Blender  V3.3
btDiscreteDynamicsWorldMt.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H
17 #define BT_DISCRETE_DYNAMICS_WORLD_MT_H
18 
22 
33 {
34 public:
35  // create the solvers for me
36  explicit btConstraintSolverPoolMt(int numSolvers);
37 
38  // pass in fully constructed solvers (destructor will delete them)
39  btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers);
40 
41  virtual ~btConstraintSolverPoolMt();
42 
44  virtual btScalar solveGroup(btCollisionObject** bodies,
45  int numBodies,
46  btPersistentManifold** manifolds,
47  int numManifolds,
49  int numConstraints,
50  const btContactSolverInfo& info,
51  btIDebugDraw* debugDrawer,
52  btDispatcher* dispatcher) BT_OVERRIDE;
53 
54  virtual void reset() BT_OVERRIDE;
55  virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; }
56 
57 private:
58  const static size_t kCacheLineSize = 128;
59  struct ThreadSolver
60  {
61  btConstraintSolver* solver;
63  char _cachelinePadding[kCacheLineSize - sizeof(btSpinMutex) - sizeof(void*)]; // keep mutexes from sharing a cache line
64  };
66  btConstraintSolverType m_solverType;
67 
68  ThreadSolver* getAndLockThreadSolver();
69  void init(btConstraintSolver** solvers, int numSolvers);
70 };
71 
84 {
85 protected:
86  btConstraintSolver* m_constraintSolverMt;
87 
88  virtual void solveConstraints(btContactSolverInfo & solverInfo) BT_OVERRIDE;
89 
91 
93  {
97 
98  void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
99  {
100  world->createPredictiveContactsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
101  }
102  };
104 
106  {
110 
111  void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
112  {
113  world->integrateTransformsInternal(&rigidBodies[iBegin], iEnd - iBegin, timeStep);
114  }
115  };
116  virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE;
117 
118 public:
120 
122  btBroadphaseInterface * pairCache,
123  btConstraintSolverPoolMt * solverPool, // Note this should be a solver-pool for multi-threading
124  btConstraintSolver * constraintSolverMt, // single multi-threaded solver for large islands (or NULL)
125  btCollisionConfiguration * collisionConfiguration);
126  virtual ~btDiscreteDynamicsWorldMt();
127 
128  virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE;
129 };
130 
131 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
ThreadMutex mutex
btCollisionObject
btConstraintSolverType
btConstraintSolver provides solver interface
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual void solveConstraints(btContactSolverInfo &solverInfo) BT_OVERRIDE
virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE
btDiscreteDynamicsWorldMt(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolverPoolMt *solverPool, btConstraintSolver *constraintSolverMt, btCollisionConfiguration *collisionConfiguration)
virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE
virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE
virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE
virtual ~btDiscreteDynamicsWorldMt()
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
btPersistentManifold()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint ** constraints
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo btIDebugDraw *debugDrawer BT_OVERRIDE
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int numConstraints
btSequentialImpulseConstraintSolverMt int numBodies
btSequentialImpulseConstraintSolverMt int btPersistentManifold int numManifolds
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
virtual void reset() BT_OVERRIDE
clear internal cached data and reset random seed
virtual btConstraintSolverType getSolverType() const BT_OVERRIDE
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifolds, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher) BT_OVERRIDE
solve a group of constraints
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
btDiscreteDynamicsWorldMt * world