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work-in-progress jacobi gpu (still broken :(

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erwin coumans
2013-03-27 19:09:23 -07:00
parent b8c32a99cb
commit 2133712207
8 changed files with 660 additions and 52 deletions
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76
opencl/gpu_rigidbody/kernels/solverUtils.h
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@@ -373,9 +373,8 @@ static const char* solverUtilsCL= \
"\n"
" u32 m_bodyA;\n"
" u32 m_bodyB;\n"
"\n"
" int m_batchIdx;\n"
" u32 m_paddings[1];\n"
" u32 m_paddings;\n"
"} Constraint4;\n"
"\n"
"typedef struct\n"
@@ -426,6 +425,37 @@ static const char* solverUtilsCL= \
"}\n"
"\n"
"\n"
"__kernel void AverageVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n"
"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n"
"{\n"
" int i = GET_GLOBAL_IDX;\n"
" if (i<numBodies)\n"
" {\n"
" if (gBodies[i].m_invMass)\n"
" {\n"
" int bodyOffset = offsetSplitBodies[i];\n"
" int count = bodyCount[i];\n"
" float factor = 1.f/((float)count);\n"
" float4 averageLinVel = make_float4(0.f);\n"
" float4 averageAngVel = make_float4(0.f);\n"
" \n"
" for (int j=0;j<count;j++)\n"
" {\n"
" averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;\n"
" averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;\n"
" }\n"
" \n"
" for (int j=0;j<count;j++)\n"
" {\n"
" deltaLinearVelocities[bodyOffset+j] = averageLinVel;\n"
" deltaAngularVelocities[bodyOffset+j] = averageAngVel;\n"
" }\n"
" \n"
" }//bodies[i].m_invMass\n"
" }//i<numBodies\n"
"}\n"
"\n"
"\n"
"\n"
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
"{\n"
@@ -442,14 +472,14 @@ static const char* solverUtilsCL= \
"\n"
"\n"
"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1, float countA, float countB)\n"
"{\n"
" // linear0,1 are normlized\n"
" float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
" float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
" float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
" float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
" return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
" return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);\n"
"}\n"
"\n"
"\n"
@@ -504,7 +534,7 @@ static const char* solverUtilsCL= \
" setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
"\n"
" float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
" *linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];\n"
" *linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];\n"
" rambdaDt *= cs->m_jacCoeffInv[ic];\n"
"\n"
" {\n"
@@ -522,16 +552,25 @@ static const char* solverUtilsCL= \
" float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
" float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
"\n"
" *linVelA += linImp0;\n"
" *angVelA += angImp0;\n"
" *linVelB += linImp1;\n"
" *angVelB += angImp1;\n"
" if (invMassA)\n"
" {\n"
" *dLinVelA += linImp0;\n"
" *dAngVelA += angImp0;\n"
" }\n"
" if (invMassB)\n"
" {\n"
" *dLinVelB += linImp1;\n"
" *dAngVelB += angImp1;\n"
" }\n"
" }\n"
"}\n"
"\n"
"\n"
"// solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
"\n"
"\n"
"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs, \n"
"__global int2* contactConstraintOffsets,__global int* offsetSplitBodies,\n"
"__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
"{\n"
"\n"
@@ -587,7 +626,7 @@ static const char* solverUtilsCL= \
" deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
" deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
" } \n"
" if (gBodies[bIdx].m_invMass)\n"
" if (invMassB)\n"
" {\n"
" deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
" deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
@@ -597,7 +636,7 @@ static const char* solverUtilsCL= \
"\n"
"\n"
"__kernel void SolveContactJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
"__global int2* contactConstraintOffsets,__global int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
"__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
"float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
")\n"
"{\n"
@@ -617,7 +656,7 @@ static const char* solverUtilsCL= \
"\n"
"void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,\n"
" const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB, \n"
" __global Contact4* src, float dt, float positionDrift, float positionConstraintCoeff,\n"
" __global Contact4* src, float dt, float positionDrift, float positionConstraintCoeff,float countA, float countB,\n"
" Constraint4* dstC )\n"
"{\n"
" dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);\n"
@@ -650,7 +689,7 @@ static const char* solverUtilsCL= \
" setLinearAndAngular(src->m_worldNormal, r0, r1, &linear, &angular0, &angular1);\n"
"\n"
" dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
" invMassA, &invInertiaA, invMassB, &invInertiaB );\n"
" invMassA, &invInertiaA, invMassB, &invInertiaB , countA, countB);\n"
"\n"
" relVelN = calcRelVel(linear, -linear, angular0, angular1,\n"
" linVelA, angVelA, linVelB, angVelB);\n"
@@ -685,7 +724,7 @@ static const char* solverUtilsCL= \
" setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);\n"
"\n"
" dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
" invMassA, &invInertiaA, invMassB, &invInertiaB );\n"
" invMassA, &invInertiaA, invMassB, &invInertiaB ,countA, countB);\n"
" dstC->m_fAppliedRambdaDt[i] = 0.f;\n"
" }\n"
" dstC->m_center = center;\n"
@@ -736,9 +775,12 @@ static const char* solverUtilsCL= \
"\n"
" Constraint4 cs;\n"
"\n"
" float countA = invMassA ? (float)bodyCount[aIdx] : 1;\n"
" float countB = invMassB ? (float)bodyCount[bIdx] : 1;\n"
"\n"
" setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n"
" &gContact[gIdx], dt, positionDrift, positionConstraintCoeff,\n"
" &cs );\n"
" &gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,\n"
" &cs );\n"
" \n"
" cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n"
"\n"