Bullet Collision Detection & Physics Library: btBatchedConstraints.cpp Source File

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btBatchedConstraints.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://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#include "btBatchedConstraints.h"
17
18#include "LinearMath/btIDebugDraw.h"
19#include "LinearMath/btMinMax.h"
20#include "LinearMath/btStackAlloc.h"
21#include "LinearMath/btQuickprof.h"
22
23#include <string.h> //for memset
24
25#include <cmath>
26
27 const int kNoMerge = -1;
28
29bool btBatchedConstraints::s_debugDrawBatches = false;
30
31 struct btBatchedConstraintInfo
32{
33 int constraintIndex;
34 int numConstraintRows;
35 int bodyIds[2];
36};
37
38 struct btBatchInfo
39{
40 int numConstraints;
41 int mergeIndex;
42
43 btBatchInfo() : numConstraints(0), mergeIndex(kNoMerge) {}
44};
45
46 bool btBatchedConstraints::validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const
47{
48 //
49 // validate: for debugging only. Verify coloring of bodies, that no body is touched by more than one batch in any given phase
50 //
51 int errors = 0;
52 const int kUnassignedBatch = -1;
53
54 btAlignedObjectArray<int> bodyBatchId;
55 for (int iPhase = 0; iPhase < m_phases.size(); ++iPhase)
56 {
57 bodyBatchId.resizeNoInitialize(0);
58 bodyBatchId.resize(bodies.size(), kUnassignedBatch);
59 const Range& phase = m_phases[iPhase];
60 for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch)
61 {
62 const Range& batch = m_batches[iBatch];
63 for (int iiCons = batch.begin; iiCons < batch.end; ++iiCons)
64 {
65 int iCons = m_constraintIndices[iiCons];
66 const btSolverConstraint& cons = constraints->at(iCons);
67 const btSolverBody& bodyA = bodies[cons.m_solverBodyIdA];
68 const btSolverBody& bodyB = bodies[cons.m_solverBodyIdB];
69 if (!bodyA.internalGetInvMass().isZero())
70 {
71 int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdA];
72 if (thisBodyBatchId == kUnassignedBatch)
73 {
74 bodyBatchId[cons.m_solverBodyIdA] = iBatch;
75 }
76 else if (thisBodyBatchId != iBatch)
77 {
78 btAssert(!"dynamic body is used in 2 different batches in the same phase");
79 errors++;
80 }
81 }
82 if (!bodyB.internalGetInvMass().isZero())
83 {
84 int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdB];
85 if (thisBodyBatchId == kUnassignedBatch)
86 {
87 bodyBatchId[cons.m_solverBodyIdB] = iBatch;
88 }
89 else if (thisBodyBatchId != iBatch)
90 {
91 btAssert(!"dynamic body is used in 2 different batches in the same phase");
92 errors++;
93 }
94 }
95 }
96 }
97 }
98 return errors == 0;
99}
100
101 static void debugDrawSingleBatch(const btBatchedConstraints* bc,
102 btConstraintArray* constraints,
103 const btAlignedObjectArray<btSolverBody>& bodies,
104 int iBatch,
105 const btVector3& color,
106 const btVector3& offset)
107{
108 if (bc && bc->m_debugDrawer && iBatch < bc->m_batches.size())
109 {
110 const btBatchedConstraints::Range& b = bc->m_batches[iBatch];
111 for (int iiCon = b.begin; iiCon < b.end; ++iiCon)
112 {
113 int iCon = bc->m_constraintIndices[iiCon];
114 const btSolverConstraint& con = constraints->at(iCon);
115 int iBody0 = con.m_solverBodyIdA;
116 int iBody1 = con.m_solverBodyIdB;
117 btVector3 pos0 = bodies[iBody0].getWorldTransform().getOrigin() + offset;
118 btVector3 pos1 = bodies[iBody1].getWorldTransform().getOrigin() + offset;
119 bc->m_debugDrawer->drawLine(pos0, pos1, color);
120 }
121 }
122}
123
124 static void debugDrawPhase(const btBatchedConstraints* bc,
125 btConstraintArray* constraints,
126 const btAlignedObjectArray<btSolverBody>& bodies,
127 int iPhase,
128 const btVector3& color0,
129 const btVector3& color1,
130 const btVector3& offset)
131{
132 BT_PROFILE("debugDrawPhase");
133 if (bc && bc->m_debugDrawer && iPhase < bc->m_phases.size())
134 {
135 const btBatchedConstraints::Range& phase = bc->m_phases[iPhase];
136 for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch)
137 {
138 float tt = float(iBatch - phase.begin) / float(btMax(1, phase.end - phase.begin - 1));
139 btVector3 col = lerp(color0, color1, tt);
140 debugDrawSingleBatch(bc, constraints, bodies, iBatch, col, offset);
141 }
142 }
143}
144
145 static void debugDrawAllBatches(const btBatchedConstraints* bc,
146 btConstraintArray* constraints,
147 const btAlignedObjectArray<btSolverBody>& bodies)
148{
149 BT_PROFILE("debugDrawAllBatches");
150 if (bc && bc->m_debugDrawer && bc->m_phases.size() > 0)
151 {
152 btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
153 btVector3 bboxMax = -bboxMin;
154 for (int iBody = 0; iBody < bodies.size(); ++iBody)
155 {
156 const btVector3& pos = bodies[iBody].getWorldTransform().getOrigin();
157 bboxMin.setMin(pos);
158 bboxMax.setMax(pos);
159 }
160 btVector3 bboxExtent = bboxMax - bboxMin;
161 btVector3 offsetBase = btVector3(0, bboxExtent.y() * 1.1f, 0);
162 btVector3 offsetStep = btVector3(0, 0, bboxExtent.z() * 1.1f);
163 int numPhases = bc->m_phases.size();
164 for (int iPhase = 0; iPhase < numPhases; ++iPhase)
165 {
166 float b = float(iPhase) / float(numPhases - 1);
167 btVector3 color0 = btVector3(1, 0, b);
168 btVector3 color1 = btVector3(0, 1, b);
169 btVector3 offset = offsetBase + offsetStep * (float(iPhase) - float(numPhases - 1) * 0.5);
170 debugDrawPhase(bc, constraints, bodies, iPhase, color0, color1, offset);
171 }
172 }
173}
174
175 static void initBatchedBodyDynamicFlags(btAlignedObjectArray<bool>* outBodyDynamicFlags, const btAlignedObjectArray<btSolverBody>& bodies)
176{
177 BT_PROFILE("initBatchedBodyDynamicFlags");
178 btAlignedObjectArray<bool>& bodyDynamicFlags = *outBodyDynamicFlags;
179 bodyDynamicFlags.resizeNoInitialize(bodies.size());
180 for (int i = 0; i < bodies.size(); ++i)
181 {
182 const btSolverBody& body = bodies[i];
183 bodyDynamicFlags[i] = (body.internalGetInvMass().x() > btScalar(0));
184 }
185}
186
187 static int runLengthEncodeConstraintInfo(btBatchedConstraintInfo* outConInfos, int numConstraints)
188{
189 BT_PROFILE("runLengthEncodeConstraintInfo");
190 // detect and run-length encode constraint rows that repeat the same bodies
191 int iDest = 0;
192 int iSrc = 0;
193 while (iSrc < numConstraints)
194 {
195 const btBatchedConstraintInfo& srcConInfo = outConInfos[iSrc];
196 btBatchedConstraintInfo& conInfo = outConInfos[iDest];
197 conInfo.constraintIndex = iSrc;
198 conInfo.bodyIds[0] = srcConInfo.bodyIds[0];
199 conInfo.bodyIds[1] = srcConInfo.bodyIds[1];
200 while (iSrc < numConstraints && outConInfos[iSrc].bodyIds[0] == srcConInfo.bodyIds[0] && outConInfos[iSrc].bodyIds[1] == srcConInfo.bodyIds[1])
201 {
202 ++iSrc;
203 }
204 conInfo.numConstraintRows = iSrc - conInfo.constraintIndex;
205 ++iDest;
206 }
207 return iDest;
208}
