add ode

1 files changed, 204 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/fastvecscale.cpp b/libs/ode-0.16.1/ode/src/fastvecscale.cpp
new file mode 100644
index 0000000..9927d89
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/fastvecscale.cpp
@@ -0,0 +1,204 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* 
+ * Vector scaling related code of ThreadedEquationSolverLDLT 
+ * Copyright (c) 2017-2019 Oleh Derevenko, odar@eleks.com (change all "a" to "e")
+ */
+
+
+#include <ode/common.h>
+#include <ode/matrix.h>
+#include <ode/matrix_coop.h>
+#include "config.h"
+#include "threaded_solver_ldlt.h"
+#include "threading_base.h"
+#include "resource_control.h"
+#include "error.h"
+
+#include "fastvecscale_impl.h"
+
+
+/*static */
+void ThreadedEquationSolverLDLT::estimateCooperativeScalingVectorResourceRequirements(
+    dxResourceRequirementDescriptor *summaryRequirementsDescriptor,
+    unsigned allowedThreadCount, unsigned elementCount)
+{
+    dxThreadingBase *threading = summaryRequirementsDescriptor->getrelatedThreading();
+    unsigned limitedThreadCount = restrictScalingVectorAllowedThreadCount(threading, allowedThreadCount, elementCount);
+
+    if (limitedThreadCount > 1)
+    {
+        doEstimateCooperativeScalingVectorResourceRequirementsValidated(summaryRequirementsDescriptor, allowedThreadCount, elementCount);
+    }
+}
+
+/*static */
+void ThreadedEquationSolverLDLT::cooperativelyScaleVector(dxRequiredResourceContainer *resourceContainer, unsigned allowedThreadCount, 
+    dReal *vectorData, const dReal *scaleData, unsigned elementCount)
+{
+    dAASSERT(elementCount != 0);
+
+    dxThreadingBase *threading = resourceContainer->getThreadingInstance();
+    unsigned limitedThreadCount = restrictScalingVectorAllowedThreadCount(threading, allowedThreadCount, elementCount);
+
+    if (limitedThreadCount <= 1)
+    {
+        scaleLargeVector<SV_A_STRIDE, SV_D_STRIDE>(vectorData, scaleData, elementCount);
+    }
+    else
+    {
+        doCooperativelyScaleVectorValidated(resourceContainer, limitedThreadCount, vectorData, scaleData, elementCount);
+    }
+}
+
+/*static */
+unsigned ThreadedEquationSolverLDLT::restrictScalingVectorAllowedThreadCount(
+    dxThreadingBase *threading, unsigned allowedThreadCount, unsigned elementCount)
+{
+    unsigned limitedThreadCount = 1;
+
+#if dCOOPERATIVE_ENABLED
+    const unsigned int blockStep = SV_BLOCK_SIZE; // Required by the implementation
+    unsigned scalingBlockCount = deriveScalingVectorBlockCount(elementCount, blockStep);
+    dIASSERT(deriveScalingVectorThreadCount(SV_COOPERATIVE_BLOCK_COUNT_MINIMUM - 1, 2) > 1);
+
+    if (scalingBlockCount >= SV_COOPERATIVE_BLOCK_COUNT_MINIMUM)
+    {
+        limitedThreadCount = threading->calculateThreadingLimitedThreadCount(allowedThreadCount, true);
+    }
+#endif // #if dCOOPERATIVE_ENABLED
+
+    return limitedThreadCount;
+}
+
+/*static */
+void ThreadedEquationSolverLDLT::doEstimateCooperativeScalingVectorResourceRequirementsValidated(
+    dxResourceRequirementDescriptor *summaryRequirementsDescriptor,
+    unsigned allowedThreadCount, unsigned elementCount)
+{
+    unsigned simultaneousCallCount = 1 + (allowedThreadCount - 1);
+
+    sizeint scalingMemoryRequired = 0;
+    const unsigned scalingAlignmentRequired = 0;
+
+    unsigned featureRequirement = dxResourceRequirementDescriptor::STOCK_CALLWAIT_REQUIRED;
+    summaryRequirementsDescriptor->mergeAnotherDescriptorIn(scalingMemoryRequired, scalingAlignmentRequired, simultaneousCallCount, featureRequirement);
+}
+
+/*static */
+void ThreadedEquationSolverLDLT::doCooperativelyScaleVectorValidated(
+    dxRequiredResourceContainer *resourceContainer, unsigned allowedThreadCount, 
+    dReal *vectorData, const dReal *scaleData, unsigned elementCount)
