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bullet3/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
Lunkhound b8720f2161 parallel solver: various changes 
- 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
2018-02-26 22:47:33 -08:00

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/*
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_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
class btIDebugDraw;
class btPersistentManifold;
class btDispatcher;
class btCollisionObject;
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:
btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
btConstraintArray m_tmpSolverContactConstraintPool;
btConstraintArray m_tmpSolverNonContactConstraintPool;
btConstraintArray m_tmpSolverContactFrictionConstraintPool;
btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
btAlignedObjectArray<int> m_orderTmpConstraintPool;
btAlignedObjectArray<int> m_orderNonContactConstraintPool;
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> 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<int> m_kinematicBodyUniqueIdToSolverBodyTable; // only used for multithreading
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
int m_cachedSolverMode; // used to check if SOLVER_SIMD flag has been changed
void setupSolverFunctions( bool useSimd );
btScalar m_leastSquaresResidual;
void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
const btContactSolverInfo& infoGlobal,
btScalar desiredVelocity=0., btScalar cfmSlip=0.);
void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
btScalar desiredVelocity=0., btScalar cfmSlip=0.);
btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
unsigned long m_btSeed2;
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal);
void convertJoint(btSolverConstraint* destConstraintRow, btTypedConstraint* srcConstraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal);
virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
btSimdScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
{
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
}
btSimdScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
{
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
}
//internal method
int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
btSimdScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
btSimdScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
{
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
}
protected:
void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
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);
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btSequentialImpulseConstraintSolver();
virtual ~btSequentialImpulseConstraintSolver();
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
///clear internal cached data and reset random seed
virtual void reset();
unsigned long btRand2();
int btRandInt2 (int n);
void setRandSeed(unsigned long seed)
{
m_btSeed2 = seed;
}
unsigned long getRandSeed() const
{
return m_btSeed2;
}
virtual btConstraintSolverType getSolverType() const
{
return BT_SEQUENTIAL_IMPULSE_SOLVER;
}
btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
{
return m_resolveSingleConstraintRowGeneric;
}
void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
{
m_resolveSingleConstraintRowGeneric = rowSolver;
}
btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
{
return m_resolveSingleConstraintRowLowerLimit;
}
void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
{
m_resolveSingleConstraintRowLowerLimit = rowSolver;
}
///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4
btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4
btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
};
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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