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Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes)

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Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData
This commit is contained in:
erwincoumans
2014-01-04 20:54:27 -08:00
parent 999c5ff766
commit 271f458837
52 changed files with 3368 additions and 727 deletions
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56
src/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
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@@ -455,7 +455,7 @@ void setConstraint4( const b3Vector3& posA, const b3Vector3& linVelA, const b3Ve
void ContactToConstraintKernel(b3Contact4* gContact, b3RigidBodyCL* gBodies, b3InertiaCL* gShapes, b3GpuConstraint4* gConstraintOut, int nContacts,
void ContactToConstraintKernel(b3Contact4* gContact, b3RigidBodyData* gBodies, b3InertiaData* gShapes, b3GpuConstraint4* gConstraintOut, int nContacts,
float dt,
float positionDrift,
float positionConstraintCoeff, int gIdx, b3AlignedObjectArray<unsigned int>& bodyCount
@@ -496,7 +496,7 @@ float positionConstraintCoeff, int gIdx, b3AlignedObjectArray<unsigned int>& bod
}
void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,const b3JacobiSolverInfo& solverInfo)
void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,const b3JacobiSolverInfo& solverInfo)
{
B3_PROFILE("b3GpuJacobiContactSolver::solveGroup");
@@ -579,8 +579,8 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL*
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
int aIdx = (int)contactConstraints[i].m_bodyA;
int bIdx = (int)contactConstraints[i].m_bodyB;
b3RigidBodyCL& bodyA = bodies[aIdx];
b3RigidBodyCL& bodyB = bodies[bIdx];
b3RigidBodyData& bodyA = bodies[aIdx];
b3RigidBodyData& bodyB = bodies[bIdx];
b3Vector3 zero = b3MakeVector3(0,0,0);
@@ -589,7 +589,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL*
b3Vector3* dlvBPtr=&zero;
b3Vector3* davBPtr=&zero;
if (bodyA.getInvMass())
if (bodyA.m_invMass)
{
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[i].x;
@@ -598,7 +598,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL*
davAPtr = &deltaAngularVelocities[splitIndexA];
}
if (bodyB.getInvMass())
if (bodyB.m_invMass)
{
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[i].y;
@@ -626,7 +626,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL*
//easy
for (int i=0;i<numBodies;i++)
{
if (bodies[i].getInvMass())
if (bodies[i].m_invMass)
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
@@ -667,8 +667,8 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL*
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
int aIdx = (int)contactConstraints[i].m_bodyA;
int bIdx = (int)contactConstraints[i].m_bodyB;
b3RigidBodyCL& bodyA = bodies[aIdx];
b3RigidBodyCL& bodyB = bodies[bIdx];
b3RigidBodyData& bodyA = bodies[aIdx];
b3RigidBodyData& bodyB = bodies[bIdx];
b3Vector3 zero = b3MakeVector3(0,0,0);
@@ -677,7 +677,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL*
b3Vector3* dlvBPtr=&zero;
b3Vector3* davBPtr=&zero;
if (bodyA.getInvMass())
if (bodyA.m_invMass)
{
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[i].x;
@@ -686,7 +686,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL*
davAPtr = &deltaAngularVelocities[splitIndexA];
}
if (bodyB.getInvMass())
if (bodyB.m_invMass)
{
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[i].y;
@@ -710,7 +710,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL*
//easy
for (int i=0;i<numBodies;i++)
{
if (bodies[i].getInvMass())
if (bodies[i].m_invMass)
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
@@ -740,7 +740,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL*
//easy
for (int i=0;i<numBodies;i++)
{
if (bodies[i].getInvMass())
if (bodies[i].m_invMass)
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
@@ -758,7 +758,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyCL* bodies,b3InertiaCL*
