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
174 lines
6.2 KiB
CMake
174 lines
6.2 KiB
CMake
INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src )
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SET(BulletDynamics_SRCS
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Character/btKinematicCharacterController.cpp
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ConstraintSolver/btConeTwistConstraint.cpp
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ConstraintSolver/btContactConstraint.cpp
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ConstraintSolver/btFixedConstraint.cpp
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ConstraintSolver/btGearConstraint.cpp
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ConstraintSolver/btGeneric6DofConstraint.cpp
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ConstraintSolver/btGeneric6DofSpringConstraint.cpp
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ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
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ConstraintSolver/btHinge2Constraint.cpp
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ConstraintSolver/btHingeConstraint.cpp
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ConstraintSolver/btPoint2PointConstraint.cpp
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ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
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ConstraintSolver/btBatchedConstraints.cpp
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ConstraintSolver/btNNCGConstraintSolver.cpp
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ConstraintSolver/btSliderConstraint.cpp
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ConstraintSolver/btSolve2LinearConstraint.cpp
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ConstraintSolver/btTypedConstraint.cpp
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ConstraintSolver/btUniversalConstraint.cpp
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Dynamics/btDiscreteDynamicsWorld.cpp
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Dynamics/btDiscreteDynamicsWorldMt.cpp
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Dynamics/btSimulationIslandManagerMt.cpp
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Dynamics/btRigidBody.cpp
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Dynamics/btSimpleDynamicsWorld.cpp
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# Dynamics/Bullet-C-API.cpp
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Vehicle/btRaycastVehicle.cpp
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Vehicle/btWheelInfo.cpp
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Featherstone/btMultiBody.cpp
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Featherstone/btMultiBodyConstraintSolver.cpp
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Featherstone/btMultiBodyDynamicsWorld.cpp
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Featherstone/btMultiBodyJointLimitConstraint.cpp
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Featherstone/btMultiBodyConstraint.cpp
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Featherstone/btMultiBodyPoint2Point.cpp
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Featherstone/btMultiBodyFixedConstraint.cpp
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Featherstone/btMultiBodySliderConstraint.cpp
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Featherstone/btMultiBodyJointMotor.cpp
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Featherstone/btMultiBodyGearConstraint.cpp
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MLCPSolvers/btDantzigLCP.cpp
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MLCPSolvers/btMLCPSolver.cpp
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MLCPSolvers/btLemkeAlgorithm.cpp
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)
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SET(Root_HDRS
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../btBulletDynamicsCommon.h
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../btBulletCollisionCommon.h
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)
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SET(ConstraintSolver_HDRS
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ConstraintSolver/btConeTwistConstraint.h
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ConstraintSolver/btConstraintSolver.h
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ConstraintSolver/btContactConstraint.h
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ConstraintSolver/btContactSolverInfo.h
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ConstraintSolver/btFixedConstraint.h
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ConstraintSolver/btGearConstraint.h
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ConstraintSolver/btGeneric6DofConstraint.h
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ConstraintSolver/btGeneric6DofSpringConstraint.h
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ConstraintSolver/btGeneric6DofSpring2Constraint.h
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ConstraintSolver/btHinge2Constraint.h
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ConstraintSolver/btHingeConstraint.h
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ConstraintSolver/btJacobianEntry.h
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ConstraintSolver/btPoint2PointConstraint.h
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ConstraintSolver/btSequentialImpulseConstraintSolver.h
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ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
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ConstraintSolver/btNNCGConstraintSolver.h
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ConstraintSolver/btSliderConstraint.h
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ConstraintSolver/btSolve2LinearConstraint.h
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ConstraintSolver/btSolverBody.h
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ConstraintSolver/btSolverConstraint.h
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ConstraintSolver/btTypedConstraint.h
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ConstraintSolver/btUniversalConstraint.h
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)
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SET(Dynamics_HDRS
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Dynamics/btActionInterface.h
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Dynamics/btDiscreteDynamicsWorld.h
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Dynamics/btDiscreteDynamicsWorldMt.h
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Dynamics/btSimulationIslandManagerMt.h
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Dynamics/btDynamicsWorld.h
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Dynamics/btSimpleDynamicsWorld.h
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Dynamics/btRigidBody.h
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)
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SET(Vehicle_HDRS
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Vehicle/btRaycastVehicle.h
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Vehicle/btVehicleRaycaster.h
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Vehicle/btWheelInfo.h
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)
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SET(Featherstone_HDRS
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Featherstone/btMultiBody.h
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Featherstone/btMultiBodyConstraintSolver.h
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Featherstone/btMultiBodyDynamicsWorld.h
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Featherstone/btMultiBodyLink.h
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Featherstone/btMultiBodyLinkCollider.h
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Featherstone/btMultiBodySolverConstraint.h
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Featherstone/btMultiBodyConstraint.h
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Featherstone/btMultiBodyJointLimitConstraint.h
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Featherstone/btMultiBodyConstraint.h
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Featherstone/btMultiBodyPoint2Point.h
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Featherstone/btMultiBodyFixedConstraint.h
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Featherstone/btMultiBodySliderConstraint.h
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Featherstone/btMultiBodyJointMotor.h
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Featherstone/btMultiBodyGearConstraint.h
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)
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SET(MLCPSolvers_HDRS
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MLCPSolvers/btDantzigLCP.h
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MLCPSolvers/btDantzigSolver.h
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MLCPSolvers/btMLCPSolver.h
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MLCPSolvers/btMLCPSolverInterface.h
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MLCPSolvers/btPATHSolver.h
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MLCPSolvers/btSolveProjectedGaussSeidel.h
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MLCPSolvers/btLemkeSolver.h
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MLCPSolvers/btLemkeAlgorithm.h
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)
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SET(Character_HDRS
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Character/btCharacterControllerInterface.h
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Character/btKinematicCharacterController.h
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)
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SET(BulletDynamics_HDRS
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${Root_HDRS}
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${ConstraintSolver_HDRS}
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${Dynamics_HDRS}
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${Vehicle_HDRS}
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${Character_HDRS}
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${Featherstone_HDRS}
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${MLCPSolvers_HDRS}
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)
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ADD_LIBRARY(BulletDynamics ${BulletDynamics_SRCS} ${BulletDynamics_HDRS})
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SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES SOVERSION ${BULLET_VERSION})
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IF (BUILD_SHARED_LIBS)
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TARGET_LINK_LIBRARIES(BulletDynamics BulletCollision LinearMath)
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ENDIF (BUILD_SHARED_LIBS)
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IF (INSTALL_LIBS)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletDynamics DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletDynamics RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${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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INSTALL(FILES ../btBulletDynamicsCommon.h
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DESTINATION ${INCLUDE_INSTALL_DIR}/BulletDynamics)
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES FRAMEWORK true)
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SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
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# Have to list out sub-directories manually:
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SET_PROPERTY(SOURCE ${ConstraintSolver_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/ConstraintSolver)
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SET_PROPERTY(SOURCE ${Dynamics_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Dynamics)
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SET_PROPERTY(SOURCE ${Vehicle_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Vehicle)
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SET_PROPERTY(SOURCE ${Character_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Character)
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SET_PROPERTY(SOURCE ${Featherstone_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Featherstone)
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SET_PROPERTY(SOURCE ${MLCPSolvers_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/MLCPSolvers)
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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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