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prepare for GPU fixed constraint (not done yet)

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This commit is contained in:
erwincoumans
2013-07-16 19:05:07 -07:00
parent 20f9e41ff0
commit 3beae80a73
6 changed files with 175 additions and 12 deletions
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22
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
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@@ -53,7 +53,7 @@ void GpuConstraintsDemo::setupScene(const ConstructionInfo& ci)
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
// m_data->m_rigidBodyPipeline->setGravity(b3Vector3(4,-10,0));
float camPos[4]={ci.arraySizeX,ci.gapY*ci.arraySizeY/2,ci.arraySizeZ,0};
float camPos[4]={ci.arraySizeX,ci.gapY,ci.arraySizeZ,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
@@ -197,16 +197,22 @@ int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const
}
case 1:
{
/*
b3Vector3 pivotInA(-1.05,0,0);
b3Vector3 pivotInB (1.05,0,0);
b3Transform frameInA,frameInB;
frameInA.setIdentity();
frameInB.setIdentity();
frameInA.setOrigin(b3Vector3(0,-1.1,0));
frameInB.setOrigin(b3Vector3(0,1.1,0));
c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
frameInA.setOrigin(pivotInA);
frameInB.setOrigin(pivotInB);
b3Quaternion relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
//c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
//c->setBreakingImpulseThreshold(37.1);
*/
int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(pid,prevBody,pivotInA,pivotInB,relTargetAB);
break;
}
@@ -277,4 +283,4 @@ void GpuConstraintsDemo::createStaticEnvironment(const ConstructionInfo& ci)
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
}
}

3
src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h
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@@ -26,6 +26,7 @@ enum B3_CONSTRAINT_FLAGS
enum b3GpuGenericConstraintType
{
B3_GPU_POINT2POINT_CONSTRAINT_TYPE=3,
B3_GPU_FIXED_CONSTRAINT_TYPE=4,
// B3_HINGE_CONSTRAINT_TYPE,
// B3_CONETWIST_CONSTRAINT_TYPE,
// B3_D6_CONSTRAINT_TYPE,
@@ -33,7 +34,7 @@ enum b3GpuGenericConstraintType
// B3_CONTACT_CONSTRAINT_TYPE,
// B3_D6_SPRING_CONSTRAINT_TYPE,
// B3_GEAR_CONSTRAINT_TYPE,
// B3_FIXED_CONSTRAINT_TYPE,
B3_GPU_MAX_CONSTRAINT_TYPE
};

16
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -186,10 +186,22 @@ int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, co
m_data->m_cpuConstraints.push_back(c);
return c.m_uid;
}
int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* frameOrnA, const float* frameOrnB)
int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB)
{
m_data->m_gpuSolver->recomputeBatches();
return 0;
b3GpuGenericConstraint c;
c.m_uid = m_data->m_constraintUid;
m_data->m_constraintUid++;
c.m_flags = B3_CONSTRAINT_FLAG_ENABLED;
c.m_rbA = bodyA;
c.m_rbB = bodyB;
c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]);
c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]);
c.m_relTargetAB.setValue(relTargetAB[0],relTargetAB[1],relTargetAB[2],relTargetAB[3]);
c.m_breakingImpulseThreshold = 1e30f;
c.m_constraintType = B3_GPU_FIXED_CONSTRAINT_TYPE;
m_data->m_cpuConstraints.push_back(c);
return c.m_uid;
}

2
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h
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@@ -56,7 +56,7 @@ public:
void reset();
int createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB);
int createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* frameOrnA, const float* frameOrnB);
int createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB);
void removeConstraintByUid(int uid);
void addConstraint(class b3TypedConstraint* constraint);

72
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl
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@@ -15,6 +15,9 @@ subject to the following restrictions:
#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3
#define B3_GPU_FIXED_CONSTRAINT_TYPE 4
#define B3_INFINITY 1e30f
#define mymake_float4 (float4)
@@ -359,6 +362,12 @@ __kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGeneric
batchConstraints[i].m_numConstraintRows = 3;
break;
}
case B3_GPU_FIXED_CONSTRAINT_TYPE:
{
infos[i] = 6;
batchConstraints[i].m_numConstraintRows = 6;
break;
}
default:
{
}
@@ -500,6 +509,60 @@ void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstr
}
}
/*
@todo: convert this code to OpenCL
void calculateDiffAxisAngleQuaternion(const b3Quaternion& orn0,const b3Quaternion& orn1a,b3Vector3& axis,b3Scalar& angle)
{
Quaternion orn1 = orn0.nearest(orn1a);
Quaternion dorn = orn1 * orn0.inverse();
angle = dorn.getAngle();
axis = b3Vector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis[3] = b3Scalar(0.);
//check for axis length
b3Scalar len = axis.length2();
if (len < B3_EPSILON*B3_EPSILON)
axis = b3Vector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));
else
axis /= b3Sqrt(len);
}
*/
void getInfo2FixedOrientation(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies, int start_row)
{
Quaternion worldOrnA = bodies[constraint->m_rbA].m_quat;
Quaternion worldOrnB = bodies[constraint->m_rbB].m_quat;
int s = info->rowskip;
int start_index = start_row * s;
// 3 rows to make body rotations equal
info->m_J1angularAxis[start_index] = 1;
info->m_J1angularAxis[start_index + s + 1] = 1;
info->m_J1angularAxis[start_index + s*2+2] = 1;
if ( info->m_J2angularAxis)
{
info->m_J2angularAxis[start_index] = -1;
info->m_J2angularAxis[start_index + s+1] = -1;
info->m_J2angularAxis[start_index + s*2+2] = -1;
}
/*
@todo
float currERP = info->erp;
float k = info->fps * currERP;
float4 diff;
float angle;
float4 qrelCur = worldOrnA *qtInvert(worldOrnB);
calculateDiffAxisAngleQuaternion(constraint->m_relTargetAB,qrelCur,diff,angle);
diff*=-angle;
for (j=0; j<3; j++)
{
info->m_constraintError[(start_row+j)*info->rowskip] = k * diff[j];
}
*/
}
__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)
{
@@ -651,6 +714,15 @@ __kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows,
getInfo2Point2Point(constraint,&info2,bodies);
break;
}
case B3_GPU_FIXED_CONSTRAINT_TYPE:
{
getInfo2Point2Point(constraint,&info2,bodies);
getInfo2FixedOrientation(constraint,&info2,bodies,3);
break;
}
default:
{
}

