ode/src/fastlsolve.cpp

   1 /*************************************************************************
   2  *                                                                       *
   3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
   4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
   5  *                                                                       *
   6  * This library is free software; you can redistribute it and/or         *
   7  * modify it under the terms of EITHER:                                  *
   8  *   (1) The GNU Lesser General Public License as published by the Free  *
   9  *       Software Foundation; either version 2.1 of the License, or (at  *
  10  *       your option) any later version. The text of the GNU Lesser      *
  11  *       General Public License is included with this library in the     *
  12  *       file LICENSE.TXT.                                               *
  13  *   (2) The BSD-style license that is included with this library in     *
  14  *       the file LICENSE-BSD.TXT.                                       *
  15  *                                                                       *
  16  * This library is distributed in the hope that it will be useful,       *
  17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
  19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
  20  *                                                                       *
  21  *************************************************************************/
  22
  23 /*
  24  * L1Straight Equation Solving Routines
  25  * Copyright (c) 2017-2024 Oleh Derevenko, odar@eleks.com (change all "a" to "e")
  26  */
  27
  28 #include <ode/common.h>
  29 #include <ode/matrix.h>
  30 #include <ode/matrix_coop.h>
  31 #include "config.h"
  32 #include "threaded_solver_ldlt.h"
  33 #include "threading_base.h"
  34 #include "resource_control.h"
  35 #include "error.h"
  36
  37 #include "fastlsolve_impl.h"
  38
  39
  40 /*static */
  41 void ThreadedEquationSolverLDLT::estimateCooperativeSolvingL1StraightResourceRequirements(
  42     dxResourceRequirementDescriptor *summaryRequirementsDescriptor,
  43     unsigned allowedThreadCount, unsigned rowCount)
  44 {
  45     dxThreadingBase *threading = summaryRequirementsDescriptor->getrelatedThreading();
  46     unsigned limitedThreadCount = restrictSolvingL1StraightAllowedThreadCount(threading, allowedThreadCount, rowCount);
  47
  48     if (limitedThreadCount > 1)
  49     {
  50         doEstimateCooperativeSolvingL1StraightResourceRequirementsValidated(summaryRequirementsDescriptor, allowedThreadCount, rowCount);
  51     }
  52 }
  53
  54 /*static */
  55 void ThreadedEquationSolverLDLT::cooperativelySolveL1Straight(
  56     dxRequiredResourceContainer *resourceContainer, unsigned allowedThreadCount,
  57     const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip)
  58 {
  59     dAASSERT(rowCount != 0);
  60
  61     dxThreadingBase *threading = resourceContainer->getThreadingInstance();
  62     unsigned limitedThreadCount = restrictSolvingL1StraightAllowedThreadCount(threading, allowedThreadCount, rowCount);
  63
  64     if (limitedThreadCount <= 1)
  65     {
  66         solveL1Straight<SL1S_B_STRIDE>(L, b, rowCount, rowSkip);
  67     }
  68     else
  69     {
  70         doCooperativelySolveL1StraightValidated(resourceContainer, limitedThreadCount, L, b, rowCount, rowSkip);
  71     }
  72 }
  73
  74
  75 /*static */
  76 unsigned ThreadedEquationSolverLDLT::restrictSolvingL1StraightAllowedThreadCount(
  77     dxThreadingBase *threading, unsigned allowedThreadCount, unsigned rowCount)
  78 {
  79     unsigned limitedThreadCount = 1;
  80
  81 #if dCOOPERATIVE_ENABLED