+{
+    dIASSERT(allowedThreadCount > 1);
+
+    const unsigned int blockStep = SV_BLOCK_SIZE; // Required by the implementation
+    unsigned scalingBlockCount = deriveScalingVectorBlockCount(elementCount, blockStep);
+    dIASSERT(scalingBlockCount > 0U);
+
+    unsigned threadCountToUse = deriveScalingVectorThreadCount(scalingBlockCount - 1, allowedThreadCount);
+    dIASSERT(threadCountToUse > 1);
+
+    dCallWaitID completionWait = resourceContainer->getStockCallWait();
+    dAASSERT(completionWait != NULL);
+
+    atomicord32 blockCompletionProgress;
+
+    initializeCooperativelyScaleVectorMemoryStructures(blockCompletionProgress);
+
+    dCallReleaseeID calculationFinishReleasee;
+    ScaleVectorWorkerContext workerContext; // The variable must exist in the outer scope
+
+    workerContext.init(vectorData, scaleData, elementCount, blockCompletionProgress);
+
+    dxThreadingBase *threading = resourceContainer->getThreadingInstance();
+    threading->PostThreadedCall(NULL, &calculationFinishReleasee, threadCountToUse - 1, NULL, completionWait, &scaleVector_completion_callback, NULL, 0, "ScaleVector Completion");
+    threading->PostThreadedCallsGroup(NULL, threadCountToUse - 1, calculationFinishReleasee, &scaleVector_worker_callback, &workerContext, "ScaleVector Work");
+
+    participateScalingVector<blockStep, SV_A_STRIDE, SV_D_STRIDE>(vectorData, scaleData, elementCount, blockCompletionProgress);
+
+    threading->WaitThreadedCallExclusively(NULL, completionWait, NULL, "ScaleVector End Wait");
+}
+
+
+/*static */
+int ThreadedEquationSolverLDLT::scaleVector_worker_callback(void *callContext, dcallindex_t dUNUSED(callInstanceIndex), dCallReleaseeID dUNUSED(callThisReleasee))
+{
+    ScaleVectorWorkerContext *ptrContext = (ScaleVectorWorkerContext *)callContext;
+
+    scaleVector_worker(*ptrContext);
+
+    return 1;
+}
+
+/*static */
+void ThreadedEquationSolverLDLT::scaleVector_worker(ScaleVectorWorkerContext &ref_context)
+{
+    const unsigned blockStep = SV_BLOCK_SIZE;
+
+    participateScalingVector<blockStep, SV_A_STRIDE, SV_D_STRIDE>(ref_context.m_vectorData, ref_context.m_scaleData, ref_context.m_elementCount, *ref_context.m_ptrBlockCompletionProgress);
+}
+
+/*static */
+int ThreadedEquationSolverLDLT::scaleVector_completion_callback(void *dUNUSED(callContext), dcallindex_t dUNUSED(callInstanceIndex), dCallReleaseeID dUNUSED(callThisReleasee))
+{
+    return 1;
+}
+
+
+//////////////////////////////////////////////////////////////////////////
+// Public interface functions
+
+/*extern ODE_API */
+void dScaleVector(dReal *a, const dReal *d, int n)
+{
+    scaleLargeVector<1, 1>(a, d, n);
+}
+
+/*extern ODE_API_DEPRECATED ODE_API */
+void dVectorScale(dReal *a, const dReal *d, int n)
+{
+    scaleLargeVector<1, 1>(a, d, n);
+}
+
+
+/*extern ODE_API */
+void dEstimateCooperativelyScaleVectorResourceRequirements(dResourceRequirementsID requirements,
+    unsigned maximalAllowedThreadCount, unsigned maximalElementCount)
+{
+    dAASSERT(requirements != NULL);
+
+    dxResourceRequirementDescriptor *requirementsDescriptor = (dxResourceRequirementDescriptor *)requirements;
+    ThreadedEquationSolverLDLT::estimateCooperativeScalingVectorResourceRequirements(requirementsDescriptor, maximalAllowedThreadCount, maximalElementCount);
+}
+
+/*extern ODE_API */
+void dCooperativelyScaleVector(dResourceContainerID resources, unsigned allowedThreadCount, 
+    dReal *dataVector, const dReal *scaleVector, unsigned elementCount)
+{
+    dAASSERT(resources != NULL);
+
+    dxRequiredResourceContainer *resourceContainer = (dxRequiredResourceContainer *)resources;
+    ThreadedEquationSolverLDLT::cooperativelyScaleVector(resourceContainer, allowedThreadCount, dataVector, scaleVector, elementCount);
+}
+