Add the GPU rigid body pipeline from https://github.com/erwincoumans/experiments as a Bullet 3.x preview for Bullet 2.80
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erwin.coumans
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/*
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Copyright (c) 2012 Advanced Micro Devices, Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//Originally written by Takahiro Harada
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//#define PATH "..\\..\\dynamics\\basic_demo\\Stubs\\ChNarrowphaseKernels"
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#define PATH "..\\..\\dynamics\\basic_demo\\Stubs\\ChNarrowphaseKernels"
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#define KERNEL0 "SupportCullingKernel"
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#define KERNEL1 "NarrowphaseKernel"
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#include "ChNarrowphaseKernels.h"
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class ChNarrowphaseImp
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{
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public:
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static
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__inline
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u32 u32Pack(u8 x, u8 y, u8 z, u8 w)
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{
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return (x) | (y<<8) | (z<<16) | (w<<24);
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}
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};
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template<DeviceType TYPE>
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typename ChNarrowphase<TYPE>::Data* ChNarrowphase<TYPE>::allocate( const Device* device )
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{
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char options[100];
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const char* src[] =
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#if defined(ADL_LOAD_KERNEL_FROM_STRING)
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{narrowphaseKernelsCL, 0};
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#else
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{0,0};
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#endif
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//sprintf(options, "-I ..\\..\\ -Wf,--c++");
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sprintf(options, "-I .\\NarrowPhaseCL\\");
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Data* data = new Data;
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data->m_device = device;
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data->m_supportCullingKernel = device->getKernel( PATH, KERNEL0, options,src[TYPE] );
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data->m_narrowphaseKernel = device->getKernel( PATH, KERNEL1, options, src[TYPE]);
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data->m_narrowphaseWithPlaneKernel = device->getKernel( PATH, "NarrowphaseWithPlaneKernel", options,src[TYPE]);
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data->m_counterBuffer = new Buffer<u32>( device, 1 );
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return data;
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}
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template<DeviceType TYPE>
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void ChNarrowphase<TYPE>::deallocate( Data* data )
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{
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delete data->m_counterBuffer;
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delete data;
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}
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template<DeviceType TYPE>
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ShapeDataType ChNarrowphase<TYPE>::allocateShapeBuffer( const Device* device, int capacity )
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{
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ADLASSERT( device->m_type == TYPE );
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return new Buffer<ShapeData>( device, capacity );
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}
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template<DeviceType TYPE>
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void ChNarrowphase<TYPE>::deallocateShapeBuffer( ShapeDataType shapeBuf )
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{
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Buffer<ShapeData>* s = (Buffer<ShapeData>*)shapeBuf;
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delete s;
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}
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template<DeviceType TYPE>
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void ChNarrowphase<TYPE>::setShape( ShapeDataType shapeBuf, ShapeBase* shape, int idx, float collisionMargin )
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{
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ConvexHeightField* cvxShape = new ConvexHeightField( shape );
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Buffer<ShapeData>* dst = (Buffer<ShapeData>*)shapeBuf;
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cvxShape->m_aabb.expandBy( make_float4( collisionMargin ) );
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{
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ShapeData s;
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{
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for(int j=0; j<HEIGHT_RES*HEIGHT_RES*6; j++)
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{
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s.m_normal[j] = cvxShape->m_normal[j];
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}
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for(int j=0; j<HEIGHT_RES*HEIGHT_RES*6/4; j++)
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{
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s.m_height4[j] = ChNarrowphaseImp::u32Pack( cvxShape->m_data[4*j], cvxShape->m_data[4*j+1], cvxShape->m_data[4*j+2], cvxShape->m_data[4*j+3] );
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s.m_supportHeight4[j] = ChNarrowphaseImp::u32Pack( cvxShape->m_supportHeight[4*j], cvxShape->m_supportHeight[4*j+1], cvxShape->m_supportHeight[4*j+2], cvxShape->m_supportHeight[4*j+3] );
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}
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s.m_scale = cvxShape->m_scale;
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}
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dst->write( &s, 1, idx );
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DeviceUtils::waitForCompletion( dst->m_device );
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}
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delete cvxShape;
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}
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template<DeviceType TYPE>
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void ChNarrowphase<TYPE>::setShape( ShapeDataType shapeBuf, ConvexHeightField* cvxShape, int idx, float collisionMargin )
