mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 22:20:12 +00:00
506 lines
13 KiB
C++
506 lines
13 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. 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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
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#define USE_PARALLEL_DISPATCHER 1
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
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#ifdef USE_PARALLEL_DISPATCHER
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#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#include "BulletMultiThreaded/PlatformDefinitions.h"
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#ifdef USE_LIBSPE2
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#include "BulletMultiThreaded/SpuLibspe2Support.h"
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#elif defined (_WIN32)
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#include "BulletMultiThreaded/Win32ThreadSupport.h"
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#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#elif defined (USE_PTHREADS)
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#include "BulletMultiThreaded/PosixThreadSupport.h"
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#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#else
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//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
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#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif //USE_LIBSPE2
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#ifdef USE_PARALLEL_SOLVER
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#include "BulletMultiThreaded/btParallelConstraintSolver.h"
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#include "BulletMultiThreaded/SequentialThreadSupport.h"
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btThreadSupportInterface* createSolverThreadSupport(int maxNumThreads)
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{
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//#define SEQUENTIAL
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#ifdef SEQUENTIAL
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SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
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SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
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threadSupport->startSPU();
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#else
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#ifdef _WIN32
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Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("solverThreads",SolverThreadFunc,SolverlsMemoryFunc,maxNumThreads);
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Win32ThreadSupport* threadSupport = new Win32ThreadSupport(threadConstructionInfo);
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threadSupport->startSPU();
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#elif defined (USE_PTHREADS)
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PosixThreadSupport::ThreadConstructionInfo solverConstructionInfo("solver", SolverThreadFunc,
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SolverlsMemoryFunc, maxNumThreads);
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PosixThreadSupport* threadSupport = new PosixThreadSupport(solverConstructionInfo);
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#else
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SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
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SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
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threadSupport->startSPU();
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#endif
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#endif
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return threadSupport;
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}
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#endif //USE_PARALLEL_SOLVER
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#endif//USE_PARALLEL_DISPATCHER
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btIDebugDraw.h"
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#include <stdio.h> //printf debugging
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#include "MultiThreadedDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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extern float eye[3];
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extern int glutScreenWidth;
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extern int glutScreenHeight;
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const int maxProxies = 32766;
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const int maxOverlap = 65535;
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#ifdef _DEBUG
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const int gNumObjects = 120;
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#else
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const int gNumObjects = 120;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
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#endif
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const int maxNumObjects = 32760;
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static int shapeIndex[maxNumObjects];
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#define CUBE_HALF_EXTENTS 0.5
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#define EXTRA_HEIGHT -10.f
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//GL_LineSegmentShape shapeE(btVector3(-50,0,0),
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// btVector3(50,0,0));
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void MultiThreadedDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
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{
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btTransform trans;
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trans.setIdentity();
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for(int i=0; i<size; i++)
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{
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// This constructs a row, from left to right
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int rowSize = size - i;
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for(int j=0; j< rowSize; j++)
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{
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btVector3 pos;
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pos.setValue(
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-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
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halfCubeSize + i * halfCubeSize * 2.0f,
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zPos);
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trans.setOrigin(pos);
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btScalar mass = 1.f;
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btRigidBody* body = 0;
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body = localCreateRigidBody(mass,trans,boxShape);
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}
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}
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}
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////////////////////////////////////
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//experimental jitter damping (1 = no damping, 0 = total damping once motion below threshold)
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extern btScalar gJitterVelocityDampingFactor;
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extern int gNumManifold;
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extern int gOverlappingPairs;
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void MultiThreadedDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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// float dt = getDeltaTimeMicroseconds() * 0.000001f;
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// printf("dt = %f: ",dt);
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if (m_dynamicsWorld)
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{
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#define FIXED_STEP 1
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#ifdef FIXED_STEP
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m_dynamicsWorld->stepSimulation(1.0f/60.f,0);
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//CProfileManager::dumpAll();
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#else
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//during idle mode, just run 1 simulation step maximum
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int maxSimSubSteps = m_idle ? 1 : 1;
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if (m_idle)
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dt = 1.0/420.f;
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int numSimSteps = 0;
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numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
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#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
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if (!numSimSteps)
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printf("Interpolated transforms\n");
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else
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{
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if (numSimSteps > maxSimSubSteps)
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{
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//detect dropping frames
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printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
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} else
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{
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printf("Simulated (%i) steps\n",numSimSteps);
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}
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}
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#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
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#endif
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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#ifdef USE_QUICKPROF
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btProfiler::beginBlock("render");
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#endif //USE_QUICKPROF
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renderme();
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//render the graphics objects, with center of mass shift
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updateCamera();
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#ifdef USE_QUICKPROF
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btProfiler::endBlock("render");
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#endif
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glFlush();
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glutSwapBuffers();
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}
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void MultiThreadedDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//optional but useful: debug drawing
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void MultiThreadedDemo::initPhysics()
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{
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#ifdef USE_PARALLEL_DISPATCHER
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m_threadSupportSolver = 0;
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m_threadSupportCollision = 0;
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#endif
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//#define USE_GROUND_PLANE 1
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#ifdef USE_GROUND_PLANE