void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index)
//
//
//void b3GpuJacobiContactSolver::solveGroup(b3OpenCLArray<b3RigidBodyCL>* bodies,b3OpenCLArray<b3InertiaCL>* inertias,b3OpenCLArray<b3Contact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo)
//void b3GpuJacobiContactSolver::solveGroup(b3OpenCLArray<b3RigidBodyData>* bodies,b3OpenCLArray<b3InertiaData>* inertias,b3OpenCLArray<b3Contact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo)
{
b3JacobiSolverInfo solverInfo;
solverInfo.m_fixedBodyIndex = static0Index;
@@ -947,12 +947,12 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
#if 0
void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyCL>* bodiesGPU,b3OpenCLArray<b3InertiaCL>* inertiasGPU,b3OpenCLArray<b3Contact4>* manifoldPtrGPU,const btJacobiSolverInfo& solverInfo)
void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyData>* bodiesGPU,b3OpenCLArray<b3InertiaData>* inertiasGPU,b3OpenCLArray<b3Contact4>* manifoldPtrGPU,const btJacobiSolverInfo& solverInfo)
{
b3AlignedObjectArray<b3RigidBodyCL> bodiesCPU;
b3AlignedObjectArray<b3RigidBodyData> bodiesCPU;
bodiesGPU->copyToHost(bodiesCPU);
b3AlignedObjectArray<b3InertiaCL> inertiasCPU;
b3AlignedObjectArray<b3InertiaData> inertiasCPU;
inertiasGPU->copyToHost(inertiasCPU);
b3AlignedObjectArray<b3Contact4> manifoldPtrCPU;
manifoldPtrGPU->copyToHost(manifoldPtrCPU);
@@ -1141,8 +1141,8 @@ void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyCL>* bo
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
int aIdx = (int)contactConstraints[i].m_bodyA;
int bIdx = (int)contactConstraints[i].m_bodyB;
b3RigidBodyCL& bodyA = bodiesCPU[aIdx];
b3RigidBodyCL& bodyB = bodiesCPU[bIdx];
b3RigidBodyData& bodyA = bodiesCPU[aIdx];
b3RigidBodyData& bodyB = bodiesCPU[bIdx];
b3Vector3 zero(0,0,0);
@@ -1151,7 +1151,7 @@ void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyCL>* bo
b3Vector3* dlvBPtr=&zero;
b3Vector3* davBPtr=&zero;
if (bodyA.getInvMass())
if (bodyA.m_invMass)
{
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[i].x;
@@ -1160,7 +1160,7 @@ void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyCL>* bo
davAPtr = &deltaAngularVelocities[splitIndexA];
}
if (bodyB.getInvMass())
if (bodyB.m_invMass)
{
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[i].y;
@@ -1200,7 +1200,7 @@ void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyCL>* bo
//easy
for (int i=0;i<numBodiesCPU;i++)
{
if (bodiesCPU[i].getInvMass())
if (bodiesCPU[i].m_invMass)
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
@@ -1263,8 +1263,8 @@ void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyCL>* bo
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
int aIdx = (int)contactConstraints[i].m_bodyA;
int bIdx = (int)contactConstraints[i].m_bodyB;
b3RigidBodyCL& bodyA = bodiesCPU[aIdx];
b3RigidBodyCL& bodyB = bodiesCPU[bIdx];
b3RigidBodyData& bodyA = bodiesCPU[aIdx];
b3RigidBodyData& bodyB = bodiesCPU[bIdx];
b3Vector3 zero(0,0,0);
@@ -1273,7 +1273,7 @@ void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyCL>* bo
b3Vector3* dlvBPtr=&zero;
b3Vector3* davBPtr=&zero;
if (bodyA.getInvMass())
if (bodyA.m_invMass)
{
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[i].x;
@@ -1282,7 +1282,7 @@ void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyCL>* bo
davAPtr = &deltaAngularVelocities[splitIndexA];
}
if (bodyB.getInvMass())
if (bodyB.m_invMass)
{
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[i].y;
@@ -1319,7 +1319,7 @@ void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyCL>* bo
//easy
for (int i=0;i<numBodiesCPU;i++)
{
if (bodiesCPU[i].getInvMass())
if (bodiesCPU[i].m_invMass)
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
@@ -1362,7 +1362,7 @@ void b3GpuJacobiContactSolver::solveGroupMixed(b3OpenCLArray<b3RigidBodyCL>* bo
//easy
for (int i=0;i<numBodiesCPU;i++)
{
if (bodiesCPU[i].getInvMass())
if (bodiesCPU[i].m_invMass)
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];