parallel_stepper.h
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00001 #ifndef _PARALLEL_STEPPER_H_
00002 #define _PARALLEL_STEPPER_H_
00003 
00004 #include <ode/ode.h>
00005 
00006 #include "util.h"
00007 
00008 // TOOD: Add this struct to ode/src/objetcs.h
00009 
00010 // Parallel-step parameters
00011 struct dxParallelStepParameters {
00012   int syncType;
00013   int reduceType;
00014 };
00015 
00016 void dxParallelProcessIslands (dxWorld *world, dReal stepsize, dstepper_fn_t stepper);
00017 
00018 void dxParallelQuickStepper ( //dxWorldProcessContext *shared_context,
00019                          dxWorldProcessContext *context,
00020                          dxWorld *world, dxBody * const *body, int nb,
00021                          dxJoint * const *_joint, int _nj, dReal stepsize);
00022 
00023 bool dxReallocateParallelWorldProcessContext (dxWorld *world, dReal stepsize, dmemestimate_fn_t stepperestimate);
00024 
00025 size_t dxEstimateParallelStepMemoryRequirements ( dxBody * const *body, int nb, dxJoint * const *_joint, int _nj);
00026 
00027 template<typename T>
00028 void compute_invM_JT (int m, const T* J, T* iMJ, int *jb,
00029                              dxBody * const *body, const T* invI);
00030 
00031 template<typename T>
00032 void compute_Adcfm_b (int m, T sor_w, T* J, const T* iMJ, int* jb, const T* cfm,
00033                       T* Adcfm, T* b);
00034 
00035 
00036 #endif


parallel_quickstep
Author(s): Jared Duke
autogenerated on Wed Apr 23 2014 10:23:51