parallel_stepper.cpp File Reference

#include <ode/objects.h>
#include <ode/ode.h>
#include <ode/odemath.h>
#include <ode/rotation.h>
#include <ode/timer.h>
#include <ode/error.h>
#include <ode/matrix.h>
#include <ode/misc.h>
#include "objects.h"
#include "config.h"
#include "joints/joint.h"
#include "lcp.h"
#include "util.h"
#include <parallel_common.h>
#include <parallel_utils.h>
#include <parallel_stepper.h>

Include dependency graph for parallel_stepper.cpp:

Go to the source code of this file.

Classes
struct	dJointWithInfo1
struct	IndexError
Defines
#define	RANDOMLY_REORDER_CONSTRAINTS   1
#define	RANDOMLY_REORDER_CONSTRAINTS   1
Typedefs
typedef dReal *	dRealMutablePtr
typedef const dReal *	dRealPtr
Functions
static size_t	AdjustArenaSizeForReserveRequirements (size_t arenareq, float rsrvfactor, unsigned rsrvminimum)
static size_t	BuildIslandAndEstimateStepperMemoryRequirements (dxWorldProcessContext *context, dxWorld *world, dReal stepsize, dmemestimate_fn_t stepperestimate)
template<typename T >
void	compute_Adcfm_b (int m, T sor_w, T *J, const T *iMJ, int *jb, const T *cfm, T *Adcfm, T *b)
template void	compute_Adcfm_b< dReal > (int m, dReal sor_w, dRealMutablePtr J, dRealPtr iMJ, int *jb, dRealPtr cfm, dRealMutablePtr Adcfm, dRealMutablePtr b)
template<typename T >
void	compute_invM_JT (int m, const T *J, T *iMJ, int *jb, dxBody *const *body, const T *invI)
template void	compute_invM_JT< dReal > (int m, dRealPtr J, dRealMutablePtr iMJ, int *jb, dxBody *const *body, const dRealPtr invI)
size_t	dxEstimateParallelStepMemoryRequirements (dxBody *const *body, int nb, dxJoint *const *_joint, int _nj)
void	dxParallelProcessIslands (dxWorld *world, dReal stepsize, dstepper_fn_t stepper)
void	dxParallelQuickStepper (dxWorldProcessContext *context, dxWorld *world, dxBody *const *body, int nb, dxJoint *const *_joint, int _nj, dReal stepsize)
bool	dxReallocateParallelWorldProcessContext (dxWorld *world, dReal stepsize, dmemestimate_fn_t stepperestimate)
static size_t	EstimateIslandsProcessingMemoryRequirements (dxWorld *world, size_t &sesize)
static size_t	EstimateParallelSOR_LCPMemoryRequirements (int m, int n)
static dxWorldProcessContext *	InternalReallocateWorldProcessContext (dxWorldProcessContext *oldcontext, size_t memreq, const dxWorldProcessMemoryManager *memmgr, float rsrvfactor, unsigned rsrvminimum)
static void	Multiply1_12q1 (dReal *A, const dReal *B, const dReal *C, int q)
static void	multiply_J (int m, dRealPtr J, int *jb, dRealPtr in, dRealMutablePtr out)
static void	worldSolve (dxWorldProcessContext *context, const int m, const int nb, dRealMutablePtr J, int *jb, dxBody *const *body, dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr fc, dRealMutablePtr b, dRealPtr lo, dRealPtr hi, dRealPtr cfm, dRealMutablePtr iMJ, dRealMutablePtr Ad, const int *findex, const dxQuickStepParameters *qs)

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Define Documentation

#define RANDOMLY_REORDER_CONSTRAINTS   1

Definition at line 375 of file parallel_stepper.cpp.

#define RANDOMLY_REORDER_CONSTRAINTS   1

Definition at line 375 of file parallel_stepper.cpp.

---

Typedef Documentation

typedef dReal* dRealMutablePtr

Definition at line 39 of file parallel_stepper.cpp.

typedef const dReal* dRealPtr

Definition at line 38 of file parallel_stepper.cpp.