209
210 struct ReadSolverConstraintsLoop : public btIParallelForBody
211{
212 btBatchedConstraintInfo* m_outConInfos;
213 btConstraintArray* m_constraints;
214
215 ReadSolverConstraintsLoop(btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints)
216 {
217 m_outConInfos = outConInfos;
218 m_constraints = constraints;
219 }
220 void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
221 {
222 for (int i = iBegin; i < iEnd; ++i)
223 {
224 btBatchedConstraintInfo& conInfo = m_outConInfos[i];
225 const btSolverConstraint& con = m_constraints->at(i);
226 conInfo.bodyIds[0] = con.m_solverBodyIdA;
227 conInfo.bodyIds[1] = con.m_solverBodyIdB;
228 conInfo.constraintIndex = i;
229 conInfo.numConstraintRows = 1;
230 }
231 }
232};
233
234 static int initBatchedConstraintInfo(btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints)
235{
236 BT_PROFILE("initBatchedConstraintInfo");
237 int numConstraints = constraints->size();
238 bool inParallel = true;
239 if (inParallel)
240 {
241 ReadSolverConstraintsLoop loop(outConInfos, constraints);
242 int grainSize = 1200;
243 btParallelFor(0, numConstraints, grainSize, loop);
244 }
245 else
246 {
247 for (int i = 0; i < numConstraints; ++i)
248 {
249 btBatchedConstraintInfo& conInfo = outConInfos[i];
250 const btSolverConstraint& con = constraints->at(i);
251 conInfo.bodyIds[0] = con.m_solverBodyIdA;
252 conInfo.bodyIds[1] = con.m_solverBodyIdB;
253 conInfo.constraintIndex = i;
254 conInfo.numConstraintRows = 1;
255 }
256 }
257 bool useRunLengthEncoding = true;
258 if (useRunLengthEncoding)
259 {
260 numConstraints = runLengthEncodeConstraintInfo(outConInfos, numConstraints);
261 }
262 return numConstraints;
263}
264
265 static void expandConstraintRowsInPlace(int* constraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
266{
267 BT_PROFILE("expandConstraintRowsInPlace");
268 if (numConstraintRows > numConstraints)
269 {
270 // we walk the array in reverse to avoid overwriteing
271 for (int iCon = numConstraints - 1; iCon >= 0; --iCon)
272 {
273 const btBatchedConstraintInfo& conInfo = conInfos[iCon];
274 int iBatch = constraintBatchIds[iCon];
275 for (int i = conInfo.numConstraintRows - 1; i >= 0; --i)
276 {
277 int iDest = conInfo.constraintIndex + i;
278 btAssert(iDest >= iCon);
279 btAssert(iDest >= 0 && iDest < numConstraintRows);
280 constraintBatchIds[iDest] = iBatch;
281 }
282 }
283 }
284}
285
286 static void expandConstraintRows(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
287{
288 BT_PROFILE("expandConstraintRows");
289 for (int iCon = 0; iCon < numConstraints; ++iCon)
290 {
291 const btBatchedConstraintInfo& conInfo = conInfos[iCon];
292 int iBatch = srcConstraintBatchIds[iCon];
293 for (int i = 0; i < conInfo.numConstraintRows; ++i)
294 {
295 int iDest = conInfo.constraintIndex + i;
296 btAssert(iDest >= iCon);
297 btAssert(iDest >= 0 && iDest < numConstraintRows);
298 destConstraintBatchIds[iDest] = iBatch;
299 }
300 }
301}
302
303 struct ExpandConstraintRowsLoop : public btIParallelForBody
304{
305 int* m_destConstraintBatchIds;
306 const int* m_srcConstraintBatchIds;
307 const btBatchedConstraintInfo* m_conInfos;
308 int m_numConstraintRows;
309
310 ExpandConstraintRowsLoop(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraintRows)
311 {
312 m_destConstraintBatchIds = destConstraintBatchIds;
313 m_srcConstraintBatchIds = srcConstraintBatchIds;
314 m_conInfos = conInfos;
315 m_numConstraintRows = numConstraintRows;
316 }
317 void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
318 {
319 expandConstraintRows(m_destConstraintBatchIds, m_srcConstraintBatchIds + iBegin, m_conInfos + iBegin, iEnd - iBegin, m_numConstraintRows);
320 }
321};
322
323 static void expandConstraintRowsMt(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
324{
325 BT_PROFILE("expandConstraintRowsMt");
326 ExpandConstraintRowsLoop loop(destConstraintBatchIds, srcConstraintBatchIds, conInfos, numConstraintRows);
327 int grainSize = 600;
328 btParallelFor(0, numConstraints, grainSize, loop);
329}
330
331 static void initBatchedConstraintInfoArray(btAlignedObjectArray<btBatchedConstraintInfo>* outConInfos, btConstraintArray* constraints)
332{
333 BT_PROFILE("initBatchedConstraintInfoArray");
334 btAlignedObjectArray<btBatchedConstraintInfo>& conInfos = *outConInfos;
335 int numConstraints = constraints->size();
336 conInfos.resizeNoInitialize(numConstraints);
337
338 int newSize = initBatchedConstraintInfo(&outConInfos->at(0), constraints);
339 conInfos.resizeNoInitialize(newSize);
340}
341
342 static void mergeSmallBatches(btBatchInfo* batches, int iBeginBatch, int iEndBatch, int minBatchSize, int maxBatchSize)
343{
344 BT_PROFILE("mergeSmallBatches");
345 for (int iBatch = iEndBatch - 1; iBatch >= iBeginBatch; --iBatch)
346 {
347 btBatchInfo& batch = batches[iBatch];
348 if (batch.mergeIndex == kNoMerge && batch.numConstraints > 0 && batch.numConstraints < minBatchSize)
349 {
350 for (int iDestBatch = iBatch - 1; iDestBatch >= iBeginBatch; --iDestBatch)
351 {
352 btBatchInfo& destBatch = batches[iDestBatch];
353 if (destBatch.mergeIndex == kNoMerge && (destBatch.numConstraints + batch.numConstraints) < maxBatchSize)
354 {
355 destBatch.numConstraints += batch.numConstraints;
356 batch.numConstraints = 0;
357 batch.mergeIndex = iDestBatch;
358 break;
359 }
360 }
361 }
362 }
363 // flatten mergeIndexes
364 // e.g. in case where A was merged into B and then B was merged into C, we need A to point to C instead of B
365 // Note: loop goes forward through batches because batches always merge from higher indexes to lower,
366 // so by going from low to high it reduces the amount of trail-following
367 for (int iBatch = iBeginBatch; iBatch < iEndBatch; ++iBatch)
368 {
369 btBatchInfo& batch = batches[iBatch];
370 if (batch.mergeIndex != kNoMerge)
371 {
372 int iMergeDest = batches[batch.mergeIndex].mergeIndex;
373 // follow trail of merges to the end
374 while (iMergeDest != kNoMerge)
375 {
376 int iNext = batches[iMergeDest].mergeIndex;
377 if (iNext == kNoMerge)
378 {
379 batch.mergeIndex = iMergeDest;
380 break;
381 }
382 iMergeDest = iNext;
383 }
384 }
385 }
386}
387
388 static void updateConstraintBatchIdsForMerges(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches)
389{
390 BT_PROFILE("updateConstraintBatchIdsForMerges");
391 // update batchIds to account for merges
392 for (int i = 0; i < numConstraints; ++i)
393 {
394 int iBatch = constraintBatchIds[i];
395 btAssert(iBatch < numBatches);
396 // if this constraint references a batch that was merged into another batch
397 if (batches[iBatch].mergeIndex != kNoMerge)
398 {
399 // update batchId
400 constraintBatchIds[i] = batches[iBatch].mergeIndex;
401 }
