btBatchedConstraints.cpp File Reference

#include "btBatchedConstraints.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btMinMax.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btQuickprof.h"
#include <string.h>
#include <cmath>

Go to the source code of this file.

Classes
struct	btBatchedConstraintInfo
struct	btBatchInfo
struct	ReadSolverConstraintsLoop
struct	ExpandConstraintRowsLoop
struct	UpdateConstraintBatchIdsForMergesLoop
struct	WriteOutConstraintIndicesLoop
class	PreallocatedMemoryHelper< N >
struct	btIntVec3
struct	AssignConstraintsToGridBatchesParams
struct	AssignConstraintsToGridBatchesLoop

Functions
static void	debugDrawSingleBatch (const btBatchedConstraints *bc, btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies, int iBatch, const btVector3 &color, const btVector3 &offset)
static void	debugDrawPhase (const btBatchedConstraints *bc, btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies, int iPhase, const btVector3 &color0, const btVector3 &color1, const btVector3 &offset)
static void	debugDrawAllBatches (const btBatchedConstraints *bc, btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies)
static void	initBatchedBodyDynamicFlags (btAlignedObjectArray< bool > *outBodyDynamicFlags, const btAlignedObjectArray< btSolverBody > &bodies)
static int	runLengthEncodeConstraintInfo (btBatchedConstraintInfo *outConInfos, int numConstraints)
static int	initBatchedConstraintInfo (btBatchedConstraintInfo *outConInfos, btConstraintArray *constraints)
static void	expandConstraintRowsInPlace (int *constraintBatchIds, const btBatchedConstraintInfo *conInfos, int numConstraints, int numConstraintRows)
static void	expandConstraintRows (int *destConstraintBatchIds, const int *srcConstraintBatchIds, const btBatchedConstraintInfo *conInfos, int numConstraints, int numConstraintRows)
static void	expandConstraintRowsMt (int *destConstraintBatchIds, const int *srcConstraintBatchIds, const btBatchedConstraintInfo *conInfos, int numConstraints, int numConstraintRows)
static void	initBatchedConstraintInfoArray (btAlignedObjectArray< btBatchedConstraintInfo > *outConInfos, btConstraintArray *constraints)
static void	mergeSmallBatches (btBatchInfo *batches, int iBeginBatch, int iEndBatch, int minBatchSize, int maxBatchSize)
static void	updateConstraintBatchIdsForMerges (int *constraintBatchIds, int numConstraints, const btBatchInfo *batches, int numBatches)
static void	updateConstraintBatchIdsForMergesMt (int *constraintBatchIds, int numConstraints, const btBatchInfo *batches, int numBatches)
bool	BatchCompare (const btBatchedConstraints::Range &a, const btBatchedConstraints::Range &b)
static void	writeOutConstraintIndicesForRangeOfBatches (btBatchedConstraints *bc, const int *constraintBatchIds, int numConstraints, int *constraintIdPerBatch, int batchBegin, int batchEnd)
static void	writeOutConstraintIndicesMt (btBatchedConstraints *bc, const int *constraintBatchIds, int numConstraints, int *constraintIdPerBatch, int maxNumBatchesPerPhase, int numPhases)
static void	writeGrainSizes (btBatchedConstraints *bc)
static void	writeOutBatches (btBatchedConstraints *bc, const int *constraintBatchIds, int numConstraints, const btBatchInfo *batches, int *batchWork, int maxNumBatchesPerPhase, int numPhases)
static btVector3	findMaxDynamicConstraintExtent (btVector3 *bodyPositions, bool *bodyDynamicFlags, btBatchedConstraintInfo *conInfos, int numConstraints, int numBodies)
static void	assignConstraintsToGridBatches (const AssignConstraintsToGridBatchesParams &params, int iConBegin, int iConEnd)
static void	setupSpatialGridBatchesMt (btBatchedConstraints *batchedConstraints, btAlignedObjectArray< char > *scratchMemory, btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies, int minBatchSize, int maxBatchSize, bool use2DGrid)
static void	setupSingleBatch (btBatchedConstraints *bc, int numConstraints)

Variables
const int	kNoMerge = -1

Function Documentation

assignConstraintsToGridBatches()

static void assignConstraintsToGridBatches ( const AssignConstraintsToGridBatchesParams & params, int iConBegin, int iConEnd )

static

Definition at line 705 of file btBatchedConstraints.cpp.

