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added OpenCL cloth demo, contributed by AMD.

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updated GpuSoftBodySolvers
updated DirectCompute cloth demo
This commit is contained in:
erwin.coumans
2010-08-14 00:56:17 +00:00
parent 40958f2b4a
commit 4f9b450200
72 changed files with 7524 additions and 843 deletions
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398
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h
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@@ -16,204 +16,165 @@ subject to the following restrictions:
#ifndef BT_SOFT_BODY_SOLVER_OPENCL_H
#define BT_SOFT_BODY_SOLVER_OPENCL_H
#include "stddef.h" //for size_t
#include "vectormath/vmInclude.h"
#include "BulletSoftBody/btSoftBodySolvers.h"
#include "BulletSoftBody/solvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h"
#include "BulletSoftBody/solvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h"
#include "BulletSoftBody/solvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h"
#include "BulletSoftBody/solvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h"
#include "btSoftBodySolverBuffer_OpenCL.h"
#include "btSoftBodySolverLinkData_OpenCL.h"
#include "btSoftBodySolverVertexData_OpenCL.h"
#include "btSoftBodySolverTriangleData_OpenCL.h"
/**
* SoftBody class to maintain information about a soft body instance
* within a solver.
* This data addresses the main solver arrays.
*/
class btOpenCLAcceleratedSoftBodyInterface
{
protected:
/** Current number of vertices that are part of this cloth */
int m_numVertices;
/** Maximum number of vertices allocated to be part of this cloth */
int m_maxVertices;
/** Current number of triangles that are part of this cloth */
int m_numTriangles;
/** Maximum number of triangles allocated to be part of this cloth */
int m_maxTriangles;
/** Index of first vertex in the world allocated to this cloth */
int m_firstVertex;
/** Index of first triangle in the world allocated to this cloth */
int m_firstTriangle;
/** Index of first link in the world allocated to this cloth */
int m_firstLink;
/** Maximum number of links allocated to this cloth */
int m_maxLinks;
/** Current number of links allocated to this cloth */
int m_numLinks;
/** The actual soft body this data represents */
btSoftBody *m_softBody;
public:
btOpenCLAcceleratedSoftBodyInterface( btSoftBody *softBody ) :
m_softBody( softBody )
{
m_numVertices = 0;
m_maxVertices = 0;
m_numTriangles = 0;
m_maxTriangles = 0;
m_firstVertex = 0;
m_firstTriangle = 0;
m_firstLink = 0;
m_maxLinks = 0;
m_numLinks = 0;
}
int getNumVertices()
{
return m_numVertices;
}
int getNumTriangles()
{
return m_numTriangles;
}
int getMaxVertices()
{
return m_maxVertices;
}
int getMaxTriangles()
{
return m_maxTriangles;
}
int getFirstVertex()
{
return m_firstVertex;
}
int getFirstTriangle()
{
return m_firstTriangle;
}
// TODO: All of these set functions will have to do checks and
// update the world because restructuring of the arrays will be necessary
// Reasonable use of "friend"?
void setNumVertices( int numVertices )
{
m_numVertices = numVertices;
}
void setNumTriangles( int numTriangles )
{
m_numTriangles = numTriangles;
}
void setMaxVertices( int maxVertices )
{
m_maxVertices = maxVertices;
}
void setMaxTriangles( int maxTriangles )
{
m_maxTriangles = maxTriangles;
}
void setFirstVertex( int firstVertex )
{
m_firstVertex = firstVertex;
}
void setFirstTriangle( int firstTriangle )
{
m_firstTriangle = firstTriangle;
}
void setMaxLinks( int maxLinks )
{
m_maxLinks = maxLinks;
}
void setNumLinks( int numLinks )
{
m_numLinks = numLinks;
}
void setFirstLink( int firstLink )
{
m_firstLink = firstLink;
}
int getMaxLinks()
{
return m_maxLinks;
}
int getNumLinks()
{
return m_numLinks;
}
int getFirstLink()
{
return m_firstLink;
}
btSoftBody* getSoftBody()
{
return m_softBody;
}
};
class btOpenCLSoftBodySolver : public btSoftBodySolver
{
private:
/**
* SoftBody class to maintain information about a soft body instance
* within a solver.