402 }
403}
404
405 struct UpdateConstraintBatchIdsForMergesLoop : public btIParallelForBody
406{
407 int* m_constraintBatchIds;
408 const btBatchInfo* m_batches;
409 int m_numBatches;
410
411 UpdateConstraintBatchIdsForMergesLoop(int* constraintBatchIds, const btBatchInfo* batches, int numBatches)
412 {
413 m_constraintBatchIds = constraintBatchIds;
414 m_batches = batches;
415 m_numBatches = numBatches;
416 }
417 void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
418 {
419 BT_PROFILE("UpdateConstraintBatchIdsForMergesLoop");
420 updateConstraintBatchIdsForMerges(m_constraintBatchIds + iBegin, iEnd - iBegin, m_batches, m_numBatches);
421 }
422};
423
424 static void updateConstraintBatchIdsForMergesMt(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches)
425{
426 BT_PROFILE("updateConstraintBatchIdsForMergesMt");
427 UpdateConstraintBatchIdsForMergesLoop loop(constraintBatchIds, batches, numBatches);
428 int grainSize = 800;
429 btParallelFor(0, numConstraints, grainSize, loop);
430}
431
432 inline bool BatchCompare(const btBatchedConstraints::Range& a, const btBatchedConstraints::Range& b)
433{
434 int lenA = a.end - a.begin;
435 int lenB = b.end - b.begin;
436 return lenA > lenB;
437}
438
439 static void writeOutConstraintIndicesForRangeOfBatches(btBatchedConstraints* bc,
440 const int* constraintBatchIds,
441 int numConstraints,
442 int* constraintIdPerBatch,
443 int batchBegin,
444 int batchEnd)
445{
446 BT_PROFILE("writeOutConstraintIndicesForRangeOfBatches");
447 for (int iCon = 0; iCon < numConstraints; ++iCon)
448 {
449 int iBatch = constraintBatchIds[iCon];
450 if (iBatch >= batchBegin && iBatch < batchEnd)
451 {
452 int iDestCon = constraintIdPerBatch[iBatch];
453 constraintIdPerBatch[iBatch] = iDestCon + 1;
454 bc->m_constraintIndices[iDestCon] = iCon;
455 }
456 }
457}
458
459 struct WriteOutConstraintIndicesLoop : public btIParallelForBody
460{
461 btBatchedConstraints* m_batchedConstraints;
462 const int* m_constraintBatchIds;
463 int m_numConstraints;
464 int* m_constraintIdPerBatch;
465 int m_maxNumBatchesPerPhase;
466
467 WriteOutConstraintIndicesLoop(btBatchedConstraints* bc, const int* constraintBatchIds, int numConstraints, int* constraintIdPerBatch, int maxNumBatchesPerPhase)
468 {
469 m_batchedConstraints = bc;
470 m_constraintBatchIds = constraintBatchIds;
471 m_numConstraints = numConstraints;
472 m_constraintIdPerBatch = constraintIdPerBatch;
473 m_maxNumBatchesPerPhase = maxNumBatchesPerPhase;
474 }
475 void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
476 {
477 BT_PROFILE("WriteOutConstraintIndicesLoop");
478 int batchBegin = iBegin * m_maxNumBatchesPerPhase;
479 int batchEnd = iEnd * m_maxNumBatchesPerPhase;
480 writeOutConstraintIndicesForRangeOfBatches(m_batchedConstraints,
481 m_constraintBatchIds,
482 m_numConstraints,
483 m_constraintIdPerBatch,
484 batchBegin,
485 batchEnd);
486 }
487};
488
489 static void writeOutConstraintIndicesMt(btBatchedConstraints* bc,
490 const int* constraintBatchIds,
491 int numConstraints,
492 int* constraintIdPerBatch,
493 int maxNumBatchesPerPhase,
494 int numPhases)
495{
496 BT_PROFILE("writeOutConstraintIndicesMt");
497 bool inParallel = true;
498 if (inParallel)
499 {
500 WriteOutConstraintIndicesLoop loop(bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase);
501 btParallelFor(0, numPhases, 1, loop);
502 }
503 else
504 {
505 for (int iCon = 0; iCon < numConstraints; ++iCon)
506 {
507 int iBatch = constraintBatchIds[iCon];
508 int iDestCon = constraintIdPerBatch[iBatch];
509 constraintIdPerBatch[iBatch] = iDestCon + 1;
510 bc->m_constraintIndices[iDestCon] = iCon;
511 }
512 }
513}
514
515 static void writeGrainSizes(btBatchedConstraints* bc)
516{
517 typedef btBatchedConstraints::Range Range;
518 int numPhases = bc->m_phases.size();
519 bc->m_phaseGrainSize.resizeNoInitialize(numPhases);
520 int numThreads = btGetTaskScheduler()->getNumThreads();
521 for (int iPhase = 0; iPhase < numPhases; ++iPhase)
522 {
523 const Range& phase = bc->m_phases[iPhase];
524 int numBatches = phase.end - phase.begin;
525 float grainSize = std::floor((0.25f * numBatches / float(numThreads)) + 0.0f);
526 bc->m_phaseGrainSize[iPhase] = btMax(1, int(grainSize));
527 }
528}
529
530 static void writeOutBatches(btBatchedConstraints* bc,
531 const int* constraintBatchIds,
532 int numConstraints,
533 const btBatchInfo* batches,
534 int* batchWork,
535 int maxNumBatchesPerPhase,
536 int numPhases)
537{
538 BT_PROFILE("writeOutBatches");
539 typedef btBatchedConstraints::Range Range;
540 bc->m_constraintIndices.reserve(numConstraints);
541 bc->m_batches.resizeNoInitialize(0);
542 bc->m_phases.resizeNoInitialize(0);
543
544 //int maxNumBatches = numPhases * maxNumBatchesPerPhase;
545 {
546 int* constraintIdPerBatch = batchWork; // for each batch, keep an index into the next available slot in the m_constraintIndices array
547 int iConstraint = 0;
548 for (int iPhase = 0; iPhase < numPhases; ++iPhase)
549 {
550 int curPhaseBegin = bc->m_batches.size();
551 int iBegin = iPhase * maxNumBatchesPerPhase;
552 int iEnd = iBegin + maxNumBatchesPerPhase;
553 for (int i = iBegin; i < iEnd; ++i)
554 {
555 const btBatchInfo& batch = batches[i];
556 int curBatchBegin = iConstraint;
557 constraintIdPerBatch[i] = curBatchBegin; // record the start of each batch in m_constraintIndices array
558 int numConstraints = batch.numConstraints;
559 iConstraint += numConstraints;
560 if (numConstraints > 0)
561 {
562 bc->m_batches.push_back(Range(curBatchBegin, iConstraint));
563 }
564 }
565 // if any batches were emitted this phase,
566 if (bc->m_batches.size() > curPhaseBegin)
567 {
568 // output phase
569 bc->m_phases.push_back(Range(curPhaseBegin, bc->m_batches.size()));
570 }
571 }
572
573 btAssert(iConstraint == numConstraints);
574 bc->m_constraintIndices.resizeNoInitialize(numConstraints);
575 writeOutConstraintIndicesMt(bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase, numPhases);
576 }
577 // for each phase
578 for (int iPhase = 0; iPhase < bc->m_phases.size(); ++iPhase)
579 {
580 // sort the batches from largest to smallest (can be helpful to some task schedulers)
581 const Range& curBatches = bc->m_phases[iPhase];
582 bc->m_batches.quickSortInternal(BatchCompare, curBatches.begin, curBatches.end - 1);
583 }
584 bc->m_phaseOrder.resize(bc->m_phases.size());
585 for (int i = 0; i < bc->m_phases.size(); ++i)
586 {
587 bc->m_phaseOrder[i] = i;
588 }
589 writeGrainSizes(bc);
590}
591
592//
593// PreallocatedMemoryHelper -- helper object for allocating a number of chunks of memory in a single contiguous block.
594// It is generally more efficient to do a single larger allocation than many smaller allocations.