72
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
View File

@@ -17,6 +17,9 @@ static const char* solveConstraintRowsCL= \
"\n"
"\n"
"#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3\n"
"#define B3_GPU_FIXED_CONSTRAINT_TYPE 4\n"
"\n"
"\n"
"#define B3_INFINITY 1e30f\n"
"\n"
"#define mymake_float4 (float4)\n"
@@ -361,6 +364,12 @@ static const char* solveConstraintRowsCL= \
" batchConstraints[i].m_numConstraintRows = 3;\n"
" break;\n"
" }\n"
" case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
" {\n"
" infos[i] = 6;\n"
" batchConstraints[i].m_numConstraintRows = 6;\n"
" break;\n"
" }\n"
" default:\n"
" {\n"
" }\n"
@@ -502,6 +511,60 @@ static const char* solveConstraintRowsCL= \
" }\n"
"}\n"
"\n"
"/*\n"
"@todo: convert this code to OpenCL\n"
"void calculateDiffAxisAngleQuaternion(const b3Quaternion& orn0,const b3Quaternion& orn1a,b3Vector3& axis,b3Scalar& angle)\n"
"{\n"
" Quaternion orn1 = orn0.nearest(orn1a);\n"
" Quaternion dorn = orn1 * orn0.inverse();\n"
" angle = dorn.getAngle();\n"
" axis = b3Vector3(dorn.getX(),dorn.getY(),dorn.getZ());\n"
" axis[3] = b3Scalar(0.);\n"
" //check for axis length\n"
" b3Scalar len = axis.length2();\n"
" if (len < B3_EPSILON*B3_EPSILON)\n"
" axis = b3Vector3(b3Scalar(1.),b3Scalar(0.),b3Scalar(0.));\n"
" else\n"
" axis /= b3Sqrt(len);\n"
"}\n"
"*/\n"
"\n"
"void getInfo2FixedOrientation(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies, int start_row)\n"
"{\n"
" Quaternion worldOrnA = bodies[constraint->m_rbA].m_quat;\n"
" Quaternion worldOrnB = bodies[constraint->m_rbB].m_quat;\n"
"\n"
" int s = info->rowskip;\n"
" int start_index = start_row * s;\n"
"\n"
" // 3 rows to make body rotations equal\n"
" info->m_J1angularAxis[start_index] = 1;\n"
" info->m_J1angularAxis[start_index + s + 1] = 1;\n"
" info->m_J1angularAxis[start_index + s*2+2] = 1;\n"
" if ( info->m_J2angularAxis)\n"
" {\n"
" info->m_J2angularAxis[start_index] = -1;\n"
" info->m_J2angularAxis[start_index + s+1] = -1;\n"
" info->m_J2angularAxis[start_index + s*2+2] = -1;\n"
" }\n"
" /*\n"
" @todo\n"
" float currERP = info->erp;\n"
" float k = info->fps * currERP;\n"
" float4 diff;\n"
" float angle;\n"
" float4 qrelCur = worldOrnA *qtInvert(worldOrnB);\n"
"\n"
" calculateDiffAxisAngleQuaternion(constraint->m_relTargetAB,qrelCur,diff,angle);\n"
" diff*=-angle;\n"
" for (j=0; j<3; j++)\n"
" {\n"
" info->m_constraintError[(start_row+j)*info->rowskip] = k * diff[j];\n"
" }\n"
" */\n"
"\n"
"}\n"
"\n"
"\n"
"__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)\n"
"{\n"
@@ -653,6 +716,15 @@ static const char* solveConstraintRowsCL= \
" getInfo2Point2Point(constraint,&info2,bodies);\n"
" break;\n"
" }\n"
" case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
" {\n"
" getInfo2Point2Point(constraint,&info2,bodies);\n"
"\n"
" getInfo2FixedOrientation(constraint,&info2,bodies,3);\n"
"\n"
" break;\n"
" }\n"
"\n"
" default:\n"
" {\n"
" }\n"