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m_collisionShapes.push_back(new btStaticPlaneShape(btVector3(0,1,0),0.5));
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#else
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///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
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///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
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m_collisionShapes.push_back(new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200)));
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#endif
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m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
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setCameraDistance(32.5f);
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m_azi = 90.f;
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m_dispatcher=0;
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btDefaultCollisionConstructionInfo cci;
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cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
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m_collisionConfiguration = new btDefaultCollisionConfiguration(cci);
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#ifdef USE_PARALLEL_DISPATCHER
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int maxNumOutstandingTasks = 4;
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#ifdef USE_WIN32_THREADING
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m_threadSupportCollision = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
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"collision",
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processCollisionTask,
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createCollisionLocalStoreMemory,
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maxNumOutstandingTasks));
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#else
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#ifdef USE_LIBSPE2
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spe_program_handle_t * program_handle;
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#ifndef USE_CESOF
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program_handle = spe_image_open ("./spuCollision.elf");
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if (program_handle == NULL)
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{
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perror( "SPU OPEN IMAGE ERROR\n");
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}
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else
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{
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printf( "IMAGE OPENED\n");
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}
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#else
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extern spe_program_handle_t spu_program;
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program_handle = &spu_program;
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#endif
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SpuLibspe2Support* threadSupportCollision = new SpuLibspe2Support( program_handle, maxNumOutstandingTasks);
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#elif defined (USE_PTHREADS)
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PosixThreadSupport::ThreadConstructionInfo constructionInfo("collision",
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processCollisionTask,
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createCollisionLocalStoreMemory,
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maxNumOutstandingTasks);
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m_threadSupportCollision = new PosixThreadSupport(constructionInfo);
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#else
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SequentialThreadSupport::SequentialThreadConstructionInfo colCI("collision",processCollisionTask,createCollisionLocalStoreMemory);
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SequentialThreadSupport* m_threadSupportCollision = new SequentialThreadSupport(colCI);
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#endif //USE_LIBSPE2
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///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
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/// For Unix/Mac someone could implement a pthreads version of btThreadSupportInterface?
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///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
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#endif
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m_dispatcher = new SpuGatheringCollisionDispatcher(m_threadSupportCollision,maxNumOutstandingTasks,m_collisionConfiguration);
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// m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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#else
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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#endif //USE_PARALLEL_DISPATCHER
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btVector3 worldAabbMin(-1000,-1000,-1000);
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btVector3 worldAabbMax(1000,1000,1000);
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m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
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#ifdef USE_PARALLEL_SOLVER
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m_threadSupportSolver = createSolverThreadSupport(maxNumOutstandingTasks);
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m_solver = new btParallelConstraintSolver(m_threadSupportSolver);
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//this solver requires the contacts to be in a contiguous pool, so avoid dynamic allocation
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m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
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#else
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btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
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m_solver = solver;
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//default solverMode is SOLVER_RANDMIZE_ORDER. Warmstarting seems not to improve convergence, see
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//solver->setSolverMode(0);//btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
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#endif //USE_PARALLEL_SOLVER
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btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_dynamicsWorld = world;
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world->getSimulationIslandManager()->setSplitIslands(false);
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world->getSolverInfo().m_numIterations = 4;
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world->getSolverInfo().m_solverMode = SOLVER_SIMD+SOLVER_USE_WARMSTARTING;//+SOLVER_RANDMIZE_ORDER;
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m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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int i;
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btTransform tr;
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tr.setIdentity();
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for (i=0;i<gNumObjects;i++)
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{
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if (i>0)
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{
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shapeIndex[i] = 1;//sphere
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}
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else
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shapeIndex[i] = 0;
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}
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btTransform trans;
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trans.setIdentity();
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btScalar halfExtents = CUBE_HALF_EXTENTS;
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trans.setOrigin(btVector3(0,-halfExtents,0));
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localCreateRigidBody(0.f,trans,m_collisionShapes[shapeIndex[0]]);
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int numWalls = 15;
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int wallHeight = 15;
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float wallDistance = 3;
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for ( i=0;i<numWalls;i++)
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{
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float zPos = (i-numWalls/2) * wallDistance;
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createStack(m_collisionShapes[shapeIndex[1]],halfExtents,wallHeight,zPos);
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}
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#define DESTROYER_BALL 1
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#ifdef DESTROYER_BALL
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btTransform sphereTrans;
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sphereTrans.setIdentity();
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sphereTrans.setOrigin(btVector3(0,2,40));
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btSphereShape* ball = new btSphereShape(2.f);
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m_collisionShapes.push_back(ball);
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btRigidBody* ballBody = localCreateRigidBody(10000.f,sphereTrans,ball);
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ballBody->setLinearVelocity(btVector3(0,0,-10));
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#endif
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// clientResetScene();
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}
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void MultiThreadedDemo::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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m_collisionShapes[j] = 0;
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delete shape;
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}
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//delete dynamics world
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delete m_dynamicsWorld;
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//delete solver
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delete m_solver;
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#ifdef USE_PARALLEL_DISPATCHER
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if (m_threadSupportSolver)
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{
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delete m_threadSupportSolver;
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}
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#endif
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//delete broadphase
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delete m_broadphase;
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//delete dispatcher
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delete m_dispatcher;
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#ifdef USE_PARALLEL_DISPATCHER
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deleteCollisionLocalStoreMemory();
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if (m_threadSupportCollision)
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{
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delete m_threadSupportCollision;
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}
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#endif
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delete m_collisionConfiguration;
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}
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