* This data addresses the main solver arrays.
*/
class btAcceleratedSoftBodyInterface
{
protected:
/** Current number of vertices that are part of this cloth */
int m_numVertices;
/** Maximum number of vertices allocated to be part of this cloth */
int m_maxVertices;
/** Current number of triangles that are part of this cloth */
int m_numTriangles;
/** Maximum number of triangles allocated to be part of this cloth */
int m_maxTriangles;
/** Index of first vertex in the world allocated to this cloth */
int m_firstVertex;
/** Index of first triangle in the world allocated to this cloth */
int m_firstTriangle;
/** Index of first link in the world allocated to this cloth */
int m_firstLink;
/** Maximum number of links allocated to this cloth */
int m_maxLinks;
/** Current number of links allocated to this cloth */
int m_numLinks;
/** The actual soft body this data represents */
btSoftBody *m_softBody;
public:
btAcceleratedSoftBodyInterface( btSoftBody *softBody ) :
m_softBody( softBody )
{
m_numVertices = 0;
m_maxVertices = 0;
m_numTriangles = 0;
m_maxTriangles = 0;
m_firstVertex = 0;
m_firstTriangle = 0;
m_firstLink = 0;
m_maxLinks = 0;
m_numLinks = 0;
}
int getNumVertices()
{
return m_numVertices;
}
int getNumTriangles()
{
return m_numTriangles;
}
int getMaxVertices()
{
return m_maxVertices;
}
int getMaxTriangles()
{
return m_maxTriangles;
}
int getFirstVertex()
{
return m_firstVertex;
}
int getFirstTriangle()
{
return m_firstTriangle;
}
// TODO: All of these set functions will have to do checks and
// update the world because restructuring of the arrays will be necessary
// Reasonable use of "friend"?
void setNumVertices( int numVertices )
{
m_numVertices = numVertices;
}
void setNumTriangles( int numTriangles )
{
m_numTriangles = numTriangles;
}
void setMaxVertices( int maxVertices )
{
m_maxVertices = maxVertices;
}
void setMaxTriangles( int maxTriangles )
{
m_maxTriangles = maxTriangles;
}
void setFirstVertex( int firstVertex )
{
m_firstVertex = firstVertex;
}
void setFirstTriangle( int firstTriangle )
{
m_firstTriangle = firstTriangle;
}
void setMaxLinks( int maxLinks )
{
m_maxLinks = maxLinks;
}
void setNumLinks( int numLinks )
{
m_numLinks = numLinks;
}
void setFirstLink( int firstLink )
{
m_firstLink = firstLink;
}
int getMaxLinks()
{
return m_maxLinks;
}
int getNumLinks()
{
return m_numLinks;
}
int getFirstLink()
{
return m_firstLink;
}
btSoftBody* getSoftBody()
{
return m_softBody;
}
#if 0
void setAcceleration( Vectormath::Aos::Vector3 acceleration )
{
m_currentSolver->setPerClothAcceleration( m_clothIdentifier, acceleration );
}
void setWindVelocity( Vectormath::Aos::Vector3 windVelocity )
{
m_currentSolver->setPerClothWindVelocity( m_clothIdentifier, windVelocity );
}
/**
* Set the density of the air in which the cloth is situated.
*/
void setAirDensity( btScalar density )
{
m_currentSolver->setPerClothMediumDensity( m_clothIdentifier, static_cast<float>(density) );
}
/**
* Add a collision object to this soft body.
*/
void addCollisionObject( btCollisionObject *collisionObject )
{
m_currentSolver->addCollisionObjectForSoftBody( m_clothIdentifier, collisionObject );
}
#endif
};
class KernelDesc
{
protected:
public:
cl::Kernel kernel;
KernelDesc()
{
}
virtual ~KernelDesc()
{
}
};
btSoftBodyLinkDataOpenCL m_linkData;
btSoftBodyVertexDataOpenCL m_vertexData;
@@ -228,7 +189,7 @@ private:
* Cloths owned by this solver.