References btBatchedConstraintInfo::bodyIds, BT_PROFILE, btAssert, btClamp(), btMax(), btMin(), btIntVec3::m_ints, and params.

Referenced by AssignConstraintsToGridBatchesLoop::forLoop(), and setupSpatialGridBatchesMt().

BatchCompare()

bool BatchCompare ( const btBatchedConstraints::Range & a, const btBatchedConstraints::Range & b )

inline

Definition at line 432 of file btBatchedConstraints.cpp.

References b.

Referenced by writeOutBatches().

debugDrawAllBatches()

static void debugDrawAllBatches ( const btBatchedConstraints * bc, btConstraintArray * constraints, const btAlignedObjectArray< btSolverBody > & bodies )

static

Definition at line 145 of file btBatchedConstraints.cpp.

References b, BT_LARGE_FLOAT, BT_PROFILE, btVector3, constraints, debugDrawPhase(), float, btBatchedConstraints::m_debugDrawer, btBatchedConstraints::m_phases, pos, and btAlignedObjectArray< T >::size().

Referenced by btBatchedConstraints::setup().

debugDrawPhase()

static void debugDrawPhase ( const btBatchedConstraints * bc, btConstraintArray * constraints, const btAlignedObjectArray< btSolverBody > & bodies, int iPhase, const btVector3 & color0, const btVector3 & color1, const btVector3 & offset )

static

Definition at line 124 of file btBatchedConstraints.cpp.

References btBatchedConstraints::Range::begin, BT_PROFILE, btMax(), col, constraints, debugDrawSingleBatch(), btBatchedConstraints::Range::end, float, lerp, btBatchedConstraints::m_debugDrawer, and btBatchedConstraints::m_phases.

Referenced by debugDrawAllBatches().

debugDrawSingleBatch()

static void debugDrawSingleBatch ( const btBatchedConstraints * bc, btConstraintArray * constraints, const btAlignedObjectArray< btSolverBody > & bodies, int iBatch, const btVector3 & color, const btVector3 & offset )

static

Definition at line 101 of file btBatchedConstraints.cpp.

References b, btSolverConstraint, constraints, btIDebugDraw::drawLine(), btBatchedConstraints::m_batches, btBatchedConstraints::m_constraintIndices, and btBatchedConstraints::m_debugDrawer.

Referenced by debugDrawPhase().

expandConstraintRows()

static void expandConstraintRows ( int * destConstraintBatchIds, const int * srcConstraintBatchIds, const btBatchedConstraintInfo * conInfos, int numConstraints, int numConstraintRows )

static

Definition at line 286 of file btBatchedConstraints.cpp.

References BT_PROFILE, btAssert, btBatchedConstraintInfo::constraintIndex, btBatchedConstraintInfo::numConstraintRows, and numConstraints.

Referenced by ExpandConstraintRowsLoop::forLoop().

expandConstraintRowsInPlace()

static void expandConstraintRowsInPlace ( int * constraintBatchIds, const btBatchedConstraintInfo * conInfos, int numConstraints, int numConstraintRows )

static

Definition at line 265 of file btBatchedConstraints.cpp.

References BT_PROFILE, btAssert, btBatchedConstraintInfo::constraintIndex, btBatchedConstraintInfo::numConstraintRows, and numConstraints.

expandConstraintRowsMt()

static void expandConstraintRowsMt ( int * destConstraintBatchIds, const int * srcConstraintBatchIds, const btBatchedConstraintInfo * conInfos, int numConstraints, int numConstraintRows )

static

Definition at line 323 of file btBatchedConstraints.cpp.

References BT_PROFILE, btParallelFor(), and numConstraints.