595//
596// Example Usage:
597//
598// btVector3* bodyPositions = NULL;
599// btBatchedConstraintInfo* conInfos = NULL;
600// {
601// PreallocatedMemoryHelper<8> memHelper;
602// memHelper.addChunk( (void**) &bodyPositions, sizeof( btVector3 ) * bodies.size() );
603// memHelper.addChunk( (void**) &conInfos, sizeof( btBatchedConstraintInfo ) * numConstraints );
604// void* memPtr = malloc( memHelper.getSizeToAllocate() ); // allocate the memory
605// memHelper.setChunkPointers( memPtr ); // update pointers to chunks
606// }
607template <int N>
608 class PreallocatedMemoryHelper
609{
610 struct Chunk
611 {
612 void** ptr;
613 size_t size;
614 };
615 Chunk m_chunks[N];
616 int m_numChunks;
617
618public:
619 PreallocatedMemoryHelper() { m_numChunks = 0; }
620 void addChunk(void** ptr, size_t sz)
621 {
622 btAssert(m_numChunks < N);
623 if (m_numChunks < N)
624 {
625 Chunk& chunk = m_chunks[m_numChunks];
626 chunk.ptr = ptr;
627 chunk.size = sz;
628 m_numChunks++;
629 }
630 }
631 size_t getSizeToAllocate() const
632 {
633 size_t totalSize = 0;
634 for (int i = 0; i < m_numChunks; ++i)
635 {
636 totalSize += m_chunks[i].size;
637 }
638 return totalSize;
639 }
640 void setChunkPointers(void* mem) const
641 {
642 size_t totalSize = 0;
643 for (int i = 0; i < m_numChunks; ++i)
644 {
645 const Chunk& chunk = m_chunks[i];
646 char* chunkPtr = static_cast<char*>(mem) + totalSize;
647 *chunk.ptr = chunkPtr;
648 totalSize += chunk.size;
649 }
650 }
651};
652
653 static btVector3 findMaxDynamicConstraintExtent(
654 btVector3* bodyPositions,
655 bool* bodyDynamicFlags,
656 btBatchedConstraintInfo* conInfos,
657 int numConstraints,
658 int numBodies)
659{
660 BT_PROFILE("findMaxDynamicConstraintExtent");
661 btVector3 consExtent = btVector3(1, 1, 1) * 0.001;
662 for (int iCon = 0; iCon < numConstraints; ++iCon)
663 {
664 const btBatchedConstraintInfo& con = conInfos[iCon];
665 int iBody0 = con.bodyIds[0];
666 int iBody1 = con.bodyIds[1];
667 btAssert(iBody0 >= 0 && iBody0 < numBodies);
668 btAssert(iBody1 >= 0 && iBody1 < numBodies);
669 // is it a dynamic constraint?
670 if (bodyDynamicFlags[iBody0] && bodyDynamicFlags[iBody1])
671 {
672 btVector3 delta = bodyPositions[iBody1] - bodyPositions[iBody0];
673 consExtent.setMax(delta.absolute());
674 }
675 }
676 return consExtent;
677}
678
679 struct btIntVec3
680{
681 int m_ints[3];
682
683 SIMD_FORCE_INLINE const int& operator[](int i) const { return m_ints[i]; }
684 SIMD_FORCE_INLINE int& operator[](int i) { return m_ints[i]; }
685};
686
687 struct AssignConstraintsToGridBatchesParams
688{
689 bool* bodyDynamicFlags;
690 btIntVec3* bodyGridCoords;
691 int numBodies;
692 btBatchedConstraintInfo* conInfos;
693 int* constraintBatchIds;
694 btIntVec3 gridChunkDim;
695 int maxNumBatchesPerPhase;
696 int numPhases;
697 int phaseMask;
698
699 AssignConstraintsToGridBatchesParams()
700 {
701 memset(this, 0, sizeof(*this));
702 }
703};
704
705 static void assignConstraintsToGridBatches(const AssignConstraintsToGridBatchesParams& params, int iConBegin, int iConEnd)
706{
707 BT_PROFILE("assignConstraintsToGridBatches");
708 // (can be done in parallel)
709 for (int iCon = iConBegin; iCon < iConEnd; ++iCon)
710 {
711 const btBatchedConstraintInfo& con = params.conInfos[iCon];
712 int iBody0 = con.bodyIds[0];
713 int iBody1 = con.bodyIds[1];
714 int iPhase = iCon; //iBody0; // pseudorandom choice to distribute evenly amongst phases
715 iPhase &= params.phaseMask;
716 int gridCoord[3];
717 // is it a dynamic constraint?
718 if (params.bodyDynamicFlags[iBody0] && params.bodyDynamicFlags[iBody1])
719 {
720 const btIntVec3& body0Coords = params.bodyGridCoords[iBody0];
721 const btIntVec3& body1Coords = params.bodyGridCoords[iBody1];
722 // for each dimension x,y,z,
723 for (int i = 0; i < 3; ++i)
724 {
725 int coordMin = btMin(body0Coords.m_ints[i], body1Coords.m_ints[i]);
726 int coordMax = btMax(body0Coords.m_ints[i], body1Coords.m_ints[i]);
727 if (coordMin != coordMax)
728 {
729 btAssert(coordMax == coordMin + 1);
730 if ((coordMin & 1) == 0)
731 {
732 iPhase &= ~(1 << i); // force bit off
733 }
734 else
735 {
736 iPhase |= (1 << i); // force bit on
737 iPhase &= params.phaseMask;
738 }
739 }
740 gridCoord[i] = coordMin;
741 }
742 }
743 else
744 {
745 if (!params.bodyDynamicFlags[iBody0])
746 {
747 iBody0 = con.bodyIds[1];
748 }
749 btAssert(params.bodyDynamicFlags[iBody0]);
750 const btIntVec3& body0Coords = params.bodyGridCoords[iBody0];
751 // for each dimension x,y,z,
752 for (int i = 0; i < 3; ++i)
753 {
754 gridCoord[i] = body0Coords.m_ints[i];
755 }
756 }
757 // calculate chunk coordinates
758 int chunkCoord[3];
759 btIntVec3 gridChunkDim = params.gridChunkDim;
760 // for each dimension x,y,z,
761 for (int i = 0; i < 3; ++i)
762 {
763 int coordOffset = (iPhase >> i) & 1;
764 chunkCoord[i] = (gridCoord[i] - coordOffset) / 2;
765 btClamp(chunkCoord[i], 0, gridChunkDim[i] - 1);
766 btAssert(chunkCoord[i] < gridChunkDim[i]);
767 }
768 int iBatch = iPhase * params.maxNumBatchesPerPhase + chunkCoord[0] + chunkCoord[1] * gridChunkDim[0] + chunkCoord[2] * gridChunkDim[0] * gridChunkDim[1];
769 btAssert(iBatch >= 0 && iBatch < params.maxNumBatchesPerPhase * params.numPhases);
770 params.constraintBatchIds[iCon] = iBatch;
771 }
772}
773
774 struct AssignConstraintsToGridBatchesLoop : public btIParallelForBody
775{
776 const AssignConstraintsToGridBatchesParams* m_params;
777
778 AssignConstraintsToGridBatchesLoop(const AssignConstraintsToGridBatchesParams& params)
779 {
780 m_params = &params;
781 }
782 void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
783 {
784 assignConstraintsToGridBatches(*m_params, iBegin, iEnd);
785 }
786};
787
788//
789// setupSpatialGridBatchesMt -- generate batches using a uniform 3D grid
790//
791/*
792
793Bodies are treated as 3D points at their center of mass. We only consider dynamic bodies at this stage,
794because only dynamic bodies are mutated when a constraint is solved, thus subject to race conditions.
795
7961. Compute a bounding box around all dynamic bodies
7972. Compute the maximum extent of all dynamic constraints. Each dynamic constraint is treated as a line segment, and we need the size of
798 box that will fully enclose any single dynamic constraint
799
8003. Establish the cell size of our grid, the cell size in each dimension must be at least as large as the dynamic constraints max-extent,
801 so that no dynamic constraint can span more than 2 cells of our grid on any axis of the grid. The cell size should be adjusted
802 larger in order to keep the total number of cells from being excessively high
803
804Key idea: Given that each constraint spans 1 or 2 grid cells in each dimension, we can handle all constraints by processing
805 in chunks of 2x2x2 cells with 8 different 1-cell offsets ((0,0,0),(0,0,1),(0,1,0),(0,1,1),(1,0,0)...).
