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+ repaired SpuParallellSolverTask: support for warmstarting and added btAssert for constraint sizes that exceed CONSTRAINT_MAX_SIZE

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+ Share some more code between SpuParallelSolver and btSequentialImpulseConstraintSolver (both use btSolverBody now)
Lack of warmstarting reported here: http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2858
+ allow btBoxBoxDetector to execute on SPU.
This commit is contained in:
erwin.coumans
2008-11-16 05:48:42 +00:00
parent dcf3f96869
commit 686accab16
7 changed files with 494 additions and 279 deletions
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47
src/BulletMultiThreaded/SpuParallelSolver.cpp
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@@ -257,9 +257,9 @@ public:
*/
// Solver caches
btAlignedObjectArray<SpuSolverBody> solverBodyPool_persist;
btAlignedObjectArray<btSolverBody> solverBodyPool_persist;
btAlignedObjectArray<uint32_t> solverBodyOffsetList_persist;
btAlignedObjectArray<SpuSolverInternalConstraint> solverInternalConstraintPool_persist;
btAlignedObjectArray<btSolverConstraint> solverInternalConstraintPool_persist;
btAlignedObjectArray<SpuSolverConstraint> solverConstraintPool_persist;
@@ -343,13 +343,13 @@ void btParallelSequentialImpulseSolver::allSolved (const btContactSolverInfo& in
// Setup rigid bodies
// Allocate temporary data
solverBodyPool_persist.resize(numBodies + numManifolds + numConstraints);
SpuSolverBody* solverBodyPool = &solverBodyPool_persist[0];
btSolverBody* solverBodyPool = &solverBodyPool_persist[0];
solverBodyOffsetList_persist.resize(numBodyOffsets);
uint32_t* solverBodyOffsetList = &solverBodyOffsetList_persist[0];
solverInternalConstraintPool_persist.resize(m_numberOfContacts*3);
SpuSolverInternalConstraint* solverInternalConstraintPool = &solverInternalConstraintPool_persist[0];
btSolverConstraint* solverInternalConstraintPool = &solverInternalConstraintPool_persist[0];
solverConstraintPool_persist.resize(numConstraints);
SpuSolverConstraint* solverConstraintPool = &solverConstraintPool_persist[0];
@@ -446,7 +446,9 @@ void btParallelSequentialImpulseSolver::allSolved (const btContactSolverInfo& in
m_taskScheduler.issueTask();
}
m_taskScheduler.flushTasks();
m_taskScheduler.flushTasks();
}
btAlignedFree((void*)spinVar);
}
@@ -481,6 +483,41 @@ void btParallelSequentialImpulseSolver::allSolved (const btContactSolverInfo& in
}
{
BT_PROFILE("warmstart_writeback");
btSpinlock::SpinVariable* spinVar = (btSpinlock::SpinVariable*)btAlignedAlloc(sizeof(btSpinlock::SpinVariable), 128);
for (int iter = 0; iter < info.m_numIterations; ++iter)
{
btSpinlock lock (spinVar);
lock.Init();
// Clear the "processed cells" part of the hash
memcpy(m_solverHash->m_currentMask[0], emptyCellMask, sizeof(uint32_t)*SPU_HASH_NUMCELLDWORDS);
for (int task = 0; task < m_taskScheduler.getMaxOutstandingTasks(); ++task)
{
SpuSolverTaskDesc* desc = m_taskScheduler.getTask();
desc->m_solverCommand = CMD_SOLVER_MANIFOLD_WARMSTART_WRITEBACK;
desc->m_solverData.m_solverHash = m_solverHash;
desc->m_solverData.m_solverInternalConstraintList = solverInternalConstraintPool;
desc->m_solverData.m_solverConstraintList = solverConstraintPool;
desc->m_commandData.m_manifoldSetup.m_manifoldHolders = &m_sortedManifolds[0];
desc->m_commandData.m_iterate.m_spinLockVar = spinVar;
m_taskScheduler.issueTask();
}
m_taskScheduler.flushTasks();
}
btAlignedFree((void*)spinVar);
}
// Clean up
m_sortedManifolds.resize(0);
m_sortedConstraints.resize(0);