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Eigen assumes that structures are aligned to 16 bytes, which is a requirement typically satisfied by a x64 compiler but not by a x86 compiler. This commit adds custom operators new/delete to various classes working with Eigen structures to guarantee the memory alignment.
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7 files changed

+95
-6
lines changed

7 files changed

+95
-6
lines changed

‎Common/Common.h‎

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Original file line numberDiff line numberDiff line change
@@ -29,6 +29,47 @@ namespace PBD
2929
using AlignedBox3r = Eigen::AlignedBox<Real, 3>;
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using AngleAxisr = Eigen::AngleAxis<Real>;
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using Quaternionr = Eigen::Quaternion<Real>;
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33+
//allocators to be used in STL collections containing Eigen structures
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using Alloc_Vector2r = Eigen::aligned_allocator<Vector2r>;
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using Alloc_Vector3r = Eigen::aligned_allocator<Vector2r>;
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using Alloc_Vector4r = Eigen::aligned_allocator<Vector4r>;
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using Alloc_Matrix2r = Eigen::aligned_allocator<Matrix2r>;
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using Alloc_Matrix3r = Eigen::aligned_allocator<Matrix3r>;
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using Alloc_Matrix4r = Eigen::aligned_allocator<Matrix4r>;
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using Alloc_AlignedBox2r = Eigen::aligned_allocator<AlignedBox2r>;
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using Alloc_AlignedBox3r = Eigen::aligned_allocator<AlignedBox3r>;
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using Alloc_AngleAxisr = Eigen::aligned_allocator<AngleAxisr>;
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using Alloc_Quaternionr = Eigen::aligned_allocator<Quaternionr>;
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#if EIGEN_ALIGN
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#define PDB_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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#if defined(WIN32) || defined(_WIN32) || defined(WIN64)
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#ifdef _DEBUG
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// Enable memory leak detection for Eigen new
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#undef PDB_MAKE_ALIGNED_OPERATOR_NEW
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#define PDB_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
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void *operator new(size_t size, int const block_use, char const* file_name, int const line_number) { \
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\
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return _aligned_malloc_dbg(size, 16, file_name, line_number); \
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} \
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void *operator new[](size_t size, int const block_use, char const* file_name, int const line_number) { \
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return operator new(size, block_use, file_name, line_number); \
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}\
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void operator delete(void* block, int const block_use, char const* file_name, int const line_number) noexcept { \
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\
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return _aligned_free_dbg(block); \
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} \
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void operator delete[](void* block, int const block_use, char const* file_name, int const line_number) noexcept { \
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return operator delete(block, block_use, file_name, line_number); \
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}
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#endif
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#endif
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#else
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#define PDB_MAKE_ALIGNED_OPERATOR_NEW
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#endif
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}
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#endif

‎Demos/Simulation/CollisionDetection.h‎

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@@ -33,6 +33,9 @@ namespace PBD
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3434
virtual ~CollisionObject() {}
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virtual int &getTypeId() const = 0;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct CollisionObjectWithoutGeometry : public CollisionObject

‎Demos/Simulation/Constraints.h‎

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Original file line numberDiff line numberDiff line change
@@ -27,6 +27,9 @@ namespace PBD
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virtual bool updateConstraint(SimulationModel &model) { return true; };
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virtual bool solvePositionConstraint(SimulationModel &model) { return true; };
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virtual bool solveVelocityConstraint(SimulationModel &model) { return true; };
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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3235
class BallJoint : public Constraint

‎Demos/Simulation/RigidBody.h‎

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@@ -539,6 +539,9 @@ namespace PBD
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{
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return m_geometry;
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}
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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‎Demos/Utils/IndexedFaceMesh.h‎

