b8720f2161
- threading: adding btSequentialImpulseConstraintSolverMt - task scheduler: added parallelSum so that parallel solver can compute residuals - CommonRigidBodyMTBase: add slider for solver least squares residual and allow multithreading without needing OpenMP, TBB, or PPL - taskScheduler: don't wait for workers to sleep/signal at the end of each parallel block - parallel solver: convertContacts split into an allocContactConstraints and setupContactConstraints stage, the latter of which is done in parallel - parallel solver: rolling friction is now interleaved along with normal friction - parallel solver: batchified split impulse solving + some cleanup - parallel solver: sorting batches from largest to smallest - parallel solver: added parallel batch creation - parallel solver: added warmstartingWriteBackContacts func + other cleanup - task scheduler: truncate low bits to preserve determinism with parallelSum - parallel solver: reducing dynamic mem allocs and trying to parallelize more of the batch setup - parallel solver: parallelize updating constraint batch ids for merging - parallel solver: adding debug visualization - task scheduler: make TBB task scheduler parallelSum deterministic - parallel solver: split batch gen code into separate file; allow selection of batch gen method - task scheduler: add sleepWorkerThreadsHint() at end of simulation - parallel solver: added grain size per phase - task Scheduler: fix for strange threading issue; also no need for main thread to wait for workers to sleep - base constraint solver: break out joint setup into separate function for profiling/overriding - parallel solver: allow different batching method for contacts vs joints - base constraint solver: add convertJoint and convertBodies to make it possible to parallelize joint and body conversion - parallel solver: convert joints and bodies in parallel now - parallel solver: speed up batch creation with run-length encoding - parallel solver: batch gen: run-length expansion in parallel; collect constraint info in parallel - parallel solver: adding spatial grid batching method - parallel solver: enhancements to spatial grid batching - sequential solver: moving code for writing back into functions that derived classes can call - parallel solver: do write back of bodies and joints in parallel - parallel solver: removed all batching methods except for spatial grid (others were ineffective) - parallel solver: added 2D or 3D grid batching options; and a bit of cleanup - move btDefaultTaskScheduler into LinearMath project
80 lines
2.2 KiB
CMake
80 lines
2.2 KiB
CMake
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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)
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SET(LinearMath_SRCS
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btAlignedAllocator.cpp
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btConvexHull.cpp
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btConvexHullComputer.cpp
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btGeometryUtil.cpp
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btPolarDecomposition.cpp
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btQuickprof.cpp
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btSerializer.cpp
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btSerializer64.cpp
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btThreads.cpp
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btVector3.cpp
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TaskScheduler/btTaskScheduler.cpp
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TaskScheduler/btThreadSupportPosix.cpp
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TaskScheduler/btThreadSupportWin32.cpp
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)
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SET(LinearMath_HDRS
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btAabbUtil2.h
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btAlignedAllocator.h
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btAlignedObjectArray.h
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btConvexHull.h
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btConvexHullComputer.h
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btDefaultMotionState.h
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btGeometryUtil.h
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btGrahamScan2dConvexHull.h
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btHashMap.h
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btIDebugDraw.h
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btList.h
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btMatrix3x3.h
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btMinMax.h
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btMotionState.h
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btPolarDecomposition.h
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btPoolAllocator.h
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btQuadWord.h
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btQuaternion.h
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btQuickprof.h
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btRandom.h
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btScalar.h
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btSerializer.h
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btStackAlloc.h
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btThreads.h
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btTransform.h
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btTransformUtil.h
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btVector3.h
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TaskScheduler/btThreadSupportInterface.h
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)
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ADD_LIBRARY(LinearMath ${LinearMath_SRCS} ${LinearMath_HDRS})
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SET_TARGET_PROPERTIES(LinearMath PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(LinearMath PROPERTIES SOVERSION ${BULLET_VERSION})
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IF (INSTALL_LIBS)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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#FILES_MATCHING requires CMake 2.6
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IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS LinearMath DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS LinearMath
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
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".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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SET_TARGET_PROPERTIES(LinearMath PROPERTIES FRAMEWORK true)
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SET_TARGET_PROPERTIES(LinearMath PROPERTIES PUBLIC_HEADER "${LinearMath_HDRS}")
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ENDIF (INSTALL_LIBS)
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