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Deterministic simulation for concave and compound collision shapes: added childShapeA/B to b3Contact4 + sort on them

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Use tetrahedra instead of barrel for convex demo (until performance for edge-edge is improved)
Increased #overlapping pair capacity from 12 to 16 / objec
This commit is contained in:
erwincoumans
2013-07-17 22:42:50 -07:00
parent ab125fbb6d
commit 733f9027fb
26 changed files with 358 additions and 70 deletions
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6
src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl
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@@ -73,6 +73,12 @@ typedef struct
int m_bodyA;//sign bit set for fixed objects
int m_bodyB;
int m_childIndexA;
int m_childIndexB;
int m_unused1;
int m_unused2;
}Contact4;
typedef struct

6
src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
View File

@@ -75,6 +75,12 @@ static const char* batchingKernelsCL= \
"\n"
" int m_bodyA;//sign bit set for fixed objects\n"
" int m_bodyB;\n"
"\n"
" int m_childIndexA;\n"
" int m_childIndexB;\n"
" int m_unused1;\n"
" int m_unused2;\n"
"\n"
"}Contact4;\n"
"\n"
"typedef struct \n"

6
src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl
View File

@@ -74,6 +74,12 @@ typedef struct
int m_bodyAPtrAndSignBit;//sign bit set for fixed objects
int m_bodyBPtrAndSignBit;
int m_childIndexA;
int m_childIndexB;
int m_unused1;
int m_unused2;
}Contact4;
typedef struct

6
src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h
View File

@@ -76,6 +76,12 @@ static const char* batchingKernelsNewCL= \
"\n"
" int m_bodyAPtrAndSignBit;//sign bit set for fixed objects\n"
" int m_bodyBPtrAndSignBit;\n"
"\n"
" int m_childIndexA;\n"
" int m_childIndexB;\n"
" int m_unused1;\n"
" int m_unused2;\n"
"\n"
"}Contact4;\n"
"\n"
"typedef struct \n"

2
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl
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@@ -357,12 +357,10 @@ __kernel void breakViolatedConstraintsKernel(__global b3GpuGenericConstraint* co
int numRows = numConstraintRows[cid];
if (numRows)
{
// printf("cid=%d, breakingThreshold =%f\n",cid,breakingThreshold);
for (int i=0;i<numRows;i++)
{
int rowIndex = rowOffsets[cid]+i;
float breakingThreshold = constraints[cid].m_breakingImpulseThreshold;
// printf("rows[%d].m_appliedImpulse=%f\n",rowIndex,rows[rowIndex].m_appliedImpulse);
if (fabs(rows[rowIndex].m_appliedImpulse) >= breakingThreshold)
{
constraints[cid].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;

2
src/Bullet3OpenCL/RigidBody/kernels/jointSolver.h
View File

@@ -359,12 +359,10 @@ static const char* solveConstraintRowsCL= \
" int numRows = numConstraintRows[cid];\n"
" if (numRows)\n"
" {\n"
" // printf(\"cid=%d, breakingThreshold =%f\n\",cid,breakingThreshold);\n"
" for (int i=0;i<numRows;i++)\n"
" {\n"
" int rowIndex = rowOffsets[cid]+i;\n"
" float breakingThreshold = constraints[cid].m_breakingImpulseThreshold;\n"
" // printf(\"rows[%d].m_appliedImpulse=%f\n\",rowIndex,rows[rowIndex].m_appliedImpulse);\n"
" if (fabs(rows[rowIndex].m_appliedImpulse) >= breakingThreshold)\n"
" {\n"
" constraints[cid].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;\n"

6
src/Bullet3OpenCL/RigidBody/kernels/solveContact.cl
View File

@@ -213,6 +213,12 @@ typedef struct
int m_bodyAPtrAndSignBit;
int m_bodyBPtrAndSignBit;
int m_childIndexA;
int m_childIndexB;
int m_unused1;
int m_unused2;
} Contact4;
typedef struct