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@@ -95,14 +95,14 @@ namespace PBD
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public:
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typedef std::vector<unsigned int> Faces;
98-
typedef std::vector<Vector3r> FaceNormals;
99-
typedef std::vector<Vector3r> VertexNormals;
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typedef std::vector<Vector3r, Alloc_Vector3r> FaceNormals;
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typedef std::vector<Vector3r, Alloc_Vector3r> VertexNormals;
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typedef std::vector<Face> FaceData;
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typedef std::vector<Edge> Edges;
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typedef std::vector<VertexFaces> VerticesFaces;
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typedef std::vector<VertexEdges> VerticesEdges;
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typedef std::vector<unsigned int> UVIndices;
105-
typedef std::vector<Vector2r> UVs;
105+
typedef std::vector<Vector2r, Alloc_Vector2r> UVs;
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protected:
108108
unsigned int m_numPoints;

‎Demos/Utils/OBJLoader.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -31,9 +31,9 @@ void OBJLoader::loadObj(const std::string &filename, VertexData &vertexData, Ind
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{
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std::cout << "Loading " << filename << std::endl;
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34-
vector<Vector3r> positions;
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vector<Vector2r> texcoords;
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vector<Vector3r> normals;
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vector<Vector3r, Alloc_Vector3r> positions;
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vector<Vector2r, Alloc_Vector2r> texcoords;
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vector<Vector3r, Alloc_Vector3r> normals;
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vector<MeshFaceIndices> faces;
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ifstream filestream;

‎Demos/Utils/SceneLoader.h‎

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Original file line numberDiff line numberDiff line change
@@ -34,6 +34,9 @@ namespace PBD
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bool m_testMesh;
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Vector3r m_collisionObjectScale;
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boost::property_tree::ptree *pt;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct TriangleModelData
@@ -47,6 +50,9 @@ namespace PBD
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Real m_restitutionCoeff;
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Real m_frictionCoeff;
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boost::property_tree::ptree *pt;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct TetModelData
@@ -63,40 +69,58 @@ namespace PBD
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Real m_restitutionCoeff;
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Real m_frictionCoeff;
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boost::property_tree::ptree *pt;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct BallJointData
6978
{
7079
unsigned int m_bodyID[2];
7180
Vector3r m_position;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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7486
struct BallOnLineJointData
7587
{
7688
unsigned int m_bodyID[2];
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Vector3r m_position;
7890
Vector3r m_axis;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct HingeJointData
8297
{
8398
unsigned int m_bodyID[2];
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Vector3r m_position;
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Vector3r m_axis;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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88106
struct UniversalJointData
89107
{
90108
unsigned int m_bodyID[2];
91109
Vector3r m_position;
92110
Vector3r m_axis[2];
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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95116
struct SliderJointData
96117
{
97118
unsigned int m_bodyID[2];
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Vector3r m_position;
99120
Vector3r m_axis;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct RigidBodyParticleBallJointData
@@ -110,6 +134,9 @@ namespace PBD
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Vector3r m_position;
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Vector3r m_axis;
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Real m_target;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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PDB_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct TargetVelocityMotorHingeJointData
@@ -118,6 +145,9 @@ namespace PBD
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Vector3r m_position;
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Vector3r m_axis;
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Real m_target;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct TargetPositionMotorSliderJointData
@@ -126,6 +156,9 @@ namespace PBD
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Vector3r m_position;
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Vector3r m_axis;
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Real m_target;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct TargetVelocityMotorSliderJointData
@@ -134,6 +167,9 @@ namespace PBD
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Vector3r m_position;
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Vector3r m_axis;
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Real m_target;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct SceneData
@@ -187,6 +223,9 @@ namespace PBD
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ObjectArray<TargetVelocityMotorHingeJointData> m_targetVelocityMotorHingeJointData;
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ObjectArray<TargetPositionMotorSliderJointData> m_targetPositionMotorSliderJointData;
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ObjectArray<TargetVelocityMotorSliderJointData> m_targetVelocityMotorSliderJointData;
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public: //BES: 23.8.2016 - make sure the class is aligned to 16 bytes even for x86 build
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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void readScene(const std::string &fileName, SceneData &sceneData);

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