Bullet Collision Detection & Physics Library: btDiscreteDynamicsWorldMt.h Source File

Bullet Collision Detection & Physics Library

btDiscreteDynamicsWorldMt.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H
17#define BT_DISCRETE_DYNAMICS_WORLD_MT_H
18
19#include "btDiscreteDynamicsWorld.h"
20#include "btSimulationIslandManagerMt.h"
21#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
22
32 class btConstraintSolverPoolMt : public btConstraintSolver
33{
34public:
35 // create the solvers for me
36 explicit btConstraintSolverPoolMt(int numSolvers);
37
38 // pass in fully constructed solvers (destructor will delete them)
39 btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers);
40
41 virtual ~btConstraintSolverPoolMt();
42
44 virtual btScalar solveGroup(btCollisionObject** bodies,
45 int numBodies,
46 btPersistentManifold** manifolds,
47 int numManifolds,
48 btTypedConstraint** constraints,
49 int numConstraints,
50 const btContactSolverInfo& info,
51 btIDebugDraw* debugDrawer,
52 btDispatcher* dispatcher) BT_OVERRIDE;
53
54 virtual void reset() BT_OVERRIDE;
55 virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; }
56
57private:
58 const static size_t kCacheLineSize = 128;
59 struct ThreadSolver
60 {
61 btConstraintSolver* solver;
62 btSpinMutex mutex;
63 char _cachelinePadding[kCacheLineSize - sizeof(btSpinMutex) - sizeof(void*)]; // keep mutexes from sharing a cache line
64 };
65 btAlignedObjectArray<ThreadSolver> m_solvers;
66 btConstraintSolverType m_solverType;
67
68 ThreadSolver* getAndLockThreadSolver();
69 void init(btConstraintSolver** solvers, int numSolvers);
70};
71
82 ATTRIBUTE_ALIGNED16(class)
83 btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld
84{
85protected:
86 btConstraintSolver* m_constraintSolverMt;
87
88 virtual void solveConstraints(btContactSolverInfo & solverInfo) BT_OVERRIDE;
89
90 virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE;
91
92 struct UpdaterCreatePredictiveContacts : public btIParallelForBody
93 {
94 btScalar timeStep;
95 btRigidBody** rigidBodies;
96 btDiscreteDynamicsWorldMt* world;
97
98 void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
99 {
100 world->createPredictiveContactsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
101 }
102 };
103 virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE;
104
105 struct UpdaterIntegrateTransforms : public btIParallelForBody
106 {
107 btScalar timeStep;
108 btRigidBody** rigidBodies;
109 btDiscreteDynamicsWorldMt* world;
110
111 void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
112 {
113 world->integrateTransformsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
114 }
115 };
116 virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE;
117
118public:
119 BT_DECLARE_ALIGNED_ALLOCATOR();
120
121 btDiscreteDynamicsWorldMt(btDispatcher * dispatcher,
122 btBroadphaseInterface * pairCache,
123 btConstraintSolverPoolMt * solverPool, // Note this should be a solver-pool for multi-threading
124 btConstraintSolver * constraintSolverMt, // single multi-threaded solver for large islands (or NULL)
125 btCollisionConfiguration * collisionConfiguration);
126 virtual ~btDiscreteDynamicsWorldMt();
127
128 virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE;
129};
130
131#endif //BT_DISCRETE_DYNAMICS_WORLD_H
btConstraintSolver.h
btConstraintSolverType
btConstraintSolverType
btConstraintSolver provides solver interface
Definition btConstraintSolver.h:33
btDiscreteDynamicsWorld.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
btSimulationIslandManagerMt.h
BT_OVERRIDE
#define BT_OVERRIDE
Definition btThreads.h:26
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition btBroadphaseInterface.h:50
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition btCollisionConfiguration.h:27
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btConstraintSolverPoolMt
btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of ...