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{
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Buffer<ShapeData>* dst = (Buffer<ShapeData>*)shapeBuf;
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cvxShape->m_aabb.expandBy( make_float4( collisionMargin ) );
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{
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ShapeData s;
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{
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for(int j=0; j<HEIGHT_RES*HEIGHT_RES*6; j++)
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{
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s.m_normal[j] = cvxShape->m_normal[j];
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}
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for(int j=0; j<HEIGHT_RES*HEIGHT_RES*6/4; j++)
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{
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s.m_height4[j] = ChNarrowphaseImp::u32Pack( cvxShape->m_data[4*j], cvxShape->m_data[4*j+1], cvxShape->m_data[4*j+2], cvxShape->m_data[4*j+3] );
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s.m_supportHeight4[j] = ChNarrowphaseImp::u32Pack( cvxShape->m_supportHeight[4*j], cvxShape->m_supportHeight[4*j+1], cvxShape->m_supportHeight[4*j+2], cvxShape->m_supportHeight[4*j+3] );
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}
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s.m_scale = cvxShape->m_scale;
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}
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dst->write( &s, 1, idx );
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DeviceUtils::waitForCompletion( dst->m_device );
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}
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}
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// Run NarrowphaseKernel
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template<DeviceType TYPE>
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//template<bool USE_OMP>
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void ChNarrowphase<TYPE>::execute( Data* data, const Buffer<int2>* pairs, int nPairs, const Buffer<RigidBodyBase::Body>* bodyBuf,
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const ShapeDataType shapeBuf,
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Buffer<Contact4>* contactOut, int& nContacts, const Config& cfg )
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{
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if( nPairs == 0 ) return;
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Buffer<ShapeData>* shapeBuffer = (Buffer<ShapeData>*)shapeBuf;
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ADLASSERT( shapeBuffer->getType() == TYPE );
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const Device* device = data->m_device;
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Buffer<int2>* gPairsInNative
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= BufferUtils::map<TYPE, true>( data->m_device, pairs );
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Buffer<RigidBodyBase::Body>* gBodyInNative
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= BufferUtils::map<TYPE, true>( data->m_device, bodyBuf );
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Buffer<Contact4>* gContactOutNative
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= BufferUtils::map<TYPE, true>( data->m_device, contactOut ); // this might not be empty
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Buffer<ConstData> constBuffer( device, 1, BufferBase::BUFFER_CONST );
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ConstData cdata;
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cdata.m_nPairs = nPairs;
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cdata.m_collisionMargin = cfg.m_collisionMargin;
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cdata.m_capacity = contactOut->getSize() - nContacts;
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u32 n = nContacts;
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data->m_counterBuffer->write( &n, 1 );
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// DeviceUtils::waitForCompletion( device );
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{
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BufferInfo bInfo[] = { BufferInfo( gPairsInNative, true ), BufferInfo( shapeBuffer ), BufferInfo( gBodyInNative ),
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BufferInfo( gContactOutNative ),
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BufferInfo( data->m_counterBuffer ) };
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Launcher launcher( data->m_device, data->m_narrowphaseKernel );
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(Launcher::BufferInfo) );
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launcher.setConst( constBuffer, cdata );
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launcher.launch1D( nPairs*64, 64 );
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}
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data->m_counterBuffer->read( &n, 1 );
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DeviceUtils::waitForCompletion( device );
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BufferUtils::unmap<false>( gPairsInNative, pairs );
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BufferUtils::unmap<false>( gBodyInNative, bodyBuf );
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BufferUtils::unmap<true>( gContactOutNative, contactOut );
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nContacts = min2((int)n, contactOut->getSize() );
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}
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// Run NarrowphaseWithPlaneKernel
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template<DeviceType TYPE>
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//template<bool USE_OMP>
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void ChNarrowphase<TYPE>::execute( Data* data, const Buffer<int2>* pairs, int nPairs,
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const Buffer<RigidBodyBase::Body>* bodyBuf, const ShapeDataType shapeBuf,
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const Buffer<float4>* vtxBuf, const Buffer<int4>* idxBuf,
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Buffer<Contact4>* contactOut, int& nContacts, const Config& cfg )
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{
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if( nPairs == 0 ) return;
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Buffer<ShapeData>* shapeBuffer = (Buffer<ShapeData>*)shapeBuf;
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ADLASSERT( shapeBuffer->getType() == TYPE );
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const Device* device = data->m_device;
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Buffer<int2>* gPairsInNative
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= BufferUtils::map<TYPE, true>( data->m_device, pairs );
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Buffer<RigidBodyBase::Body>* gBodyInNative
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= BufferUtils::map<TYPE, true>( data->m_device, bodyBuf );