6
src/Bullet3OpenCL/RigidBody/kernels/solveContact.h
View File

@@ -215,6 +215,12 @@ static const char* solveContactCL= \
"\n"
" int m_bodyAPtrAndSignBit;\n"
" int m_bodyBPtrAndSignBit;\n"
" \n"
" int m_childIndexA;\n"
" int m_childIndexB;\n"
" int m_unused1;\n"
" int m_unused2;\n"
"\n"
"} Contact4;\n"
"\n"
"typedef struct\n"

6
src/Bullet3OpenCL/RigidBody/kernels/solveFriction.cl
View File

@@ -213,6 +213,12 @@ typedef struct
int m_bodyAPtrAndSignBit;
int m_bodyBPtrAndSignBit;
int m_childIndexA;
int m_childIndexB;
int m_unused1;
int m_unused2;
} Contact4;
typedef struct

6
src/Bullet3OpenCL/RigidBody/kernels/solveFriction.h
View File

@@ -215,6 +215,12 @@ static const char* solveFrictionCL= \
"\n"
" int m_bodyAPtrAndSignBit;\n"
" int m_bodyBPtrAndSignBit;\n"
"\n"
" int m_childIndexA;\n"
" int m_childIndexB;\n"
" int m_unused1;\n"
" int m_unused2;\n"
"\n"
"} Contact4;\n"
"\n"
"typedef struct\n"

6
src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl
View File

@@ -412,6 +412,12 @@ typedef struct
int m_bodyAPtrAndSignBit;
int m_bodyBPtrAndSignBit;
int m_childIndexA;
int m_childIndexB;
int m_unused1;
int m_unused2;
} Contact4;
typedef struct

6
src/Bullet3OpenCL/RigidBody/kernels/solverSetup.h
View File

@@ -414,6 +414,12 @@ static const char* solverSetupCL= \
"\n"
" int m_bodyAPtrAndSignBit;\n"
" int m_bodyBPtrAndSignBit;\n"
"\n"
" int m_childIndexA;\n"
" int m_childIndexB;\n"
" int m_unused1;\n"
" int m_unused2;\n"
"\n"
"} Contact4;\n"
"\n"
"typedef struct\n"

47
src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl
View File

@@ -386,6 +386,12 @@ typedef struct
int m_bodyAPtrAndSignBit;
int m_bodyBPtrAndSignBit;
int m_childIndexA;
int m_childIndexB;
int m_unused1;
int m_unused2;
} Contact4;
typedef struct
@@ -441,22 +447,53 @@ void ReorderContactKernel(__global Contact4* in, __global Contact4* out, __globa
}
}
__kernel
__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
void SetDeterminismSortDataBodyA(__global Contact4* contactsIn, __global int2* sortDataOut, int nContacts)
__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
void SetDeterminismSortDataChildShapeB(__global Contact4* contactsIn, __global int2* sortDataOut, int nContacts)
{
int gIdx = GET_GLOBAL_IDX;
if( gIdx < nContacts )
{
int2 sd;
sd.x = contactsIn[gIdx].m_bodyAPtrAndSignBit;
sd.x = contactsIn[gIdx].m_childIndexB;
sd.y = gIdx;
sortDataOut[gIdx] = sd;
}
}
__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
void SetDeterminismSortDataChildShapeA(__global Contact4* contactsIn, __global int2* sortDataInOut, int nContacts)
{
int gIdx = GET_GLOBAL_IDX;
if( gIdx < nContacts )
{
int2 sdIn;
sdIn = sortDataInOut[gIdx];
int2 sdOut;
sdOut.x = contactsIn[sdIn.y].m_childIndexA;
sdOut.y = sdIn.y;
sortDataInOut[gIdx] = sdOut;
}
}
__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
void SetDeterminismSortDataBodyA(__global Contact4* contactsIn, __global int2* sortDataInOut, int nContacts)
{
int gIdx = GET_GLOBAL_IDX;
if( gIdx < nContacts )
{
int2 sdIn;
sdIn = sortDataInOut[gIdx];
int2 sdOut;
sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;
sdOut.y = sdIn.y;
sortDataInOut[gIdx] = sdOut;
}
}
__kernel
__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
void SetDeterminismSortDataBodyB(__global Contact4* contactsIn, __global int2* sortDataInOut, int nContacts)