Referenced by setupSpatialGridBatchesMt().

findMaxDynamicConstraintExtent()

static btVector3 findMaxDynamicConstraintExtent ( btVector3 * bodyPositions, bool * bodyDynamicFlags, btBatchedConstraintInfo * conInfos, int numConstraints, int numBodies )

static

Definition at line 653 of file btBatchedConstraints.cpp.

References btBatchedConstraintInfo::bodyIds, BT_PROFILE, btAssert, btVector3, numBodies, and numConstraints.

Referenced by setupSpatialGridBatchesMt().

initBatchedBodyDynamicFlags()

static void initBatchedBodyDynamicFlags ( btAlignedObjectArray< bool > * outBodyDynamicFlags, const btAlignedObjectArray< btSolverBody > & bodies )

static

Definition at line 175 of file btBatchedConstraints.cpp.

References BT_PROFILE, btSolverBody, btAlignedObjectArray< T >::resizeNoInitialize(), and btAlignedObjectArray< T >::size().

initBatchedConstraintInfo()

static int initBatchedConstraintInfo ( btBatchedConstraintInfo * outConInfos, btConstraintArray * constraints )

static

Definition at line 234 of file btBatchedConstraints.cpp.

References btBatchedConstraintInfo::bodyIds, BT_PROFILE, btParallelFor(), btSolverConstraint, btBatchedConstraintInfo::constraintIndex, constraints, btBatchedConstraintInfo::numConstraintRows, numConstraints, and runLengthEncodeConstraintInfo().

Referenced by initBatchedConstraintInfoArray(), and setupSpatialGridBatchesMt().

initBatchedConstraintInfoArray()

static void initBatchedConstraintInfoArray ( btAlignedObjectArray< btBatchedConstraintInfo > * outConInfos, btConstraintArray * constraints )

static

Definition at line 331 of file btBatchedConstraints.cpp.

References btAlignedObjectArray< T >::at(), BT_PROFILE, constraints, initBatchedConstraintInfo(), numConstraints, and btAlignedObjectArray< T >::resizeNoInitialize().

mergeSmallBatches()

static void mergeSmallBatches ( btBatchInfo * batches, int iBeginBatch, int iEndBatch, int minBatchSize, int maxBatchSize )

static

Definition at line 342 of file btBatchedConstraints.cpp.

References batch, BT_PROFILE, kNoMerge, btBatchInfo::mergeIndex, and btBatchInfo::numConstraints.

Referenced by setupSpatialGridBatchesMt().

runLengthEncodeConstraintInfo()

static int runLengthEncodeConstraintInfo ( btBatchedConstraintInfo * outConInfos, int numConstraints )

static

Definition at line 187 of file btBatchedConstraints.cpp.

References btBatchedConstraintInfo::bodyIds, BT_PROFILE, btBatchedConstraintInfo::constraintIndex, btBatchedConstraintInfo::numConstraintRows, and numConstraints.

Referenced by initBatchedConstraintInfo().

setupSingleBatch()

static void setupSingleBatch ( btBatchedConstraints * bc, int numConstraints )

static

Definition at line 1036 of file btBatchedConstraints.cpp.

References BT_PROFILE, btBatchedConstraints::m_batches, btBatchedConstraints::m_constraintIndices, btBatchedConstraints::m_phaseGrainSize, btBatchedConstraints::m_phaseOrder, btBatchedConstraints::m_phases, numConstraints, btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::resizeNoInitialize().

Referenced by btBatchedConstraints::setup().

setupSpatialGridBatchesMt()

static void setupSpatialGridBatchesMt ( btBatchedConstraints * batchedConstraints, btAlignedObjectArray< char > * scratchMemory, btConstraintArray * constraints, const btAlignedObjectArray< btSolverBody > & bodies, int minBatchSize, int maxBatchSize, bool use2DGrid )

static

Definition at line 816 of file btBatchedConstraints.cpp.

References PreallocatedMemoryHelper< N >::addChunk(), assignConstraintsToGridBatches(), btAlignedObjectArray< T >::at(), batch, BT_LARGE_FLOAT, BT_PROFILE, btAssert, btMax(), btParallelFor(), btSolverBody, btVector3, btAlignedObjectArray< T >::capacity(), constraints, expandConstraintRowsMt(), findMaxDynamicConstraintExtent(), float, PreallocatedMemoryHelper< N >::getSizeToAllocate(), initBatchedConstraintInfo(), int, btIntVec3::m_ints, mergeSmallBatches(), NULL, btBatchedConstraintInfo::numConstraintRows, btBatchInfo::numConstraints, numConstraints, params, btAlignedObjectArray< T >::reserve(), btAlignedObjectArray< T >::resizeNoInitialize(), PreallocatedMemoryHelper< N >::setChunkPointers(), btAlignedObjectArray< T >::size(), updateConstraintBatchIdsForMergesMt(), v, btBatchedConstraints::validate(), and writeOutBatches().

Referenced by btBatchedConstraints::setup().

updateConstraintBatchIdsForMerges()

static void updateConstraintBatchIdsForMerges ( int * constraintBatchIds, int numConstraints, const btBatchInfo * batches, int numBatches )

static

Definition at line 388 of file btBatchedConstraints.cpp.

References BT_PROFILE, btAssert, kNoMerge, btBatchInfo::mergeIndex, and numConstraints.

Referenced by UpdateConstraintBatchIdsForMergesLoop::forLoop().

updateConstraintBatchIdsForMergesMt()

static void updateConstraintBatchIdsForMergesMt ( int * constraintBatchIds, int numConstraints, const btBatchInfo * batches, int numBatches )

static

Definition at line 424 of file btBatchedConstraints.cpp.

References BT_PROFILE, btParallelFor(), and numConstraints.

Referenced by setupSpatialGridBatchesMt().

writeGrainSizes()

static void writeGrainSizes ( btBatchedConstraints * bc )

static

Definition at line 515 of file btBatchedConstraints.cpp.

References btGetTaskScheduler(), btMax(), btITaskScheduler::getNumThreads(), btBatchedConstraints::m_phaseGrainSize, btBatchedConstraints::m_phases, and btAlignedObjectArray< T >::resizeNoInitialize().

Referenced by writeOutBatches().

writeOutBatches()

static void writeOutBatches ( btBatchedConstraints * bc, const int * constraintBatchIds, int numConstraints, const btBatchInfo * batches, int * batchWork, int maxNumBatchesPerPhase, int numPhases )

static

Definition at line 530 of file btBatchedConstraints.cpp.

References batch, BatchCompare(), BT_PROFILE, btAssert, btBatchedConstraints::m_batches, btBatchedConstraints::m_constraintIndices, btBatchedConstraints::m_phaseOrder, btBatchedConstraints::m_phases, numConstraints, btAlignedObjectArray< T >::reserve(), btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::resizeNoInitialize(), writeGrainSizes(), and writeOutConstraintIndicesMt().

Referenced by setupSpatialGridBatchesMt().

writeOutConstraintIndicesForRangeOfBatches()

static void writeOutConstraintIndicesForRangeOfBatches ( btBatchedConstraints * bc, const int * constraintBatchIds, int numConstraints, int * constraintIdPerBatch, int batchBegin, int batchEnd )

static

Definition at line 439 of file btBatchedConstraints.cpp.

References BT_PROFILE, btBatchedConstraints::m_constraintIndices, and numConstraints.

Referenced by WriteOutConstraintIndicesLoop::forLoop().

writeOutConstraintIndicesMt()

static void writeOutConstraintIndicesMt ( btBatchedConstraints * bc, const int * constraintBatchIds, int numConstraints, int * constraintIdPerBatch, int maxNumBatchesPerPhase, int numPhases )

static

Definition at line 489 of file btBatchedConstraints.cpp.

References BT_PROFILE, btParallelFor(), btBatchedConstraints::m_constraintIndices, and numConstraints.

Referenced by writeOutBatches().

Variable Documentation

kNoMerge

const int kNoMerge = -1

Definition at line 27 of file btBatchedConstraints.cpp.

Referenced by mergeSmallBatches(), and updateConstraintBatchIdsForMerges().