  82     const unsigned int blockStep = SL1S_BLOCK_SIZE; // Required by the implementation
  83     unsigned solvingBlockCount = deriveSolvingL1StraightBlockCount(rowCount, blockStep);
  84     dIASSERT(deriveSolvingL1StraightThreadCount(SL1S_COOPERATIVE_BLOCK_COUNT_MINIMUM, 2) > 1);
  85
  86     if (solvingBlockCount >= SL1S_COOPERATIVE_BLOCK_COUNT_MINIMUM)
  87     {
  88         limitedThreadCount = threading->calculateThreadingLimitedThreadCount(allowedThreadCount, true);
  89     }
  90 #endif // #if dCOOPERATIVE_ENABLED
  91
  92     return limitedThreadCount;
  93 }
  94
  95 /*static */
  96 void ThreadedEquationSolverLDLT::doEstimateCooperativeSolvingL1StraightResourceRequirementsValidated(
  97     dxResourceRequirementDescriptor *summaryRequirementsDescriptor,
  98     unsigned allowedThreadCount, unsigned rowCount)
  99 {
 100     const unsigned int blockStep = SL1S_BLOCK_SIZE; // Required by the implementation
 101     unsigned blockCount = deriveSolvingL1StraightBlockCount(rowCount, blockStep);
 102     dIASSERT(blockCount >= 1);
 103
 104     unsigned threadCountToUse = deriveSolvingL1StraightThreadCount(blockCount, allowedThreadCount);
 105     dIASSERT(threadCountToUse > 1);
 106
 107     unsigned simultaneousCallCount = 1 + (threadCountToUse - 1);
 108
 109     SolvingL1StraightMemoryEstimates solvingMemoryEstimates;
 110     sizeint solvingMemoryRequired = estimateCooperativelySolvingL1StraightMemoryRequirement<blockStep>(rowCount, solvingMemoryEstimates);
 111     const unsigned solvingAlignmentRequired = ALLOCATION_DEFAULT_ALIGNMENT;
 112
 113     unsigned featureRequirement = dxResourceRequirementDescriptor::STOCK_CALLWAIT_REQUIRED;
 114     summaryRequirementsDescriptor->mergeAnotherDescriptorIn(solvingMemoryRequired, solvingAlignmentRequired, simultaneousCallCount, featureRequirement);
 115 }
 116
 117 /*static */
 118 void ThreadedEquationSolverLDLT::doCooperativelySolveL1StraightValidated(
 119     dxRequiredResourceContainer *resourceContainer, unsigned allowedThreadCount,
 120     const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip)
 121 {
 122     dIASSERT(allowedThreadCount > 1);
 123
 124     const unsigned int blockStep = SL1S_BLOCK_SIZE; // Required by the implementation
 125     unsigned blockCount = deriveSolvingL1StraightBlockCount(rowCount, blockStep);
 126     dIASSERT(blockCount >= 1);
 127
 128     unsigned threadCountToUse = deriveSolvingL1StraightThreadCount(blockCount, allowedThreadCount);
 129     dIASSERT(threadCountToUse > 1);
 130
 131     dCallWaitID completionWait = resourceContainer->getStockCallWait();
 132     dAASSERT(completionWait != NULL);
 133
 134     atomicord32 blockCompletionProgress;
 135     cellindexint *blockProgressDescriptors;
 136     SolveL1StraightCellContext *cellContexts;
 137
 138     SolvingL1StraightMemoryEstimates solvingMemoryEstimates;
 139     sizeint solvingMemoryRequired = estimateCooperativelySolvingL1StraightMemoryRequirement<blockStep>(rowCount, solvingMemoryEstimates);
 140     dIASSERT(solvingMemoryRequired <= resourceContainer->getMemoryBufferSize());
 141
 142     void *bufferAllocated = resourceContainer->getMemoryBufferPointer();
 143     dIASSERT(bufferAllocated != NULL);
 144     dIASSERT(dALIGN_PTR(bufferAllocated, ALLOCATION_DEFAULT_ALIGNMENT) == bufferAllocated);
 145
 146     void *bufferCurrentLocation = bufferAllocated;
 147     bufferCurrentLocation = markCooperativelySolvingL1StraightMemoryStructuresOut(bufferCurrentLocation, solvingMemoryEstimates, blockProgressDescriptors, cellContexts);
 148     dIVERIFY(bufferCurrentLocation <= (uint8 *)bufferAllocated + solvingMemoryRequired);
 149