Definition btDiscreteDynamicsWorldMt.h:33
btConstraintSolverPoolMt::kCacheLineSize
static const size_t kCacheLineSize
Definition btDiscreteDynamicsWorldMt.h:58
btConstraintSolverPoolMt::getAndLockThreadSolver
ThreadSolver * getAndLockThreadSolver()
btConstraintSolverPoolMt
Definition btDiscreteDynamicsWorldMt.cpp:53
btConstraintSolverPoolMt::reset
virtual void reset() BT_OVERRIDE
clear internal cached data and reset random seed
Definition btDiscreteDynamicsWorldMt.cpp:133
btConstraintSolverPoolMt::m_solverType
btConstraintSolverType m_solverType
Definition btDiscreteDynamicsWorldMt.h:66
btConstraintSolverPoolMt::init
void init(btConstraintSolver **solvers, int numSolvers)
Definition btDiscreteDynamicsWorldMt.cpp:72
btConstraintSolverPoolMt::~btConstraintSolverPoolMt
virtual ~btConstraintSolverPoolMt()
Definition btDiscreteDynamicsWorldMt.cpp:105
btConstraintSolverPoolMt::getSolverType
virtual btConstraintSolverType getSolverType() const BT_OVERRIDE
Definition btDiscreteDynamicsWorldMt.h:55
btConstraintSolverPoolMt::solveGroup
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifolds, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher) BT_OVERRIDE
solve a group of constraints
Definition btDiscreteDynamicsWorldMt.cpp:117
btConstraintSolverPoolMt::btConstraintSolverPoolMt
btConstraintSolverPoolMt(int numSolvers)
Definition btDiscreteDynamicsWorldMt.cpp:87
btConstraintSolverPoolMt::m_solvers
btAlignedObjectArray< ThreadSolver > m_solvers
Definition btDiscreteDynamicsWorldMt.h:65
btConstraintSolver
Definition btConstraintSolver.h:42
btDiscreteDynamicsWorldMt::m_constraintSolverMt
btConstraintSolver * m_constraintSolverMt
Definition btDiscreteDynamicsWorldMt.h:86
btDiscreteDynamicsWorldMt::solveConstraints
virtual void solveConstraints(btContactSolverInfo &solverInfo) BT_OVERRIDE
Definition btDiscreteDynamicsWorldMt.cpp:173
btDiscreteDynamicsWorldMt::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btDiscreteDynamicsWorldMt::stepSimulation
virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
Definition btDiscreteDynamicsWorldMt.cpp:254
btDiscreteDynamicsWorldMt::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE
Definition btDiscreteDynamicsWorldMt.cpp:212
btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt
btDiscreteDynamicsWorldMt(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolverPoolMt *solverPool, btConstraintSolver *constraintSolverMt, btCollisionConfiguration *collisionConfiguration)
btDiscreteDynamicsWorldMt
Definition btDiscreteDynamicsWorldMt.cpp:148
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
Definition btDiscreteDynamicsWorld.cpp:191
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition btDispatcher.h:77
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition btIDebugDraw.h:27
btIParallelForBody
Definition btThreads.h:102
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition btPersistentManifold.h:65
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
btSpinMutex
btSpinMutex – lightweight spin-mutex implemented with atomic ops, never puts a thread to sleep becaus...
Definition btThreads.h:46
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition btTypedConstraint.h:76
btConstraintSolverPoolMt::ThreadSolver
Definition btDiscreteDynamicsWorldMt.h:60
btConstraintSolverPoolMt::ThreadSolver::_cachelinePadding
char _cachelinePadding[kCacheLineSize - sizeof(btSpinMutex) - sizeof(void *)]
Definition btDiscreteDynamicsWorldMt.h:63
btConstraintSolverPoolMt::ThreadSolver::mutex
btSpinMutex mutex
Definition btDiscreteDynamicsWorldMt.h:62
btConstraintSolverPoolMt::ThreadSolver::solver
btConstraintSolver * solver
Definition btDiscreteDynamicsWorldMt.h:61
btContactSolverInfo
Definition btContactSolverInfo.h:76
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts
Definition btDiscreteDynamicsWorldMt.h:93
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::world
btDiscreteDynamicsWorldMt * world
Definition btDiscreteDynamicsWorldMt.h:96
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::forLoop
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
Definition btDiscreteDynamicsWorldMt.h:98
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::timeStep
btScalar timeStep
Definition btDiscreteDynamicsWorldMt.h:94
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::rigidBodies
btRigidBody ** rigidBodies
Definition btDiscreteDynamicsWorldMt.h:95
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms
Definition btDiscreteDynamicsWorldMt.h:106
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::forLoop
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
Definition btDiscreteDynamicsWorldMt.h:111
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::timeStep
btScalar timeStep
Definition btDiscreteDynamicsWorldMt.h:107
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::rigidBodies
btRigidBody ** rigidBodies
Definition btDiscreteDynamicsWorldMt.h:108
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::world
btDiscreteDynamicsWorldMt * world
Definition btDiscreteDynamicsWorldMt.h:109