806 For each of the 8 offsets, we create a phase, and for each 2x2x2 chunk with dynamic constraints becomes a batch in that phase.
807
8084. Once the grid is established, we can calculate for each constraint which phase and batch it belongs in.
809
8105. Do a merge small batches on the batches of each phase separately, to try to even out the sizes of batches
811
812Optionally, we can "collapse" one dimension of our 3D grid to turn it into a 2D grid, which reduces the number of phases
813to 4. With fewer phases, there are more constraints per phase and this makes it easier to create batches of a useful size.
814*/
815//
816 static void setupSpatialGridBatchesMt(
817 btBatchedConstraints* batchedConstraints,
818 btAlignedObjectArray<char>* scratchMemory,
819 btConstraintArray* constraints,
820 const btAlignedObjectArray<btSolverBody>& bodies,
821 int minBatchSize,
822 int maxBatchSize,
823 bool use2DGrid)
824{
825 BT_PROFILE("setupSpatialGridBatchesMt");
826 const int numPhases = 8;
827 int numConstraints = constraints->size();
828 int numConstraintRows = constraints->size();
829
830 const int maxGridChunkCount = 128;
831 int allocNumBatchesPerPhase = maxGridChunkCount;
832 int minNumBatchesPerPhase = 16;
833 int allocNumBatches = allocNumBatchesPerPhase * numPhases;
834
835 btVector3* bodyPositions = NULL;
836 bool* bodyDynamicFlags = NULL;
837 btIntVec3* bodyGridCoords = NULL;
838 btBatchInfo* batches = NULL;
839 int* batchWork = NULL;
840 btBatchedConstraintInfo* conInfos = NULL;
841 int* constraintBatchIds = NULL;
842 int* constraintRowBatchIds = NULL;
843 {
844 PreallocatedMemoryHelper<10> memHelper;
845 memHelper.addChunk((void**)&bodyPositions, sizeof(btVector3) * bodies.size());
846 memHelper.addChunk((void**)&bodyDynamicFlags, sizeof(bool) * bodies.size());
847 memHelper.addChunk((void**)&bodyGridCoords, sizeof(btIntVec3) * bodies.size());
848 memHelper.addChunk((void**)&batches, sizeof(btBatchInfo) * allocNumBatches);
849 memHelper.addChunk((void**)&batchWork, sizeof(int) * allocNumBatches);
850 memHelper.addChunk((void**)&conInfos, sizeof(btBatchedConstraintInfo) * numConstraints);
851 memHelper.addChunk((void**)&constraintBatchIds, sizeof(int) * numConstraints);
852 memHelper.addChunk((void**)&constraintRowBatchIds, sizeof(int) * numConstraintRows);
853 size_t scratchSize = memHelper.getSizeToAllocate();
854 // if we need to reallocate
855 if (static_cast<size_t>(scratchMemory->capacity()) < scratchSize)
856 {
857 // allocate 6.25% extra to avoid repeated reallocs
858 scratchMemory->reserve(scratchSize + scratchSize / 16);
859 }
860 scratchMemory->resizeNoInitialize(scratchSize);
861 char* memPtr = &scratchMemory->at(0);
862 memHelper.setChunkPointers(memPtr);
863 }
864
865 numConstraints = initBatchedConstraintInfo(conInfos, constraints);
866
867 // compute bounding box around all dynamic bodies
868 // (could be done in parallel)
869 btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
870 btVector3 bboxMax = -bboxMin;
871 //int dynamicBodyCount = 0;
872 for (int i = 0; i < bodies.size(); ++i)
873 {
874 const btSolverBody& body = bodies[i];
875 btVector3 bodyPos = body.getWorldTransform().getOrigin();
876 bool isDynamic = (body.internalGetInvMass().x() > btScalar(0));
877 bodyPositions[i] = bodyPos;
878 bodyDynamicFlags[i] = isDynamic;
879 if (isDynamic)
880 {
881 //dynamicBodyCount++;
882 bboxMin.setMin(bodyPos);
883 bboxMax.setMax(bodyPos);
884 }
885 }
886
887 // find max extent of all dynamic constraints
888 // (could be done in parallel)
889 btVector3 consExtent = findMaxDynamicConstraintExtent(bodyPositions, bodyDynamicFlags, conInfos, numConstraints, bodies.size());
890
891 btVector3 gridExtent = bboxMax - bboxMin;
892
893 gridExtent.setMax(btVector3(btScalar(1), btScalar(1), btScalar(1)));
894
895 btVector3 gridCellSize = consExtent;
896 int gridDim[3];
897 gridDim[0] = int(1.0 + gridExtent.x() / gridCellSize.x());
898 gridDim[1] = int(1.0 + gridExtent.y() / gridCellSize.y());
899 gridDim[2] = int(1.0 + gridExtent.z() / gridCellSize.z());
900
901 // if we can collapse an axis, it will cut our number of phases in half which could be more efficient
902 int phaseMask = 7;
903 bool collapseAxis = use2DGrid;
904 if (collapseAxis)
905 {
906 // pick the smallest axis to collapse, leaving us with the greatest number of cells in our grid
907 int iAxisToCollapse = 0;
908 int axisDim = gridDim[iAxisToCollapse];
909 //for each dimension
910 for (int i = 0; i < 3; ++i)
911 {
912 if (gridDim[i] < axisDim)
913 {
914 iAxisToCollapse = i;
915 axisDim = gridDim[i];
916 }
917 }
918 // collapse it
919 gridCellSize[iAxisToCollapse] = gridExtent[iAxisToCollapse] * 2.0f;
920 phaseMask &= ~(1 << iAxisToCollapse);
921 }
922
923 int numGridChunks = 0;
924 btIntVec3 gridChunkDim; // each chunk is 2x2x2 group of cells
925 while (true)
926 {
927 gridDim[0] = int(1.0 + gridExtent.x() / gridCellSize.x());
928 gridDim[1] = int(1.0 + gridExtent.y() / gridCellSize.y());
929 gridDim[2] = int(1.0 + gridExtent.z() / gridCellSize.z());
930 gridChunkDim[0] = btMax(1, (gridDim[0] + 0) / 2);
931 gridChunkDim[1] = btMax(1, (gridDim[1] + 0) / 2);
932 gridChunkDim[2] = btMax(1, (gridDim[2] + 0) / 2);
933 numGridChunks = gridChunkDim[0] * gridChunkDim[1] * gridChunkDim[2];
934 float nChunks = float(gridChunkDim[0]) * float(gridChunkDim[1]) * float(gridChunkDim[2]); // suceptible to integer overflow
935 if (numGridChunks <= maxGridChunkCount && nChunks <= maxGridChunkCount)
936 {
937 break;
938 }
939 gridCellSize *= 1.25; // should roughly cut numCells in half
940 }
941 btAssert(numGridChunks <= maxGridChunkCount);
942 int maxNumBatchesPerPhase = numGridChunks;
943
944 // for each dynamic body, compute grid coords
945 btVector3 invGridCellSize = btVector3(1, 1, 1) / gridCellSize;
946 // (can be done in parallel)
947 for (int iBody = 0; iBody < bodies.size(); ++iBody)
948 {
949 btIntVec3& coords = bodyGridCoords[iBody];
950 if (bodyDynamicFlags[iBody])
951 {
952 btVector3 v = (bodyPositions[iBody] - bboxMin) * invGridCellSize;
953 coords.m_ints[0] = int(v.x());
954 coords.m_ints[1] = int(v.y());
955 coords.m_ints[2] = int(v.z());
956 btAssert(coords.m_ints[0] >= 0 && coords.m_ints[0] < gridDim[0]);
