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fix Linux version of ConstraintDemo

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This commit is contained in:
erwincoumans
2013-07-09 14:41:56 -07:00
parent 4a0d2847c4
commit 282e19171f
6 changed files with 43 additions and 37 deletions
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6
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
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@@ -53,13 +53,13 @@ void GpuConstraintsDemo::setupScene(const ConstructionInfo& ci)
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu(); m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
// m_data->m_rigidBodyPipeline->setGravity(b3Vector3(4,-10,0)); // m_data->m_rigidBodyPipeline->setGravity(b3Vector3(4,-10,0));
float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0}; float camPos[4]={ci.arraySizeX,ci.gapY*ci.arraySizeY/2,ci.arraySizeZ,0};
//float camPos[4]={1,12.5,1.5,0}; //float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos); m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(30); m_instancingRenderer->setCameraDistance(180);
m_instancingRenderer->setCameraPitch(200);//90);
m_instancingRenderer->updateCamera(); m_instancingRenderer->updateCamera();
char msg[1024]; char msg[1024];

20
build3/stringify_linux.sh
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@@ -14,15 +14,17 @@
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h" --stringname="bvhTraversalKernelCL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h" --stringname="bvhTraversalKernelCL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody//kernels/integrateKernel.cl" --headerfile="../src/Bullet3OpenCL/RigidBody//kernels/integrateKernel.h" --stringname="integrateKernelCL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h" --stringname="integrateKernelCL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody//kernels/updateAabbsKernel.cl" --headerfile="../src/Bullet3OpenCL/RigidBody//kernels/updateAabbsKernel.h" --stringname="updateAabbsKernelCL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h" --stringname="updateAabbsKernelCL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody//kernels/solverSetup.cl" --headerfile="../src/Bullet3OpenCL/RigidBody//kernels/solverSetup.h" --stringname="solverSetupCL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup.h" --stringname="solverSetupCL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody//kernels/solverSetup2.cl" --headerfile="../src/Bullet3OpenCL/RigidBody//kernels/solverSetup2.h" --stringname="solverSetup2CL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h" --stringname="solverSetup2CL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody//kernels/batchingKernels.cl" --headerfile="../src/Bullet3OpenCL/RigidBody//kernels/batchingKernels.h" --stringname="batchingKernelsCL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h" --stringname="batchingKernelsCL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody//kernels/batchingKernelsNew.cl" --headerfile="../src/Bullet3OpenCL/RigidBody//kernels/batchingKernelsNew.h" --stringname="batchingKernelsNewCL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h" --stringname="batchingKernelsNewCL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody//kernels/solverUtils.cl" --headerfile="../src/Bullet3OpenCL/RigidBody//kernels/solverUtils.h" --stringname="solverUtilsCL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h" --stringname="solverUtilsCL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody//kernels/solveContact.cl" --headerfile="../src/Bullet3OpenCL/RigidBody//kernels/solveContact.h" --stringname="solveContactCL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solveContact.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solveContact.h" --stringname="solveContactCL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody//kernels/solveFriction.cl" --headerfile="../src/Bullet3OpenCL/RigidBody//kernels/solveFriction.h" --stringname="solveFrictionCL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solveFriction.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solveFriction.h" --stringname="solveFrictionCL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/jointSolver.h" --stringname="solveConstraintRowsCL" stringify
./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl" --headerfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h" --stringname="rayCastKernelCL" stringify ./premake4_linux --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl" --headerfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h" --stringname="rayCastKernelCL" stringify

7
src/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
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@@ -40,9 +40,10 @@ B3_ATTRIBUTE_ALIGNED16 (struct) b3SolverConstraint
b3Vector3 m_angularComponentA; b3Vector3 m_angularComponentA;
b3Vector3 m_angularComponentB; b3Vector3 m_angularComponentB;
mutable b3SimdScalar m_appliedPushImpulse; mutable b3Scalar m_appliedPushImpulse;
mutable b3SimdScalar m_appliedImpulse; mutable b3Scalar m_appliedImpulse;
int m_padding1;
int m_padding2;
b3Scalar m_friction; b3Scalar m_friction;
b3Scalar m_jacDiagABInv; b3Scalar m_jacDiagABInv;
b3Scalar m_rhs; b3Scalar m_rhs;

21
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl
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@@ -133,9 +133,10 @@ typedef struct
float4 m_angularComponentA; float4 m_angularComponentA;
float4 m_angularComponentB; float4 m_angularComponentB;
float4 m_appliedPushImpulse; float m_appliedPushImpulse;
float4 m_appliedImpulse; float m_appliedImpulse;
int m_padding1;
int m_padding2;
float m_friction; float m_friction;
float m_jacDiagABInv; float m_jacDiagABInv;
float m_rhs; float m_rhs;
@@ -272,27 +273,27 @@ __inline void internalApplyImpulse(__global b3GpuSolverBody* body, float4 linea
void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c) void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)
{ {
float deltaImpulse = c->m_rhs-c->m_appliedImpulse.x*c->m_cfm; float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;
float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity); float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);
float deltaVel2Dotn = -dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity); float deltaVel2Dotn = -dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);
deltaImpulse -= deltaVel1Dotn*c->m_jacDiagABInv; deltaImpulse -= deltaVel1Dotn*c->m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c->m_jacDiagABInv; deltaImpulse -= deltaVel2Dotn*c->m_jacDiagABInv;
float sum = c->m_appliedImpulse.x + deltaImpulse; float sum = c->m_appliedImpulse + deltaImpulse;
if (sum < c->m_lowerLimit) if (sum < c->m_lowerLimit)
{ {
deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse.x; deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;
c->m_appliedImpulse.x = c->m_lowerLimit; c->m_appliedImpulse = c->m_lowerLimit;
} }
else if (sum > c->m_upperLimit) else if (sum > c->m_upperLimit)
{ {
deltaImpulse = c->m_upperLimit-c->m_appliedImpulse.x; deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;
c->m_appliedImpulse.x = c->m_upperLimit; c->m_appliedImpulse = c->m_upperLimit;
} }
else else
{ {
c->m_appliedImpulse.x = sum; c->m_appliedImpulse = sum;
} }
internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse); internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);

22
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
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@@ -135,9 +135,10 @@ static const char* solveConstraintRowsCL= \
" float4 m_angularComponentA;\n" " float4 m_angularComponentA;\n"
" float4 m_angularComponentB;\n" " float4 m_angularComponentB;\n"
" \n" " \n"
" float4 m_appliedPushImpulse;\n" " float m_appliedPushImpulse;\n"
" float4 m_appliedImpulse;\n" " float m_appliedImpulse;\n"
"\n" " int m_padding1;\n"
" int m_padding2;\n"
" float m_friction;\n" " float m_friction;\n"
" float m_jacDiagABInv;\n" " float m_jacDiagABInv;\n"
" float m_rhs;\n" " float m_rhs;\n"
@@ -274,27 +275,27 @@ static const char* solveConstraintRowsCL= \
"\n" "\n"
"void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)\n" "void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)\n"
"{\n" "{\n"
" float deltaImpulse = c->m_rhs-c->m_appliedImpulse.x*c->m_cfm;\n" " float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;\n"
" float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n" " float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n"
" float deltaVel2Dotn = -dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);\n" " float deltaVel2Dotn = -dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);\n"
"\n" "\n"
" deltaImpulse -= deltaVel1Dotn*c->m_jacDiagABInv;\n" " deltaImpulse -= deltaVel1Dotn*c->m_jacDiagABInv;\n"
" deltaImpulse -= deltaVel2Dotn*c->m_jacDiagABInv;\n" " deltaImpulse -= deltaVel2Dotn*c->m_jacDiagABInv;\n"
"\n" "\n"
" float sum = c->m_appliedImpulse.x + deltaImpulse;\n" " float sum = c->m_appliedImpulse + deltaImpulse;\n"
" if (sum < c->m_lowerLimit)\n" " if (sum < c->m_lowerLimit)\n"
" {\n" " {\n"
" deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse.x;\n" " deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;\n"
" c->m_appliedImpulse.x = c->m_lowerLimit;\n" " c->m_appliedImpulse = c->m_lowerLimit;\n"
" }\n" " }\n"
" else if (sum > c->m_upperLimit) \n" " else if (sum > c->m_upperLimit) \n"
" {\n" " {\n"
" deltaImpulse = c->m_upperLimit-c->m_appliedImpulse.x;\n" " deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;\n"
" c->m_appliedImpulse.x = c->m_upperLimit;\n" " c->m_appliedImpulse = c->m_upperLimit;\n"
" }\n" " }\n"
" else\n" " else\n"
" {\n" " {\n"
" c->m_appliedImpulse.x = sum;\n" " c->m_appliedImpulse = sum;\n"
" }\n" " }\n"
"\n" "\n"
" internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n" " internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n"
@@ -733,4 +734,5 @@ static const char* solveConstraintRowsCL= \
" }\n" " }\n"
" }\n" " }\n"
"}\n" "}\n"
"\n"
; ;

2
src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
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@@ -1,7 +1,7 @@
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
static const char* solverUtilsCL= \ static const char* solverUtilsCL= \
"/*\n" "/*\n"
"Copyright (c) 2012 Advanced Micro Devices, Inc. \n" "Copyright (c) 2013 Advanced Micro Devices, Inc. \n"
"\n" "\n"
"This software is provided 'as-is', without any express or implied warranty.\n" "This software is provided 'as-is', without any express or implied warranty.\n"
"In no event will the authors be held liable for any damages arising from the use of this software.\n" "In no event will the authors be held liable for any damages arising from the use of this software.\n"