* Only our cloths are in this array.
*/
btAlignedObjectArray< btAcceleratedSoftBodyInterface * > m_softBodySet;
btAlignedObjectArray< btOpenCLAcceleratedSoftBodyInterface * > m_softBodySet;
/** Acceleration value to be applied to all non-static vertices in the solver.
* Index n is cloth n, array sized by number of cloths in the world not the solver.
@@ -262,37 +223,34 @@ private:
btAlignedObjectArray< float > m_perClothMediumDensity;
btOpenCLBuffer<float> m_clPerClothMediumDensity;
KernelDesc prepareLinksKernel;
KernelDesc solvePositionsFromLinksKernel;
KernelDesc updateConstantsKernel;
KernelDesc integrateKernel;
KernelDesc addVelocityKernel;
KernelDesc updatePositionsFromVelocitiesKernel;
KernelDesc updateVelocitiesFromPositionsWithoutVelocitiesKernel;
KernelDesc updateVelocitiesFromPositionsWithVelocitiesKernel;
KernelDesc vSolveLinksKernel;
KernelDesc resetNormalsAndAreasKernel;
KernelDesc normalizeNormalsAndAreasKernel;
KernelDesc updateSoftBodiesKernel;
KernelDesc outputToVertexArrayWithNormalsKernel;
KernelDesc outputToVertexArrayWithoutNormalsKernel;
cl_kernel prepareLinksKernel;
cl_kernel solvePositionsFromLinksKernel;
cl_kernel updateConstantsKernel;
cl_kernel integrateKernel;
cl_kernel addVelocityKernel;
cl_kernel updatePositionsFromVelocitiesKernel;
cl_kernel updateVelocitiesFromPositionsWithoutVelocitiesKernel;
cl_kernel updateVelocitiesFromPositionsWithVelocitiesKernel;
cl_kernel vSolveLinksKernel;
cl_kernel resetNormalsAndAreasKernel;
cl_kernel normalizeNormalsAndAreasKernel;
cl_kernel updateSoftBodiesKernel;
cl_kernel outputToVertexArrayWithNormalsKernel;
cl_kernel outputToVertexArrayWithoutNormalsKernel;
KernelDesc outputToVertexArrayKernel;
KernelDesc applyForcesKernel;
KernelDesc collideSphereKernel;
KernelDesc collideCylinderKernel;
cl_kernel outputToVertexArrayKernel;
cl_kernel applyForcesKernel;
cl_kernel collideSphereKernel;
cl_kernel collideCylinderKernel;
static const int workGroupSize = 128;
cl::CommandQueue m_queue;
cl::Context context;
cl::Device device;
cl_command_queue m_cqCommandQue;
cl_context m_cxMainContext;
/**
* Compile a compute shader kernel from a string and return the appropriate KernelDesc object.
* Compile a compute shader kernel from a string and return the appropriate cl_kernel object.
*/
KernelDesc compileCLKernelFromString( const char *shaderString, const char *shaderName );
cl_kernel compileCLKernelFromString( const char *shaderString, const char *shaderName );
bool buildShaders();
@@ -306,7 +264,7 @@ private:
void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce );
btAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody );
btOpenCLAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody );
virtual void applyForces( float solverdt );
@@ -342,7 +300,7 @@ private:
public:
btOpenCLSoftBodySolver(const cl::CommandQueue &queue);
btOpenCLSoftBodySolver(cl_command_queue queue,cl_context ctx);
virtual ~btOpenCLSoftBodySolver();
@@ -371,4 +329,4 @@ public:
virtual void copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer );
}; // btOpenCLSoftBodySolver
#endif #ifndef BT_SOFT_BODY_SOLVER_OPENCL_H
#endif #ifndef BT_SOFT_BODY_SOLVER_OPENCL_H