957 btAssert(coords.m_ints[1] >= 0 && coords.m_ints[1] < gridDim[1]);
958 btAssert(coords.m_ints[2] >= 0 && coords.m_ints[2] < gridDim[2]);
959 }
960 else
961 {
962 coords.m_ints[0] = -1;
963 coords.m_ints[1] = -1;
964 coords.m_ints[2] = -1;
965 }
966 }
967
968 for (int iPhase = 0; iPhase < numPhases; ++iPhase)
969 {
970 int batchBegin = iPhase * maxNumBatchesPerPhase;
971 int batchEnd = batchBegin + maxNumBatchesPerPhase;
972 for (int iBatch = batchBegin; iBatch < batchEnd; ++iBatch)
973 {
974 btBatchInfo& batch = batches[iBatch];
975 batch = btBatchInfo();
976 }
977 }
978
979 {
980 AssignConstraintsToGridBatchesParams params;
981 params.bodyDynamicFlags = bodyDynamicFlags;
982 params.bodyGridCoords = bodyGridCoords;
983 params.numBodies = bodies.size();
984 params.conInfos = conInfos;
985 params.constraintBatchIds = constraintBatchIds;
986 params.gridChunkDim = gridChunkDim;
987 params.maxNumBatchesPerPhase = maxNumBatchesPerPhase;
988 params.numPhases = numPhases;
989 params.phaseMask = phaseMask;
990 bool inParallel = true;
991 if (inParallel)
992 {
993 AssignConstraintsToGridBatchesLoop loop(params);
994 int grainSize = 250;
995 btParallelFor(0, numConstraints, grainSize, loop);
996 }
997 else
998 {
999 assignConstraintsToGridBatches(params, 0, numConstraints);
1000 }
1001 }
1002 for (int iCon = 0; iCon < numConstraints; ++iCon)
1003 {
1004 const btBatchedConstraintInfo& con = conInfos[iCon];
1005 int iBatch = constraintBatchIds[iCon];
1006 btBatchInfo& batch = batches[iBatch];
1007 batch.numConstraints += con.numConstraintRows;
1008 }
1009
1010 for (int iPhase = 0; iPhase < numPhases; ++iPhase)
1011 {
1012 // if phase is legit,
1013 if (iPhase == (iPhase & phaseMask))
1014 {
1015 int iBeginBatch = iPhase * maxNumBatchesPerPhase;
1016 int iEndBatch = iBeginBatch + maxNumBatchesPerPhase;
1017 mergeSmallBatches(batches, iBeginBatch, iEndBatch, minBatchSize, maxBatchSize);
1018 }
1019 }
1020 // all constraints have been assigned a batchId
1021 updateConstraintBatchIdsForMergesMt(constraintBatchIds, numConstraints, batches, maxNumBatchesPerPhase * numPhases);
1022
1023 if (numConstraintRows > numConstraints)
1024 {
1025 expandConstraintRowsMt(&constraintRowBatchIds[0], &constraintBatchIds[0], &conInfos[0], numConstraints, numConstraintRows);
1026 }
1027 else
1028 {
1029 constraintRowBatchIds = constraintBatchIds;
1030 }
1031
1032 writeOutBatches(batchedConstraints, constraintRowBatchIds, numConstraintRows, batches, batchWork, maxNumBatchesPerPhase, numPhases);
1033 btAssert(batchedConstraints->validate(constraints, bodies));
1034}
1035
1036 static void setupSingleBatch(
1037 btBatchedConstraints* bc,
1038 int numConstraints)
1039{
1040 BT_PROFILE("setupSingleBatch");
1041 typedef btBatchedConstraints::Range Range;
1042
1043 bc->m_constraintIndices.resize(numConstraints);
1044 for (int i = 0; i < numConstraints; ++i)
1045 {
1046 bc->m_constraintIndices[i] = i;
1047 }
1048
1049 bc->m_batches.resizeNoInitialize(0);
1050 bc->m_phases.resizeNoInitialize(0);
1051 bc->m_phaseOrder.resizeNoInitialize(0);
1052 bc->m_phaseGrainSize.resizeNoInitialize(0);
1053
1054 if (numConstraints > 0)
1055 {
1056 bc->m_batches.push_back(Range(0, numConstraints));
1057 bc->m_phases.push_back(Range(0, 1));
1058 bc->m_phaseOrder.push_back(0);
1059 bc->m_phaseGrainSize.push_back(1);
1060 }
1061}
1062
1063 void btBatchedConstraints::setup(
1064 btConstraintArray* constraints,
1065 const btAlignedObjectArray<btSolverBody>& bodies,
1066 BatchingMethod batchingMethod,
1067 int minBatchSize,
1068 int maxBatchSize,
1069 btAlignedObjectArray<char>* scratchMemory)
1070{
1071 if (constraints->size() >= minBatchSize * 4)
1072 {
1073 bool use2DGrid = batchingMethod == BATCHING_METHOD_SPATIAL_GRID_2D;
1074 setupSpatialGridBatchesMt(this, scratchMemory, constraints, bodies, minBatchSize, maxBatchSize, use2DGrid);
1075 if (s_debugDrawBatches)
1076 {
1077 debugDrawAllBatches(this, constraints, bodies);
1078 }
1079 }
1080 else
1081 {
1082 setupSingleBatch(this, constraints->size());
1083 }
1084}
writeGrainSizes
static void writeGrainSizes(btBatchedConstraints *bc)
Definition btBatchedConstraints.cpp:515
updateConstraintBatchIdsForMergesMt
static void updateConstraintBatchIdsForMergesMt(int *constraintBatchIds, int numConstraints, const btBatchInfo *batches, int numBatches)
Definition btBatchedConstraints.cpp:424
initBatchedConstraintInfoArray
static void initBatchedConstraintInfoArray(btAlignedObjectArray< btBatchedConstraintInfo > *outConInfos, btConstraintArray *constraints)
Definition btBatchedConstraints.cpp:331
debugDrawAllBatches
static void debugDrawAllBatches(const btBatchedConstraints *bc, btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies)
Definition btBatchedConstraints.cpp:145
updateConstraintBatchIdsForMerges
static void updateConstraintBatchIdsForMerges(int *constraintBatchIds, int numConstraints, const btBatchInfo *batches, int numBatches)
Definition btBatchedConstraints.cpp:388
expandConstraintRowsInPlace
static void expandConstraintRowsInPlace(int *constraintBatchIds, const btBatchedConstraintInfo *conInfos, int numConstraints, int numConstraintRows)
Definition btBatchedConstraints.cpp:265
setupSingleBatch
static void setupSingleBatch(btBatchedConstraints *bc, int numConstraints)
Definition btBatchedConstraints.cpp:1036
writeOutConstraintIndicesMt
static void writeOutConstraintIndicesMt(btBatchedConstraints *bc, const int *constraintBatchIds, int numConstraints, int *constraintIdPerBatch, int maxNumBatchesPerPhase, int numPhases)
Definition btBatchedConstraints.cpp:489
runLengthEncodeConstraintInfo
static int runLengthEncodeConstraintInfo(btBatchedConstraintInfo *outConInfos, int numConstraints)
Definition btBatchedConstraints.cpp:187
debugDrawPhase
static void debugDrawPhase(const btBatchedConstraints *bc, btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies, int iPhase, const btVector3 &color0, const btVector3 &color1, const btVector3 &offset)
Definition btBatchedConstraints.cpp:124
BatchCompare
bool BatchCompare(const btBatchedConstraints::Range &a, const btBatchedConstraints::Range &b)
Definition btBatchedConstraints.cpp:432
mergeSmallBatches
static void mergeSmallBatches(btBatchInfo *batches, int iBeginBatch, int iEndBatch, int minBatchSize, int maxBatchSize)
