Bullet Collision Detection & Physics Library
btDiscreteDynamicsWorldMt.cpp
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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
17
18//collision detection
26
27//rigidbody & constraints
39
42
46
48
52
54{
55 int i = 0;
56#if BT_THREADSAFE
58#endif // #if BT_THREADSAFE
59 while (true)
60 {
61 ThreadSolver& solver = m_solvers[i];
62 if (solver.mutex.tryLock())
63 {
64 return &solver;
65 }
66 // failed, try the next one
67 i = (i + 1) % m_solvers.size();
68 }
69 return NULL;
70}
71
73{
75 m_solvers.resize(numSolvers);
76 for (int i = 0; i < numSolvers; ++i)
77 {
78 m_solvers[i].solver = solvers[i];
79 }
80 if (numSolvers > 0)
81 {
83 }
84}
85
86// create the solvers for me
88{
91 for (int i = 0; i < numSolvers; ++i)
92 {
94 solvers.push_back(solver);
95 }
97}
98
99// pass in fully constructed solvers (destructor will delete them)
101{
103}
104
106{
107 // delete all solvers
108 for (int i = 0; i < m_solvers.size(); ++i)
109 {
110 ThreadSolver& solver = m_solvers[i];
111 delete solver.solver;
112 solver.solver = NULL;
113 }
114}
115
118 int numBodies,
120 int numManifolds,
122 int numConstraints,
123 const btContactSolverInfo& info,
126{
128 ts->solver->solveGroup(bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
129 ts->mutex.unlock();
130 return 0.0f;
131}
132
134{
135 for (int i = 0; i < m_solvers.size(); ++i)
136 {
137 ThreadSolver& solver = m_solvers[i];
138 solver.mutex.lock();
139 solver.solver->reset();
140 solver.mutex.unlock();
141 }
142}
143
147
154{
156 {
159 }
160 {
165 }
167}
168
170{
171}
172
174{
175 BT_PROFILE("solveConstraints");
176
178
184 solverParams.m_solverInfo = &solverInfo;
185 solverParams.m_debugDrawer = m_debugDrawer;
186 solverParams.m_dispatcher = getCollisionWorld()->getDispatcher();
188
190}
191
193{
196
197 void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
198 {
199 for (int i = iBegin; i < iEnd; ++i)
200 {
201 btRigidBody* body = rigidBodies[i];
202 if (!body->isStaticOrKinematicObject())
203 {
204 //don't integrate/update velocities here, it happens in the constraint solver
205 body->applyDamping(timeStep);
207 }
208 }
209 }
210};
211
213{
214 BT_PROFILE("predictUnconstraintMotion");
216 {
218 update.timeStep = timeStep;
220 int grainSize = 50; // num of iterations per task for task scheduler
222 }
223}
224
226{
227 BT_PROFILE("createPredictiveContacts");
230 {
232 update.world = this;
233 update.timeStep = timeStep;
235 int grainSize = 50; // num of iterations per task for task scheduler
237 }
238}
239
241{
242 BT_PROFILE("integrateTransforms");
244 {
246 update.world = this;
247 update.timeStep = timeStep;
249 int grainSize = 50; // num of iterations per task for task scheduler
251 }
252}
253
255{
258 {
259 // tell Bullet's threads to sleep, so other threads can run
260 scheduler->sleepWorkerThreadsHint();
261 }
262 return numSubSteps;
263}
#define btAlignedFree(ptr)
#define btAlignedAlloc(size, alignment)
@ BT_SEQUENTIAL_IMPULSE_SOLVER
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27
#define BT_PROFILE(name)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
unsigned int btGetCurrentThreadIndex()
btITaskScheduler * btGetTaskScheduler()
void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody &body)
#define BT_OVERRIDE
Definition btThreads.h:26
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
int size() const
return the number of elements in the array
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btCollisionObject can be used to manage collision detection objects.
bool isStaticOrKinematicObject() const
const btTransform & getInterpolationWorldTransform() const
btDispatcher * getDispatcher()
int getNumCollisionObjects() const
btIDebugDraw * m_debugDrawer
btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of ...
ThreadSolver * getAndLockThreadSolver()
btConstraintSolverPoolMt
virtual void reset() BT_OVERRIDE
clear internal cached data and reset random seed
btConstraintSolverType m_solverType
void init(btConstraintSolver **solvers, int numSolvers)
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
btAlignedObjectArray< ThreadSolver > m_solvers
virtual btConstraintSolverType getSolverType() const =0
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
virtual void prepareSolve(int, int)
virtual void reset()=0
clear internal cached data and reset random seed
btConstraintSolver * m_constraintSolverMt
virtual void solveConstraints(btContactSolverInfo &solverInfo) BT_OVERRIDE
virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE
virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE
btDiscreteDynamicsWorldMt(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolverPoolMt *solverPool, btConstraintSolver *constraintSolverMt, btCollisionConfiguration *collisionConfiguration)
btDiscreteDynamicsWorldMt
virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
btSimulationIslandManager * m_islandManager
btAlignedObjectArray< btTypedConstraint * > m_constraints
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
btConstraintSolver * m_constraintSolver
btCollisionWorld * getCollisionWorld()
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btContactSolverInfo m_solverInfo
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
void applyDamping(btScalar timeStep)
applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
void predictIntegratedTransform(btScalar step, btTransform &predictedTransform)
continuous collision detection needs prediction
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
SimulationIslandManagerMt – Multithread capable version of SimulationIslandManager Splits the world u...
bool tryLock()
void unlock()
TypedConstraint is the baseclass for Bullet constraints and vehicles.
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE