined (USE_PTHREADS)
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PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", processSolverTask,
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createSolverLocalStoreMemory, maxNumOutstandingTasks);
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m_threadSupportSolver = new PosixThreadSupport(solverConstructionInfo);
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#else
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//for now use sequential version
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SequentialThreadSupport::SequentialThreadConstructionInfo solverCI("solver",processSolverTask,createSolverLocalStoreMemory);
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m_threadSupportSolver = new SequentialThreadSupport(solverCI);
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#endif //USE_WIN32_THREADING
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m_solver = new btParallelSequentialImpulseSolver(m_threadSupportSolver,maxNumOutstandingTasks);
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m_threadSupportSolver = createSolverThreadSupport(maxNumOutstandingTasks);
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m_solver = new btParallelConstraintSolver(m_threadSupportSolver);
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#else
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btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
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m_solver = solver;
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//default solverMode is SOLVER_RANDMIZE_ORDER. Warmstarting seems not to improve convergence, see
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//solver->setSolverMode(0);//btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
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#endif //USE_PARALLEL_SOLVER
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btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_dynamicsWorld = world;
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world->getSimulationIslandManager()->setSplitIslands(false);
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world->getSolverInfo().m_numIterations = 4;
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world->getSolverInfo().m_solverMode = SOLVER_SIMD+SOLVER_USE_WARMSTARTING;
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world->getSolverInfo().m_solverMode = SOLVER_SIMD+SOLVER_USE_WARMSTARTING;//+SOLVER_RANDMIZE_ORDER;
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m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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