- stop threads when exiting demo that uses multi threading

- improved friction model for parallel solver (align the friction direction with projected velocity, unless the projection is close to zero (only then use 2 arbitrary axis orthogonal to contact normal)

ChangeLog.txt

@@ -1,6 +1,15 @@
 Bullet Continuous Collision Detection and Physics Library
 Primary author and maintainer: Erwin Coumans
 
+2007 Nov 11
+	- Fixed parallel solver (BulletMultiThreaded) friction issue
+	- Terminate Win32 Threads when closing the CcdPhysicsDemo (when USE_PARALLEL_SOLVER/USE_PARALLEL_DISPATCHER is defined)
+
+2007 Nov 6
+	- Added support for 16-bit indices for triangle meshes
+	- Added support for multiple mesh parts using btBvhTriangleMeshShape.
+	Thanks to Tim Johansson
+	
 2007 Oct 22
 	- All memory allocations go through btAlignedAlloc/btAlignedFree. User can override this to verify memory leaks
 	- added a few more demos to AllBulletDemos

Demos/AllBulletDemos/DemoEntries.cpp

@@ -93,12 +93,12 @@ public:
 
 btDemoEntry g_demoEntries[] =
 {
-	{"BasicDemo", BasicDemo::Create},
 	{"RagdollDemo",RagdollDemo::Create},
-	{"ConvexDecomposition",ConvexDecompositionDemo::Create},
 	{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
-	{"BspDemo", BspDemo::Create},
 	{"ConcaveDemo",ConcaveDemo::Create},
+	{"ConvexDecomposition",ConvexDecompositionDemo::Create},
+	{"BasicDemo", BasicDemo::Create},
+	{"BspDemo", BspDemo::Create},
 	{"Gimpact Test", GimpactConcaveDemo::Create},
 	{"Raytracer Test",Raytracer::Create},
 	{"GjkConvexCast",LinearConvexCastDemo::Create},

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -322,6 +322,9 @@ float myFrictionModel(	btRigidBody& body1,	btRigidBody& body2,	btManifoldPoint&
 
 void	CcdPhysicsDemo::initPhysics()
 {
+	m_threadSupportSolver = 0;
+	m_threadSupportCollision = 0;
+
 //#define USE_GROUND_PLANE 1
 #ifdef USE_GROUND_PLANE
 	m_collisionShapes.push_back(new btStaticPlaneShape(btVector3(0,1,0),0.5));
@@ -356,7 +359,7 @@ int maxNumOutstandingTasks = 4;
 
 #ifdef USE_WIN32_THREADING
 
-	Win32ThreadSupport* threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
+	m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
 								"collision",
 								processCollisionTask,
 								createCollisionLocalStoreMemory,
@@ -389,7 +392,7 @@ int maxNumOutstandingTasks = 4;
 #endif
 
 
-	m_dispatcher = new	SpuGatheringCollisionDispatcher(threadSupportCollision,maxNumOutstandingTasks,m_collisionConfiguration);
+	m_dispatcher = new	SpuGatheringCollisionDispatcher(m_threadSupportCollision,maxNumOutstandingTasks,m_collisionConfiguration);
 //	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
 #else
 	
@@ -422,7 +425,7 @@ int maxNumOutstandingTasks = 4;
 	
 #ifdef USE_PARALLEL_SOLVER
 
-	Win32ThreadSupport* threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
+	m_threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
 								"solver",
 								processSolverTask,
 								createSolverLocalStoreMemory,
@@ -648,12 +651,22 @@ void	CcdPhysicsDemo::exitPhysics()
 	//delete solver
 	delete m_solver;
 
+	if (m_threadSupportSolver)
+	{
+		delete m_threadSupportSolver;
+	}
+
 	//delete broadphase
 	delete m_broadphase;
 
 	//delete dispatcher
 	delete m_dispatcher;
 
+	if (m_threadSupportCollision)
+	{
+		delete m_threadSupportCollision;
+	}
+
 	delete m_collisionConfiguration;
 
 	

Demos/CcdPhysicsDemo/CcdPhysicsDemo.h

@@ -25,6 +25,7 @@ class btCollisionDispatcher;
 class btConstraintSolver;
 struct btCollisionAlgorithmCreateFunc;
 class btDefaultCollisionConfiguration;
+class Win32ThreadSupport;
 
 ///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
 class CcdPhysicsDemo : public DemoApplication
@@ -37,6 +38,10 @@ class CcdPhysicsDemo : public DemoApplication
 
 	btCollisionDispatcher*	m_dispatcher;
 
+	Win32ThreadSupport*		m_threadSupportCollision;
+
+	Win32ThreadSupport*		m_threadSupportSolver;
+
 	btConstraintSolver*	m_solver;
 
 	btCollisionAlgorithmCreateFunc*	m_boxBoxCF;

Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp

@@ -1026,6 +1026,9 @@ void processSolverTask(void* userPtr, void* lsMemory)
 								btVector3 rel_pos1 = pos1 - rb0->getCenterOfMassPosition(); 
 								btVector3 rel_pos2 = pos2 - rb1->getCenterOfMassPosition();
 
+								btScalar rel_vel;
+								btVector3 vel;
+
 								// De-penetration
 								{
 									SpuSolverInternalConstraint& constraint = localMemory->m_tempInternalConstr[0];
@@ -1034,7 +1037,6 @@ void processSolverTask(void* userPtr, void* lsMemory)
 									constraint.m_localOffsetBodyB = offsB;
 
 									constraint.m_normal = cp.m_normalWorldOnB;
-
 									{
 										//can be optimized, the cross products are already calculated										
 										constraint.m_jacDiagABInv = computeJacobianInverse (rb0, rb1, pos1, pos2, cp.m_normalWorldOnB);
@@ -1046,11 +1048,9 @@ void processSolverTask(void* userPtr, void* lsMemory)
 									btVector3 vel1 = rb0->getVelocityInLocalPoint(rel_pos1);
 									btVector3 vel2 = rb1->getVelocityInLocalPoint(rel_pos2);
 
-									btVector3 vel = vel1 - vel2;
-									btScalar rel_vel;
+									vel = vel1 - vel2;
 									rel_vel = cp.m_normalWorldOnB.dot(vel);
 
-
 									constraint.m_penetration = cp.getDistance();///btScalar(infoGlobal.m_numIterations);
 									constraint.m_friction = cp.m_combinedFriction;
 									float rest =  - rel_vel * cp.m_combinedRestitution;
@@ -1082,8 +1082,16 @@ void processSolverTask(void* userPtr, void* lsMemory)
 
 								btVector3 frictionTangential0a, frictionTangential1b;
 
+								frictionTangential0a = vel - cp.m_normalWorldOnB * rel_vel;
+								btScalar lat_rel_vel = frictionTangential0a.length2();
+								if (lat_rel_vel > SIMD_EPSILON)//0.0f)
+								{
+									frictionTangential0a /= btSqrt(lat_rel_vel);
+									frictionTangential1b = frictionTangential0a.cross(cp.m_normalWorldOnB);
+								} else
+								{
 									btPlaneSpace1(cp.m_normalWorldOnB,frictionTangential0a,frictionTangential1b);
-
+								}
 
 								{
 									SpuSolverInternalConstraint& constraint = localMemory->m_tempInternalConstr[1];

Extras/BulletMultiThreaded/Win32ThreadSupport.cpp

@@ -52,23 +52,27 @@ DWORD WINAPI Thread_no_1( LPVOID lpParam )
 	while (1)
 	{
 		WaitForSingleObject(status->m_eventStartHandle,INFINITE);
-		btAssert(status->m_status);
 		
 		void* userPtr = status->m_userPtr;
 
 		if (userPtr)
 		{
+			btAssert(status->m_status);
 			status->m_userThreadFunc(userPtr,status->m_lsMemory);
 			status->m_status = 2;
 			SetEvent(status->m_eventCompletetHandle);
 		} else
 		{
 			//exit Thread
+			status->m_status = 3;
+			SetEvent(status->m_eventCompletetHandle);
+			printf("Thread with taskId %i with handle %i exiting\n",status->m_taskId, status->m_threadHandle);
 			break;
 		}
 		
 	}
 
+	printf("Thread TERMINATED\n");
 	return 0;
 
 }
@@ -202,7 +206,7 @@ void Win32ThreadSupport::startThreads(Win32ThreadConstructionInfo& threadConstru
 		SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
 		//SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
 
-		//SetThreadAffinityMask(handle, 1<<i);
+		SetThreadAffinityMask(handle, 1<<i);
 
 		spuStatus.m_taskId = i;
 		spuStatus.m_commandId = 0;
@@ -225,9 +229,27 @@ void Win32ThreadSupport::startSPU()
 ///tell the task scheduler we are done with the SPU tasks
 void Win32ThreadSupport::stopSPU()
 {
-//	m_activeSpuStatus.pop_back();
-//	WaitForSingleObject(spuStatus.bla, INFINITE);
-//	CloseHandle(spuStatus.m_threadHandle);
+	int i;
+	for (i=0;i<m_activeSpuStatus.size();i++)
+	{
+		btSpuStatus& spuStatus = m_activeSpuStatus[i];
+		if (spuStatus.m_status>0)
+		{
+			WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
+		}
+		
+
+		spuStatus.m_userPtr = 0;
+		SetEvent(spuStatus.m_eventStartHandle);
+		WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
+
+		CloseHandle(spuStatus.m_eventCompletetHandle);
+		CloseHandle(spuStatus.m_eventStartHandle);
+		CloseHandle(spuStatus.m_threadHandle);
+	}
+
+	m_activeSpuStatus.clear();
+	m_completeHandles.clear();
 
 }