47
src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h
View File

@@ -388,6 +388,12 @@ static const char* solverSetup2CL= \
"\n"
" int m_bodyAPtrAndSignBit;\n"
" int m_bodyBPtrAndSignBit;\n"
"\n"
" int m_childIndexA;\n"
" int m_childIndexB;\n"
" int m_unused1;\n"
" int m_unused2;\n"
"\n"
"} Contact4;\n"
"\n"
"typedef struct\n"
@@ -443,22 +449,53 @@ static const char* solverSetup2CL= \
" }\n"
"}\n"
"\n"
"\n"
"__kernel\n"
"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
"void SetDeterminismSortDataBodyA(__global Contact4* contactsIn, __global int2* sortDataOut, int nContacts)\n"
"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
"void SetDeterminismSortDataChildShapeA(__global Contact4* contactsIn, __global int2* sortDataOut, int nContacts)\n"
"{\n"
" int gIdx = GET_GLOBAL_IDX;\n"
"\n"
" if( gIdx < nContacts )\n"
" {\n"
" int2 sd;\n"
" sd.x = contactsIn[gIdx].m_bodyAPtrAndSignBit;\n"
" sd.x = contactsIn[gIdx].m_childIndexA;\n"
" sd.y = gIdx;\n"
" sortDataOut[gIdx] = sd;\n"
" }\n"
"}\n"
"\n"
"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
"void SetDeterminismSortDataChildShapeB(__global Contact4* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
"{\n"
" int gIdx = GET_GLOBAL_IDX;\n"
"\n"
" if( gIdx < nContacts )\n"
" {\n"
" int2 sdIn;\n"
" sdIn = sortDataInOut[gIdx];\n"
" int2 sdOut;\n"
" sdOut.x = contactsIn[sdIn.y].m_childIndexB;\n"
" sdOut.y = sdIn.y;\n"
" sortDataInOut[gIdx] = sdOut;\n"
" }\n"
"}\n"
"\n"
"__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
"void SetDeterminismSortDataBodyA(__global Contact4* contactsIn, __global int2* sortDataInOut, int nContacts)\n"
"{\n"
" int gIdx = GET_GLOBAL_IDX;\n"
"\n"
" if( gIdx < nContacts )\n"
" {\n"
" int2 sdIn;\n"
" sdIn = sortDataInOut[gIdx];\n"
" int2 sdOut;\n"
" sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;\n"
" sdOut.y = sdIn.y;\n"
" sortDataInOut[gIdx] = sdOut;\n"
" }\n"
"}\n"
"\n"
"\n"
"__kernel\n"
"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
"void SetDeterminismSortDataBodyB(__global Contact4* contactsIn, __global int2* sortDataInOut, int nContacts)\n"

6
src/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl
View File

@@ -389,6 +389,12 @@ typedef struct
int m_bodyAPtrAndSignBit;
int m_bodyBPtrAndSignBit;
int m_childIndexA;
int m_childIndexB;
int m_unused1;
int m_unused2;
} Contact4;

6
src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h
View File

@@ -391,6 +391,12 @@ static const char* solverUtilsCL= \
"\n"
" int m_bodyAPtrAndSignBit;\n"
" int m_bodyBPtrAndSignBit;\n"
"\n"
" int m_childIndexA;\n"
" int m_childIndexB;\n"
" int m_unused1;\n"
" int m_unused2;\n"
"\n"
"} Contact4;\n"
"\n"
"\n"