Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

50
src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
View File

@@ -24,7 +24,7 @@ bool gpuBreakConstraints = true;
#include "b3GpuPgsConstraintSolver.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
#include <new>
@@ -72,8 +72,8 @@ struct b3GpuPgsJacobiSolverInternalData
b3AlignedObjectArray<unsigned int> m_cpuConstraintInfo1;
b3AlignedObjectArray<unsigned int> m_cpuConstraintRowOffsets;
b3AlignedObjectArray<b3RigidBodyCL> m_cpuBodies;
b3AlignedObjectArray<b3InertiaCL> m_cpuInertias;
b3AlignedObjectArray<b3RigidBodyData> m_cpuBodies;
b3AlignedObjectArray<b3InertiaData> m_cpuInertias;
b3AlignedObjectArray<b3GpuGenericConstraint> m_cpuConstraints;
@@ -85,7 +85,7 @@ struct b3GpuPgsJacobiSolverInternalData
static b3Transform getWorldTransform(b3RigidBodyCL* rb)
static b3Transform getWorldTransform(b3RigidBodyData* rb)
{
b3Transform newTrans;
newTrans.setOrigin(rb->m_pos);
@@ -93,24 +93,24 @@ static b3Transform getWorldTransform(b3RigidBodyCL* rb)
return newTrans;
}
static const b3Matrix3x3& getInvInertiaTensorWorld(b3InertiaCL* inertia)
static const b3Matrix3x3& getInvInertiaTensorWorld(b3InertiaData* inertia)
{
return inertia->m_invInertiaWorld;
}
static const b3Vector3& getLinearVelocity(b3RigidBodyCL* rb)
static const b3Vector3& getLinearVelocity(b3RigidBodyData* rb)
{
return rb->m_linVel;
}
static const b3Vector3& getAngularVelocity(b3RigidBodyCL* rb)
static const b3Vector3& getAngularVelocity(b3RigidBodyData* rb)
{
return rb->m_angVel;
}
b3Vector3 getVelocityInLocalPoint(b3RigidBodyCL* rb, const b3Vector3& rel_pos)
b3Vector3 getVelocityInLocalPoint(b3RigidBodyData* rb, const b3Vector3& rel_pos)
{
//we also calculate lin/ang velocity for kinematic objects
return getLinearVelocity(rb) + getAngularVelocity(rb).cross(rel_pos);
@@ -204,7 +204,7 @@ void b3GpuPgsConstraintSolver::recomputeBatches()
b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyCL>* gpuBodies, b3OpenCLArray<b3InertiaCL>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
{
B3_PROFILE("GPU solveGroupCacheFriendlySetup");
batchConstraints.resize(numConstraints);
@@ -216,7 +216,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
/* m_gpuData->m_gpuBodies->resize(numBodies);
m_gpuData->m_gpuBodies->copyFromHostPointer(bodies,numBodies);
b3OpenCLArray<b3InertiaCL> gpuInertias(m_gpuData->m_context,m_gpuData->m_queue);
b3OpenCLArray<b3InertiaData> gpuInertias(m_gpuData->m_context,m_gpuData->m_queue);
gpuInertias.resize(numBodies);
gpuInertias.copyFromHostPointer(inertias,numBodies);
*/
@@ -245,7 +245,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
for (int i=0;i<numBodies;i++)
{
b3RigidBodyCL& body = m_gpuData->m_cpuBodies[i];
b3RigidBodyData& body = m_gpuData->m_cpuBodies[i];
b3GpuSolverBody& solverBody = m_tmpSolverBodyPool[i];
initSolverBody(i,&solverBody,&body);
solverBody.m_originalBodyIndex = i;
@@ -394,10 +394,10 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
b3GpuSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[constraintRowOffset];
b3GpuGenericConstraint& constraint = m_gpuData->m_cpuConstraints[i];
b3RigidBodyCL& rbA = m_gpuData->m_cpuBodies[ constraint.getRigidBodyA()];
b3RigidBodyData& rbA = m_gpuData->m_cpuBodies[ constraint.getRigidBodyA()];
//b3RigidBody& rbA = constraint.getRigidBodyA();
// b3RigidBody& rbB = constraint.getRigidBodyB();
b3RigidBodyCL& rbB = m_gpuData->m_cpuBodies[ constraint.getRigidBodyB()];
b3RigidBodyData& rbB = m_gpuData->m_cpuBodies[ constraint.getRigidBodyB()];
@@ -407,7 +407,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
b3GpuSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
b3GpuSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
if (rbA.getInvMass())
if (rbA.m_invMass)
{
batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;
} else
@@ -417,7 +417,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;
}
if (rbB.getInvMass())
if (rbB.m_invMass)
{
batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;
} else
@@ -531,9 +531,9 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3
{
//it is ok to use solverConstraint.m_contactNormal instead of -solverConstraint.m_contactNormal
//because it gets multiplied iMJlB
b3Vector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass();
b3Vector3 iMJlA = solverConstraint.m_contactNormal*rbA.m_invMass;
b3Vector3 iMJaA = invInertiaWorldA*solverConstraint.m_relpos1CrossNormal;
b3Vector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal?
