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Several changes to sync Bullet trunk with PlayStation 3 spubullet version

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Still needs some cross-platform fixes
This commit is contained in:
erwin.coumans
2010-07-08 17:02:38 +00:00
parent 76a58e1f4e
commit fbc17731ec
63 changed files with 10363 additions and 522 deletions
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76
Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
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@@ -13,12 +13,13 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
#define USE_PARALLEL_DISPATCHER 1
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#ifdef USE_PARALLEL_DISPATCHER
#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
@@ -37,18 +38,52 @@ subject to the following restrictions:
#else
//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
#include "BulletMultiThreaded/SequentialThreadSupport.h"
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
#endif //USE_LIBSPE2
#ifdef USE_PARALLEL_SOLVER
#include "BulletMultiThreaded/SpuParallelSolver.h"
#include "BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h"
#include "BulletMultiThreaded/btParallelConstraintSolver.h"
#include "BulletMultiThreaded/SequentialThreadSupport.h"
btThreadSupportInterface* createSolverThreadSupport(int maxNumThreads)
{
//#define SEQUENTIAL
#ifdef SEQUENTIAL
SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
threadSupport->startSPU();
#else
#ifdef _WIN32
Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads",SolverThreadFunc,SolverlsMemoryFunc,maxNumThreads);
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
threadSupport->startSPU();
#elif defined (USE_PTHREADS)
PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", SolverThreadFunc,
SolverlsMemoryFunc, maxNumThreads);
PosixThreadSupport* threadSupport = new PosixThreadSupport(solverConstructionInfo);
#else
SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
threadSupport->startSPU();
#endif
#endif
return threadSupport;
}
#endif //USE_PARALLEL_SOLVER
#endif//USE_PARALLEL_DISPATCHER
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
@@ -162,8 +197,6 @@ void MultiThreadedDemo::clientMoveAndDisplay()
int numSimSteps = 0;
numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
if (!numSimSteps)
@@ -182,6 +215,9 @@ void MultiThreadedDemo::clientMoveAndDisplay()
#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
#endif
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
#ifdef USE_QUICKPROF
@@ -321,41 +357,23 @@ m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32Threa
#ifdef USE_PARALLEL_SOLVER
#ifdef USE_WIN32_THREADING
m_threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
"solver",
processSolverTask,
createSolverLocalStoreMemory,
maxNumOutstandingTasks));
#elif defined (USE_PTHREADS)
PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", processSolverTask,
createSolverLocalStoreMemory, maxNumOutstandingTasks);
m_threadSupportSolver = new PosixThreadSupport(solverConstructionInfo);
#else
//for now use sequential version
SequentialThreadSupport::SequentialThreadConstructionInfo solverCI("solver",processSolverTask,createSolverLocalStoreMemory);
m_threadSupportSolver = new SequentialThreadSupport(solverCI);
#endif //USE_WIN32_THREADING
m_solver = new btParallelSequentialImpulseSolver(m_threadSupportSolver,maxNumOutstandingTasks);
m_threadSupportSolver = createSolverThreadSupport(maxNumOutstandingTasks);
m_solver = new btParallelConstraintSolver(m_threadSupportSolver);
#else
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_solver = solver;
//default solverMode is SOLVER_RANDMIZE_ORDER. Warmstarting seems not to improve convergence, see
//solver->setSolverMode(0);//btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
#endif //USE_PARALLEL_SOLVER
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = world;
world->getSimulationIslandManager()->setSplitIslands(false);
world->getSolverInfo().m_numIterations = 4;
world->getSolverInfo().m_solverMode = SOLVER_SIMD+SOLVER_USE_WARMSTARTING;
world->getSolverInfo().m_solverMode = SOLVER_SIMD+SOLVER_USE_WARMSTARTING;//+SOLVER_RANDMIZE_ORDER;
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));