#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) |
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 | ||
| ) |
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 | ||
| ) |
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.