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Buffer<Contact4>* gContactOutNative
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= BufferUtils::map<TYPE, true>( data->m_device, contactOut ); // this might not be empty
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Buffer<ConstData> constBuffer( device, 1, BufferBase::BUFFER_CONST );
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ConstData cdata;
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cdata.m_nPairs = nPairs;
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cdata.m_collisionMargin = cfg.m_collisionMargin;
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cdata.m_capacity = contactOut->getSize() - nContacts;
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u32 n = nContacts;
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data->m_counterBuffer->write( &n, 1 );
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// DeviceUtils::waitForCompletion( device );
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{
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BufferInfo bInfo[] = { BufferInfo( gPairsInNative, true ), BufferInfo( shapeBuffer ), BufferInfo( gBodyInNative ),
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BufferInfo( gContactOutNative ),
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BufferInfo( data->m_counterBuffer ) };
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Launcher launcher( data->m_device, data->m_narrowphaseWithPlaneKernel );
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(Launcher::BufferInfo) );
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launcher.setConst( constBuffer, cdata );
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launcher.launch1D( nPairs*64, 64 );
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}
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data->m_counterBuffer->read( &n, 1 );
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DeviceUtils::waitForCompletion( device );
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BufferUtils::unmap<false>( gPairsInNative, pairs );
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BufferUtils::unmap<false>( gBodyInNative, bodyBuf );
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BufferUtils::unmap<true>( gContactOutNative, contactOut );
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nContacts = min2((int)n, contactOut->getSize() );
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}
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// Run SupportCullingKernel
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template<DeviceType TYPE>
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//template<bool USE_OMP>
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int ChNarrowphase<TYPE>::culling( Data* data, const Buffer<int2>* pairs, int nPairs, const Buffer<RigidBodyBase::Body>* bodyBuf,
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const ShapeDataType shapeBuf, const Buffer<int2>* pairsOut, const Config& cfg )
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{
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if( nPairs == 0 ) return 0;
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Buffer<ShapeData>* shapeBuffer = (Buffer<ShapeData>*)shapeBuf;
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ADLASSERT( shapeBuffer->getType() == TYPE );
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const Device* device = data->m_device;
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Buffer<int2>* gPairsInNative
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= BufferUtils::map<TYPE, true>( data->m_device, pairs );
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Buffer<RigidBodyBase::Body>* gBodyInNative
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= BufferUtils::map<TYPE, true>( data->m_device, bodyBuf );
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Buffer<int2>* gPairsOutNative
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= BufferUtils::map<TYPE, false>( data->m_device, pairsOut );
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//
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Buffer<ConstData> constBuffer( device, 1, BufferBase::BUFFER_CONST );
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ConstData cdata;
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cdata.m_nPairs = nPairs;
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cdata.m_collisionMargin = cfg.m_collisionMargin;
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cdata.m_capacity = pairsOut->getSize();
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u32 n = 0;
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data->m_counterBuffer->write( &n, 1 );
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// DeviceUtils::waitForCompletion( device );
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{
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BufferInfo bInfo[] = { BufferInfo( gPairsInNative, true ), BufferInfo( shapeBuffer ), BufferInfo( gBodyInNative ),
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BufferInfo( gPairsOutNative ), BufferInfo( data->m_counterBuffer ) };
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Launcher launcher( data->m_device, data->m_supportCullingKernel );
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(Launcher::BufferInfo) );
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launcher.setConst( constBuffer, cdata );
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launcher.launch1D( nPairs, 64 );
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}
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data->m_counterBuffer->read( &n, 1 );
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DeviceUtils::waitForCompletion( device );
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/*
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if( gPairsInNative != pairs ) delete gPairsInNative;
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if( gBodyInNative != bodyBuf ) delete gBodyInNative;
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if( gPairsOutNative != pairsOut )
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{
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gPairsOutNative->read( pairsOut->m_ptr, n );
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DeviceUtils::waitForCompletion( device );
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delete gPairsOutNative;
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}
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*/
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BufferUtils::unmap<false>( gPairsInNative, pairs );
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BufferUtils::unmap<false>( gBodyInNative, bodyBuf );
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BufferUtils::unmap<true>( gPairsOutNative, pairsOut );
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return min2((int)n, pairsOut->getSize() );
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}
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#undef PATH
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#undef KERNEL0
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#undef KERNEL1
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