---

Function Documentation

static size_t AdjustArenaSizeForReserveRequirements	(	size_t	arenareq,
		float	rsrvfactor,
		unsigned	rsrvminimum
	)			[static]

Definition at line 1107 of file parallel_stepper.cpp.

static size_t BuildIslandAndEstimateStepperMemoryRequirements	(	dxWorldProcessContext *	context,
		dxWorld *	world,
		dReal	stepsize,
		dmemestimate_fn_t	stepperestimate
	)			[static]

Definition at line 954 of file parallel_stepper.cpp.

template<typename T >

void compute_Adcfm_b	(	int	m,
		T	sor_w,
		T *	J,
		const T *	iMJ,
		int *	jb,
		const T *	cfm,
		T *	Adcfm,
		T *	b
	)			[inline]

Definition at line 114 of file parallel_stepper.cpp.

template void compute_Adcfm_b< dReal >	(	int	m,
		dReal	sor_w,
		dRealMutablePtr	J,
		dRealPtr	iMJ,
		int *	jb,
		dRealPtr	cfm,
		dRealMutablePtr	Adcfm,
		dRealMutablePtr	b
	)

template<typename T >

void compute_invM_JT	(	int	m,
		const T *	J,
		T *	iMJ,
		int *	jb,
		dxBody *const *	body,
		const T *	invI
	)			[inline]

Definition at line 89 of file parallel_stepper.cpp.

template void compute_invM_JT< dReal >	(	int	m,
		dRealPtr	J,
		dRealMutablePtr	iMJ,
		int *	jb,
		dxBody *const *	body,
		const dRealPtr	invI
	)

size_t dxEstimateParallelStepMemoryRequirements	(	dxBody *const *	body,
		int	nb,
		dxJoint *const *	_joint,
		int	_nj
	)

Definition at line 886 of file parallel_stepper.cpp.

void dxParallelProcessIslands	(	dxWorld *	world,
		dReal	stepsize,
		dstepper_fn_t	stepper
	)

Definition at line 335 of file parallel_stepper.cpp.

void dxParallelQuickStepper	(	dxWorldProcessContext *	context,
		dxWorld *	world,
		dxBody *const *	body,
		int	nb,
		dxJoint *const *	_joint,
		int	_nj,
		dReal	stepsize
	)

Definition at line 445 of file parallel_stepper.cpp.

bool dxReallocateParallelWorldProcessContext	(	dxWorld *	world,
		dReal	stepsize,
		dmemestimate_fn_t	stepperestimate
	)

Definition at line 1242 of file parallel_stepper.cpp.

static size_t EstimateIslandsProcessingMemoryRequirements	(	dxWorld *	world,
		size_t &	sesize
	)			[static]

Definition at line 1092 of file parallel_stepper.cpp.

static size_t EstimateParallelSOR_LCPMemoryRequirements	(	int	m,
		int	n
	)			[static]

Definition at line 865 of file parallel_stepper.cpp.

static dxWorldProcessContext* InternalReallocateWorldProcessContext	(	dxWorldProcessContext *	oldcontext,
		size_t	memreq,
		const dxWorldProcessMemoryManager *	memmgr,
		float	rsrvfactor,
		unsigned	rsrvminimum
	)			[static]

Definition at line 1115 of file parallel_stepper.cpp.

static void Multiply1_12q1	(	dReal *	A,
		const dReal *	B,
		const dReal *	C,
		int	q
	)			[static]

Definition at line 381 of file parallel_stepper.cpp.

static void multiply_J	(	int	m,
		dRealPtr	J,
		int *	jb,
		dRealPtr	in,
		dRealMutablePtr	out
	)			[static]

Definition at line 419 of file parallel_stepper.cpp.

static void worldSolve	(	dxWorldProcessContext *	context,
		const int	m,
		const int	nb,
		dRealMutablePtr	J,
		int *	jb,
		dxBody *const *	body,
		dRealPtr	invI,
		dRealMutablePtr	lambda,
		dRealMutablePtr	fc,
		dRealMutablePtr	b,
		dRealPtr	lo,
		dRealPtr	hi,
		dRealPtr	cfm,
		dRealMutablePtr	iMJ,
		dRealMutablePtr	Ad,
		const int *	findex,
		const dxQuickStepParameters *	qs
	)			[static]

Definition at line 147 of file parallel_stepper.cpp.