 150     initializeCooperativelySolveL1StraightMemoryStructures<blockStep>(rowCount, blockCompletionProgress, blockProgressDescriptors, cellContexts);
 151
 152     dCallReleaseeID calculationFinishReleasee;
 153     SolveL1StraightWorkerContext workerContext; // The variable must exist in the outer scope
 154
 155     workerContext.init(L, b, rowCount, rowSkip, blockCompletionProgress, blockProgressDescriptors, cellContexts);
 156
 157     dxThreadingBase *threading = resourceContainer->getThreadingInstance();
 158     threading->PostThreadedCall(NULL, &calculationFinishReleasee, threadCountToUse - 1, NULL, completionWait, &solveL1Straight_completion_callback, NULL, 0, "SolveL1Straight Completion");
 159     threading->PostThreadedCallsGroup(NULL, threadCountToUse - 1, calculationFinishReleasee, &solveL1Straight_worker_callback, &workerContext, "SolveL1Straight Work");
 160
 161     participateSolvingL1Straight<blockStep, SL1S_B_STRIDE>(L, b, rowCount, rowSkip, blockCompletionProgress, blockProgressDescriptors, cellContexts, threadCountToUse - 1);
 162
 163     threading->WaitThreadedCallExclusively(NULL, completionWait, NULL, "SolveL1Straight End Wait");
 164 }
 165
 166 /*static */
 167 int ThreadedEquationSolverLDLT::solveL1Straight_worker_callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID dUNUSED(callThisReleasee))
 168 {
 169     SolveL1StraightWorkerContext *ptrContext = (SolveL1StraightWorkerContext *)callContext;
 170
 171     solveL1Straight_worker(*ptrContext, dCAST_TO_SMALLER(unsigned, callInstanceIndex));
 172
 173     return 1;
 174 }
 175
 176 /*static */
 177 void ThreadedEquationSolverLDLT::solveL1Straight_worker(SolveL1StraightWorkerContext &ref_context, unsigned ownThreadIndex)
 178 {
 179     const unsigned blockStep = SL1S_BLOCK_SIZE;
 180
 181     participateSolvingL1Straight<blockStep, SL1S_B_STRIDE>(ref_context.m_L, ref_context.m_b, ref_context.m_rowCount, ref_context.m_rowSkip,
 182         *ref_context.m_ptrBlockCompletionProgress, ref_context.m_blockProgressDescriptors, ref_context.m_cellContexts, ownThreadIndex);
 183 }
 184
 185 /*static */
 186 int ThreadedEquationSolverLDLT::solveL1Straight_completion_callback(void *dUNUSED(callContext), dcallindex_t dUNUSED(callInstanceIndex), dCallReleaseeID dUNUSED(callThisReleasee))
 187 {
 188     return 1;
 189 }
 190
 191
 192
 193 //////////////////////////////////////////////////////////////////////////
 194 // Public interface functions
 195
 196 /*extern ODE_API */
 197 void dSolveL1(const dReal *L, dReal *B, int n, int lskip1)
 198 {
 199     dAASSERT(n != 0);
 200
 201     if (n != 0)
 202     {
 203         dAASSERT(L != NULL);
 204         dAASSERT(B != NULL);
 205
 206         solveL1Straight<1>(L, B, n, lskip1);
 207     }
 208 }
 209
 210
 211 /*extern ODE_API */
 212 void dEstimateCooperativelySolveL1StraightResourceRequirements(dResourceRequirementsID requirements,
 213     unsigned maximalAllowedThreadCount, unsigned maximalRowCount)
 214 {
 215     dAASSERT(requirements != NULL);
 216
 217     dxResourceRequirementDescriptor *requirementsDescriptor = (dxResourceRequirementDescriptor *)requirements;
 218     ThreadedEquationSolverLDLT::estimateCooperativeSolvingL1StraightResourceRequirements(requirementsDescriptor, maximalAllowedThreadCount, maximalRowCount);
 219 }
 220
 221 /*extern ODE_API */
 222 void dCooperativelySolveL1Straight(dResourceContainerID resources, unsigned allowedThreadCount,
 223     const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip)
 224 {
 225     dAASSERT(resources != NULL);
 226
 227     dxRequiredResourceContainer *resourceContainer = (dxRequiredResourceContainer *)resources;
 228     ThreadedEquationSolverLDLT::cooperativelySolveL1Straight(resourceContainer, allowedThreadCount, L, b, rowCount, rowSkip);
 229 }
 230