btDiscreteDynamicsWorldMt.cpp

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
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.
*/
 
#include "btDiscreteDynamicsWorldMt.h"
 
//collision detection
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "btSimulationIslandManagerMt.h"
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btQuickprof.h"
 
//rigidbody & constraints
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
 
#include "BulletDynamics/Dynamics/btActionInterface.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btMotionState.h"
 
#include "LinearMath/btSerializer.h"

 
btConstraintSolverPoolMt::ThreadSolver* btConstraintSolverPoolMt::getAndLockThreadSolver()
{
    int i = 0;
#if BT_THREADSAFE
    i = btGetCurrentThreadIndex() % m_solvers.size();
#endif  // #if BT_THREADSAFE
    while (true)
    {
        ThreadSolver& solver = m_solvers[i];
        if (solver.mutex.tryLock())
        {
            return &solver;
        }
        // failed, try the next one
        i = (i + 1) % m_solvers.size();
    }
    return NULL;
}
 
void btConstraintSolverPoolMt::init(btConstraintSolver** solvers, int numSolvers)
{
    m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER;
    m_solvers.resize(numSolvers);
    for (int i = 0; i < numSolvers; ++i)
    {
        m_solvers[i].solver = solvers[i];
    }
    if (numSolvers > 0)
    {
        m_solverType = solvers[0]->getSolverType();
    }
}
 
// create the solvers for me
btConstraintSolverPoolMt::btConstraintSolverPoolMt(int numSolvers)
{
    btAlignedObjectArray<btConstraintSolver*> solvers;
    solvers.reserve(numSolvers);
    for (int i = 0; i < numSolvers; ++i)
    {
        btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
        solvers.push_back(solver);
    }
    init(&solvers[0], numSolvers);
}
 
// pass in fully constructed solvers (destructor will delete them)
btConstraintSolverPoolMt::btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers)
{
    init(solvers, numSolvers);
}
 
btConstraintSolverPoolMt::~btConstraintSolverPoolMt()
{
    // delete all solvers
    for (int i = 0; i < m_solvers.size(); ++i)
    {
        ThreadSolver& solver = m_solvers[i];
        delete solver.solver;
        solver.solver = NULL;
    }
}

btScalar btConstraintSolverPoolMt::solveGroup(btCollisionObject** bodies,
                                              int numBodies,
                                              btPersistentManifold** manifolds,
                                              int numManifolds,
                                              btTypedConstraint** constraints,
                                              int numConstraints,
                                              const btContactSolverInfo& info,
                                              btIDebugDraw* debugDrawer,
                                              btDispatcher* dispatcher)
{
    ThreadSolver* ts = getAndLockThreadSolver();
    ts->solver->solveGroup(bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
    ts->mutex.unlock();
    return 0.0f;
}
 
void btConstraintSolverPoolMt::reset()
{
    for (int i = 0; i < m_solvers.size(); ++i)
    {
        ThreadSolver& solver = m_solvers[i];
        solver.mutex.lock();
        solver.solver->reset();
        solver.mutex.unlock();
    }
}

 
btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
                                                     btBroadphaseInterface* pairCache,
                                                     btConstraintSolverPoolMt* solverPool,
                                                     btConstraintSolver* constraintSolverMt,
                                                     btCollisionConfiguration* collisionConfiguration)
    : btDiscreteDynamicsWorld(dispatcher, pairCache, solverPool, collisionConfiguration)
{
    if (m_ownsIslandManager)
    {
        m_islandManager->~btSimulationIslandManager();
        btAlignedFree(m_islandManager);
    }
    {
        void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt), 16);
        btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt();
        im->setMinimumSolverBatchSize(m_solverInfo.m_minimumSolverBatchSize);
        m_islandManager = im;
    }
    m_constraintSolverMt = constraintSolverMt;
}
 
btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt()
{
}
 
void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo)
{
    BT_PROFILE("solveConstraints");
 
    m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());

    btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager);
    btSimulationIslandManagerMt::SolverParams solverParams;
    solverParams.m_solverPool = m_constraintSolver;
    solverParams.m_solverMt = m_constraintSolverMt;
    solverParams.m_solverInfo = &solverInfo;
    solverParams.m_debugDrawer = m_debugDrawer;
    solverParams.m_dispatcher = getCollisionWorld()->getDispatcher();
    im->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, solverParams);
 
    m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
}
 
struct UpdaterUnconstrainedMotion : public btIParallelForBody
{
    btScalar timeStep;
    btRigidBody** rigidBodies;
 
    void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
    {
        for (int i = iBegin; i < iEnd; ++i)
        {
            btRigidBody* body = rigidBodies[i];
            if (!body->isStaticOrKinematicObject())
            {
                //don't integrate/update velocities here, it happens in the constraint solver
                body->applyDamping(timeStep);
                body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
            }
        }
    }
};
 
void btDiscreteDynamicsWorldMt::predictUnconstraintMotion(btScalar timeStep)
{
    BT_PROFILE("predictUnconstraintMotion");
    if (m_nonStaticRigidBodies.size() > 0)
    {
        UpdaterUnconstrainedMotion update;
        update.timeStep = timeStep;
        update.rigidBodies = &m_nonStaticRigidBodies[0];
        int grainSize = 50;  // num of iterations per task for task scheduler
        btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
    }
}
 
void btDiscreteDynamicsWorldMt::createPredictiveContacts(btScalar timeStep)
{
    BT_PROFILE("createPredictiveContacts");
    releasePredictiveContacts();
    if (m_nonStaticRigidBodies.size() > 0)
    {
        UpdaterCreatePredictiveContacts update;
        update.world = this;
        update.timeStep = timeStep;
        update.rigidBodies = &m_nonStaticRigidBodies[0];
        int grainSize = 50;  // num of iterations per task for task scheduler
        btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
    }
}
 
void btDiscreteDynamicsWorldMt::integrateTransforms(btScalar timeStep)
{
    BT_PROFILE("integrateTransforms");
    if (m_nonStaticRigidBodies.size() > 0)
    {
        UpdaterIntegrateTransforms update;
        update.world = this;
        update.timeStep = timeStep;
        update.rigidBodies = &m_nonStaticRigidBodies[0];
        int grainSize = 50;  // num of iterations per task for task scheduler
        btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
    }
}
 
int btDiscreteDynamicsWorldMt::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
{
    int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep);
    if (btITaskScheduler* scheduler = btGetTaskScheduler())
    {
        // tell Bullet's threads to sleep, so other threads can run
        scheduler->sleepWorkerThreadsHint();
    }
    return numSubSteps;
}