Definition btBatchedConstraints.cpp:342
writeOutConstraintIndicesForRangeOfBatches
static void writeOutConstraintIndicesForRangeOfBatches(btBatchedConstraints *bc, const int *constraintBatchIds, int numConstraints, int *constraintIdPerBatch, int batchBegin, int batchEnd)
Definition btBatchedConstraints.cpp:439
expandConstraintRowsMt
static void expandConstraintRowsMt(int *destConstraintBatchIds, const int *srcConstraintBatchIds, const btBatchedConstraintInfo *conInfos, int numConstraints, int numConstraintRows)
Definition btBatchedConstraints.cpp:323
setupSpatialGridBatchesMt
static void setupSpatialGridBatchesMt(btBatchedConstraints *batchedConstraints, btAlignedObjectArray< char > *scratchMemory, btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies, int minBatchSize, int maxBatchSize, bool use2DGrid)
Definition btBatchedConstraints.cpp:816
findMaxDynamicConstraintExtent
static btVector3 findMaxDynamicConstraintExtent(btVector3 *bodyPositions, bool *bodyDynamicFlags, btBatchedConstraintInfo *conInfos, int numConstraints, int numBodies)
Definition btBatchedConstraints.cpp:653
initBatchedBodyDynamicFlags
static void initBatchedBodyDynamicFlags(btAlignedObjectArray< bool > *outBodyDynamicFlags, const btAlignedObjectArray< btSolverBody > &bodies)
Definition btBatchedConstraints.cpp:175
expandConstraintRows
static void expandConstraintRows(int *destConstraintBatchIds, const int *srcConstraintBatchIds, const btBatchedConstraintInfo *conInfos, int numConstraints, int numConstraintRows)
Definition btBatchedConstraints.cpp:286
initBatchedConstraintInfo
static int initBatchedConstraintInfo(btBatchedConstraintInfo *outConInfos, btConstraintArray *constraints)
Definition btBatchedConstraints.cpp:234
kNoMerge
const int kNoMerge
Definition btBatchedConstraints.cpp:27
debugDrawSingleBatch
static void debugDrawSingleBatch(const btBatchedConstraints *bc, btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies, int iBatch, const btVector3 &color, const btVector3 &offset)
Definition btBatchedConstraints.cpp:101
writeOutBatches
static void writeOutBatches(btBatchedConstraints *bc, const int *constraintBatchIds, int numConstraints, const btBatchInfo *batches, int *batchWork, int maxNumBatchesPerPhase, int numPhases)
Definition btBatchedConstraints.cpp:530
assignConstraintsToGridBatches
static void assignConstraintsToGridBatches(const AssignConstraintsToGridBatchesParams &params, int iConBegin, int iConEnd)
Definition btBatchedConstraints.cpp:705
btBatchedConstraints.h
btIDebugDraw.h
btMinMax.h
btClamp
void btClamp(T &a, const T &lb, const T &ub)
Definition btMinMax.h:57
btMax
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27
btMin
const T & btMin(const T &a, const T &b)
Definition btMinMax.h:21
btQuickprof.h
BT_PROFILE
#define BT_PROFILE(name)
Definition btQuickprof.h:198
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition btScalar.h:316
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition btScalar.h:98
btAssert
#define btAssert(x)
Definition btScalar.h:153
btStackAlloc.h
btGetTaskScheduler
btITaskScheduler * btGetTaskScheduler()
Definition btThreads.cpp:407
btParallelFor
void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody &body)
Definition btThreads.cpp:412
BT_OVERRIDE
#define BT_OVERRIDE
Definition btThreads.h:26
lerp
btVector3 lerp(const btVector3 &v1, const btVector3 &v2, const btScalar &t)
Return the linear interpolation between two vectors.
Definition btVector3.h:934
PreallocatedMemoryHelper
Definition btBatchedConstraints.cpp:609
PreallocatedMemoryHelper::m_chunks
Chunk m_chunks[N]
Definition btBatchedConstraints.cpp:615
PreallocatedMemoryHelper::addChunk
void addChunk(void **ptr, size_t sz)
Definition btBatchedConstraints.cpp:620
PreallocatedMemoryHelper::m_numChunks
int m_numChunks
Definition btBatchedConstraints.cpp:616
PreallocatedMemoryHelper::getSizeToAllocate
size_t getSizeToAllocate() const
Definition btBatchedConstraints.cpp:631
PreallocatedMemoryHelper::setChunkPointers
void setChunkPointers(void *mem) const
Definition btBatchedConstraints.cpp:640
PreallocatedMemoryHelper::PreallocatedMemoryHelper
PreallocatedMemoryHelper()
Definition btBatchedConstraints.cpp:619
btAlignedObjectArray< btSolverConstraint >
btAlignedObjectArray::resizeNoInitialize
void resizeNoInitialize(int newsize)
resize changes the number of elements in the array.
Definition btAlignedObjectArray.h:194
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition btAlignedObjectArray.h:142
btAlignedObjectArray::resize
void resize(int newsize, const T &fillData=T())
Definition btAlignedObjectArray.h:203
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition btAlignedObjectArray.h:257
btAlignedObjectArray::capacity
int capacity() const
return the pre-allocated (reserved) elements, this is at least as large as the total number of elemen...
Definition btAlignedObjectArray.h:275
btAlignedObjectArray::reserve
void reserve(int _Count)
Definition btAlignedObjectArray.h:280
btAlignedObjectArray::at
const T & at(int n) const
Definition btAlignedObjectArray.h:147
btIDebugDraw::drawLine
virtual void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)=0
btIParallelForBody
Definition btThreads.h:102
btITaskScheduler::getNumThreads
virtual int getNumThreads() const =0
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition btTransform.h:114
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::setMax
void setMax(const btVector3 &other)
Set each element to the max of the current values and the values of another btVector3.
Definition btVector3.h:609
btVector3::isZero
bool isZero() const
Definition btVector3.h:683
btVector3::z
const btScalar & z() const
Return the z value.
Definition btVector3.h:579
btVector3::absolute
btVector3 absolute() const
Return a vector with the absolute values of each element.
Definition btVector3.h:364
btVector3::x
const btScalar & x() const
Return the x value.
Definition btVector3.h:575
btVector3::setMin
void setMin(const btVector3 &other)
Set each element to the min of the current values and the values of another btVector3.
Definition btVector3.h:626
btVector3::y
const btScalar & y() const
Return the y value.