b3Vector3 iMJlB = solverConstraint.m_contactNormal*rbB.m_invMass;//sign of normal?
b3Vector3 iMJaB = invInertiaWorldB*solverConstraint.m_relpos2CrossNormal;
b3Scalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
@@ -655,7 +655,7 @@ void resolveSingleConstraintRowGeneric2( b3GpuSolverBody* body1, b3GpuSolverBod
void b3GpuPgsConstraintSolver::initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyCL* rb)
void b3GpuPgsConstraintSolver::initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb)
{
solverBody->m_deltaLinearVelocity.setValue(0.f,0.f,0.f);
@@ -665,7 +665,7 @@ void b3GpuPgsConstraintSolver::initSolverBody(int bodyIndex, b3GpuSolverBody* so
b3Assert(rb);
// solverBody->m_worldTransform = getWorldTransform(rb);
solverBody->internalSetInvMass(b3MakeVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass()));
solverBody->internalSetInvMass(b3MakeVector3(rb->m_invMass,rb->m_invMass,rb->m_invMass));
solverBody->m_originalBodyIndex = bodyIndex;
solverBody->m_angularFactor = b3MakeVector3(1,1,1);
solverBody->m_linearFactor = b3MakeVector3(1,1,1);
@@ -991,7 +991,7 @@ inline int b3GpuPgsConstraintSolver::sortConstraintByBatch3( b3BatchConstraint*
/// b3PgsJacobiSolver Sequentially applies impulses
b3Scalar b3GpuPgsConstraintSolver::solveGroup(b3OpenCLArray<b3RigidBodyCL>* gpuBodies, b3OpenCLArray<b3InertiaCL>* gpuInertias,
b3Scalar b3GpuPgsConstraintSolver::solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias,
int numBodies, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints, const b3ContactSolverInfo& infoGlobal)
{
@@ -1007,7 +1007,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroup(b3OpenCLArray<b3RigidBodyCL>* gpuB
return 0.f;
}
void b3GpuPgsConstraintSolver::solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyCL>* gpuBodies, b3OpenCLArray<b3InertiaCL>* gpuInertias,
void b3GpuPgsConstraintSolver::solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias,
int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints)
{
b3ContactSolverInfo infoGlobal;
@@ -1026,10 +1026,10 @@ void b3GpuPgsConstraintSolver::solveJoints(int numBodies, b3OpenCLArray<b3RigidB
}
//b3AlignedObjectArray<b3RigidBodyCL> testBodies;
//b3AlignedObjectArray<b3RigidBodyData> testBodies;
b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyCL>* gpuBodies,b3OpenCLArray<b3InertiaCL>* gpuInertias,int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias,int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
{
B3_PROFILE("solveGroupCacheFriendlyFinish");
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
@@ -1113,8 +1113,8 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b
//printf("bodyIndex=%d\n",bodyIndex);
b3Assert(i==bodyIndex);
b3RigidBodyCL* body = &m_gpuData->m_cpuBodies[bodyIndex];
if (body->getInvMass())
b3RigidBodyData* body = &m_gpuData->m_cpuBodies[bodyIndex];
if (body->m_invMass)
{
if (infoGlobal.m_splitImpulse)
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);