Definition btVector3.h:577
AssignConstraintsToGridBatchesLoop
Definition btBatchedConstraints.cpp:775
AssignConstraintsToGridBatchesLoop::AssignConstraintsToGridBatchesLoop
AssignConstraintsToGridBatchesLoop(const AssignConstraintsToGridBatchesParams &params)
Definition btBatchedConstraints.cpp:778
AssignConstraintsToGridBatchesLoop::m_params
const AssignConstraintsToGridBatchesParams * m_params
Definition btBatchedConstraints.cpp:776
AssignConstraintsToGridBatchesLoop::forLoop
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
Definition btBatchedConstraints.cpp:782
AssignConstraintsToGridBatchesParams
Definition btBatchedConstraints.cpp:688
AssignConstraintsToGridBatchesParams::conInfos
btBatchedConstraintInfo * conInfos
Definition btBatchedConstraints.cpp:692
AssignConstraintsToGridBatchesParams::numBodies
int numBodies
Definition btBatchedConstraints.cpp:691
AssignConstraintsToGridBatchesParams::bodyGridCoords
btIntVec3 * bodyGridCoords
Definition btBatchedConstraints.cpp:690
AssignConstraintsToGridBatchesParams::gridChunkDim
btIntVec3 gridChunkDim
Definition btBatchedConstraints.cpp:694
AssignConstraintsToGridBatchesParams::AssignConstraintsToGridBatchesParams
AssignConstraintsToGridBatchesParams()
Definition btBatchedConstraints.cpp:699
AssignConstraintsToGridBatchesParams::maxNumBatchesPerPhase
int maxNumBatchesPerPhase
Definition btBatchedConstraints.cpp:695
AssignConstraintsToGridBatchesParams::constraintBatchIds
int * constraintBatchIds
Definition btBatchedConstraints.cpp:693
AssignConstraintsToGridBatchesParams::phaseMask
int phaseMask
Definition btBatchedConstraints.cpp:697
AssignConstraintsToGridBatchesParams::numPhases
int numPhases
Definition btBatchedConstraints.cpp:696
AssignConstraintsToGridBatchesParams::bodyDynamicFlags
bool * bodyDynamicFlags
Definition btBatchedConstraints.cpp:689
ExpandConstraintRowsLoop
Definition btBatchedConstraints.cpp:304
ExpandConstraintRowsLoop::m_conInfos
const btBatchedConstraintInfo * m_conInfos
Definition btBatchedConstraints.cpp:307
ExpandConstraintRowsLoop::m_destConstraintBatchIds
int * m_destConstraintBatchIds
Definition btBatchedConstraints.cpp:305
ExpandConstraintRowsLoop::m_srcConstraintBatchIds
const int * m_srcConstraintBatchIds
Definition btBatchedConstraints.cpp:306
ExpandConstraintRowsLoop::m_numConstraintRows
int m_numConstraintRows
Definition btBatchedConstraints.cpp:308
ExpandConstraintRowsLoop::ExpandConstraintRowsLoop
ExpandConstraintRowsLoop(int *destConstraintBatchIds, const int *srcConstraintBatchIds, const btBatchedConstraintInfo *conInfos, int numConstraintRows)
Definition btBatchedConstraints.cpp:310
ExpandConstraintRowsLoop::forLoop
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
Definition btBatchedConstraints.cpp:317
PreallocatedMemoryHelper::Chunk
Definition btBatchedConstraints.cpp:611
PreallocatedMemoryHelper::Chunk::size
size_t size
Definition btBatchedConstraints.cpp:613
PreallocatedMemoryHelper::Chunk::ptr
void ** ptr
Definition btBatchedConstraints.cpp:612
ReadSolverConstraintsLoop
Definition btBatchedConstraints.cpp:211
ReadSolverConstraintsLoop::m_outConInfos
btBatchedConstraintInfo * m_outConInfos
Definition btBatchedConstraints.cpp:212
ReadSolverConstraintsLoop::ReadSolverConstraintsLoop
ReadSolverConstraintsLoop(btBatchedConstraintInfo *outConInfos, btConstraintArray *constraints)
Definition btBatchedConstraints.cpp:215
ReadSolverConstraintsLoop::m_constraints
btConstraintArray * m_constraints
Definition btBatchedConstraints.cpp:213
ReadSolverConstraintsLoop::forLoop
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
Definition btBatchedConstraints.cpp:220
UpdateConstraintBatchIdsForMergesLoop
Definition btBatchedConstraints.cpp:406
UpdateConstraintBatchIdsForMergesLoop::m_numBatches
int m_numBatches
Definition btBatchedConstraints.cpp:409
UpdateConstraintBatchIdsForMergesLoop::m_batches
const btBatchInfo * m_batches
Definition btBatchedConstraints.cpp:408
UpdateConstraintBatchIdsForMergesLoop::UpdateConstraintBatchIdsForMergesLoop
UpdateConstraintBatchIdsForMergesLoop(int *constraintBatchIds, const btBatchInfo *batches, int numBatches)
Definition btBatchedConstraints.cpp:411
UpdateConstraintBatchIdsForMergesLoop::forLoop
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
Definition btBatchedConstraints.cpp:417
UpdateConstraintBatchIdsForMergesLoop::m_constraintBatchIds
int * m_constraintBatchIds
Definition btBatchedConstraints.cpp:407
WriteOutConstraintIndicesLoop
Definition btBatchedConstraints.cpp:460
WriteOutConstraintIndicesLoop::m_maxNumBatchesPerPhase
int m_maxNumBatchesPerPhase
Definition btBatchedConstraints.cpp:465
WriteOutConstraintIndicesLoop::m_numConstraints
int m_numConstraints
Definition btBatchedConstraints.cpp:463
WriteOutConstraintIndicesLoop::WriteOutConstraintIndicesLoop
WriteOutConstraintIndicesLoop(btBatchedConstraints *bc, const int *constraintBatchIds, int numConstraints, int *constraintIdPerBatch, int maxNumBatchesPerPhase)
Definition btBatchedConstraints.cpp:467
WriteOutConstraintIndicesLoop::m_batchedConstraints
btBatchedConstraints * m_batchedConstraints
Definition btBatchedConstraints.cpp:461
WriteOutConstraintIndicesLoop::forLoop
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
Definition btBatchedConstraints.cpp:475
WriteOutConstraintIndicesLoop::m_constraintIdPerBatch
int * m_constraintIdPerBatch
Definition btBatchedConstraints.cpp:464
WriteOutConstraintIndicesLoop::m_constraintBatchIds
const int * m_constraintBatchIds
Definition btBatchedConstraints.cpp:462
btBatchInfo
Definition btBatchedConstraints.cpp:39
btBatchInfo::numConstraints
int numConstraints
Definition btBatchedConstraints.cpp:40
btBatchInfo::btBatchInfo
btBatchInfo()
Definition btBatchedConstraints.cpp:43
btBatchInfo::mergeIndex
int mergeIndex
Definition btBatchedConstraints.cpp:41
btBatchedConstraintInfo
Definition btBatchedConstraints.cpp:32
btBatchedConstraintInfo::numConstraintRows
int numConstraintRows
Definition btBatchedConstraints.cpp:34
btBatchedConstraintInfo::bodyIds
int bodyIds[2]
Definition btBatchedConstraints.cpp:35
btBatchedConstraintInfo::constraintIndex
int constraintIndex
Definition btBatchedConstraints.cpp:33
btBatchedConstraints::Range
Definition btBatchedConstraints.h:35
btBatchedConstraints::Range::begin
int begin
Definition btBatchedConstraints.h:36
btBatchedConstraints::Range::end
int end
Definition btBatchedConstraints.h:37
btBatchedConstraints
Definition btBatchedConstraints.h:27
btBatchedConstraints::validate
bool validate(btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies) const
Definition btBatchedConstraints.cpp:46
btBatchedConstraints::s_debugDrawBatches
static bool s_debugDrawBatches
Definition btBatchedConstraints.h:50
btBatchedConstraints::m_batches
btAlignedObjectArray< Range > m_batches
Definition btBatchedConstraints.h:44
btBatchedConstraints::m_constraintIndices
btAlignedObjectArray< int > m_constraintIndices
Definition btBatchedConstraints.h:43
btBatchedConstraints::setup
void setup(btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies, BatchingMethod batchingMethod, int minBatchSize, int maxBatchSize, btAlignedObjectArray< char > *scratchMemory)
Definition btBatchedConstraints.cpp:1063
btBatchedConstraints::m_phaseGrainSize
btAlignedObjectArray< char > m_phaseGrainSize
Definition btBatchedConstraints.h:46
btBatchedConstraints::m_phaseOrder
btAlignedObjectArray< int > m_phaseOrder
Definition btBatchedConstraints.h:47
btBatchedConstraints::m_phases
btAlignedObjectArray< Range > m_phases
Definition btBatchedConstraints.h:45
btBatchedConstraints::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition btBatchedConstraints.h:48
btBatchedConstraints::BatchingMethod
BatchingMethod
Definition btBatchedConstraints.h:29
btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D
@ BATCHING_METHOD_SPATIAL_GRID_2D
Definition btBatchedConstraints.h:30
btIntVec3
Definition btBatchedConstraints.cpp:680
btIntVec3::operator[]
const int & operator[](int i) const
Definition btBatchedConstraints.cpp:683
btIntVec3::operator[]
int & operator[](int i)
Definition btBatchedConstraints.cpp:684
btIntVec3::m_ints
int m_ints[3]
Definition btBatchedConstraints.cpp:681
btSolverBody
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
Definition btSolverBody.h:105
btSolverBody::getWorldTransform
const btTransform & getWorldTransform() const
Definition btSolverBody.h:126
btSolverBody::internalGetInvMass
const btVector3 & internalGetInvMass() const
Definition btSolverBody.h:212
btSolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition btSolverConstraint.h:31
btSolverConstraint::m_solverBodyIdA
int m_solverBodyIdA
Definition btSolverConstraint.h:62
btSolverConstraint::m_solverBodyIdB
int m_solverBodyIdB
Definition btSolverConstraint.h:63