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more work towards GPU Jacobi solver.

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Not fully working yet, GPU version shows explosion at high iteration count.
This commit is contained in:
erwin coumans
2013-03-27 21:40:26 -07:00
parent 2133712207
commit a1aa281622
7 changed files with 441 additions and 661 deletions
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204
opencl/gpu_rigidbody/kernels/solverUtils.h
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@@ -111,8 +111,13 @@ static const char* solverUtilsCL= \
"}\n"
"\n"
"__inline\n"
"float4 cross3(float4 a, float4 b)\n"
"float4 cross3(float4 a1, float4 b1)\n"
"{\n"
"\n"
" float4 a=make_float4(a1.xyz,0.f);\n"
" float4 b=make_float4(b1.xyz,0.f);\n"
" //float4 a=a1;\n"
" //float4 b=b1;\n"
" return cross(a,b);\n"
"}\n"
"\n"
@@ -532,6 +537,7 @@ static const char* solverUtilsCL= \
" float4 r0 = cs->m_worldPos[ic] - posA;\n"
" float4 r1 = cs->m_worldPos[ic] - posB;\n"
" setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
" \n"
"\n"
" float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
" *linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];\n"
@@ -546,7 +552,7 @@ static const char* solverUtilsCL= \
" rambdaDt = updated - prevSum;\n"
" cs->m_appliedRambdaDt[ic] = updated;\n"
" }\n"
"\n"
" \n"
" float4 linImp0 = invMassA*linear*rambdaDt;\n"
" float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
" float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
@@ -590,20 +596,18 @@ static const char* solverUtilsCL= \
" float invMassB = gBodies[bIdx].m_invMass;\n"
" Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
"\n"
" float4 zero = make_float4(0);\n"
" \n"
" float4 dLinVelA = zero;\n"
" float4 dAngVelA = zero;\n"
" float4 dLinVelB = zero;\n"
" float4 dAngVelB = zero;\n"
" float4 dLinVelA = make_float4(0,0,0,0);\n"
" float4 dAngVelA = make_float4(0,0,0,0);\n"
" float4 dLinVelB = make_float4(0,0,0,0);\n"
" float4 dAngVelB = make_float4(0,0,0,0);\n"
" \n"
" int bodyOffsetA = offsetSplitBodies[aIdx];\n"
" int constraintOffsetA = contactConstraintOffsets[0].x;\n"
" int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
"\n"
" \n"
" if (invMassA)\n"
" {\n"
" \n"
" dLinVelA = deltaLinearVelocities[splitIndexA];\n"
" dAngVelA = deltaAngularVelocities[splitIndexA];\n"
" }\n"
@@ -643,13 +647,189 @@ static const char* solverUtilsCL= \
" int i = GET_GLOBAL_IDX;\n"
" if (i<numManifolds)\n"
" {\n"
" solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
" solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
" }\n"
"}\n"
"\n"
"__kernel void SolveFrictionJacobiKernel()\n"
"{\n"
"\n"
"\n"
"\n"
"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs,\n"
" __global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
" __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
"{\n"
" float frictionCoeff = 0.7f;//ldsCs[0].m_linear.w;\n"
" int aIdx = ldsCs[0].m_bodyA;\n"
" int bIdx = ldsCs[0].m_bodyB;\n"
"\n"
"\n"
" float4 posA = gBodies[aIdx].m_pos;\n"
" float4 linVelA = gBodies[aIdx].m_linVel;\n"
" float4 angVelA = gBodies[aIdx].m_angVel;\n"
" float invMassA = gBodies[aIdx].m_invMass;\n"
" Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
"\n"
" float4 posB = gBodies[bIdx].m_pos;\n"
" float4 linVelB = gBodies[bIdx].m_linVel;\n"
" float4 angVelB = gBodies[bIdx].m_angVel;\n"
" float invMassB = gBodies[bIdx].m_invMass;\n"
" Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
" \n"
"\n"
" float4 dLinVelA = make_float4(0,0,0,0);\n"
" float4 dAngVelA = make_float4(0,0,0,0);\n"
" float4 dLinVelB = make_float4(0,0,0,0);\n"
" float4 dAngVelB = make_float4(0,0,0,0);\n"
" \n"
" int bodyOffsetA = offsetSplitBodies[aIdx];\n"
" int constraintOffsetA = contactConstraintOffsets[0].x;\n"
" int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
" \n"
" if (invMassA)\n"
" {\n"
" dLinVelA = deltaLinearVelocities[splitIndexA];\n"
" dAngVelA = deltaAngularVelocities[splitIndexA];\n"
" }\n"
"\n"
" int bodyOffsetB = offsetSplitBodies[bIdx];\n"
" int constraintOffsetB = contactConstraintOffsets[0].y;\n"
" int splitIndexB= bodyOffsetB+constraintOffsetB;\n"
"\n"
" if (invMassB)\n"
" {\n"
" dLinVelB = deltaLinearVelocities[splitIndexB];\n"
" dAngVelB = deltaAngularVelocities[splitIndexB];\n"
" }\n"
"\n"
"\n"
"\n"
"\n"
" {\n"
" float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
" float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\n"
"\n"
" float sum = 0;\n"
" for(int j=0; j<4; j++)\n"
" {\n"
" sum +=ldsCs[0].m_appliedRambdaDt[j];\n"
" }\n"
" frictionCoeff = 0.7f;\n"
" for(int j=0; j<4; j++)\n"
" {\n"
" maxRambdaDt[j] = frictionCoeff*sum;\n"
" minRambdaDt[j] = -maxRambdaDt[j];\n"
" }\n"
"\n"
" \n"
"// solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
"// posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );\n"
" \n"
" \n"
" {\n"
" \n"
" __global Constraint4* cs = ldsCs;\n"
" \n"
" if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;\n"
" const float4 center = cs->m_center;\n"
" \n"
" float4 n = -cs->m_linear;\n"
" \n"
" float4 tangent[2];\n"
" btPlaneSpace1(n,&tangent[0],&tangent[1]);\n"
" float4 angular0, angular1, linear;\n"
" float4 r0 = center - posA;\n"
" float4 r1 = center - posB;\n"
" for(int i=0; i<2; i++)\n"
" {\n"
" setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );\n"
" float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,\n"
" linVelA+dLinVelA, angVelA+dAngVelA, linVelB+dLinVelB, angVelB+dAngVelB );\n"
" rambdaDt *= cs->m_fJacCoeffInv[i];\n"
" \n"
" {\n"
" float prevSum = cs->m_fAppliedRambdaDt[i];\n"
" float updated = prevSum;\n"
" updated += rambdaDt;\n"
" updated = max2( updated, minRambdaDt[i] );\n"
" updated = min2( updated, maxRambdaDt[i] );\n"
" rambdaDt = updated - prevSum;\n"
" cs->m_fAppliedRambdaDt[i] = updated;\n"
" }\n"
" \n"
" float4 linImp0 = invMassA*linear*rambdaDt;\n"
" float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
" float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
" float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
" \n"
" dLinVelA += linImp0;\n"
" dAngVelA += angImp0;\n"
" dLinVelB += linImp1;\n"
" dAngVelB += angImp1;\n"
" }\n"
" { // angular damping for point constraint\n"
" float4 ab = normalize3( posB - posA );\n"
" float4 ac = normalize3( center - posA );\n"
" if( dot3F4( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f))\n"
" {\n"
" float angNA = dot3F4( n, angVelA );\n"
" float angNB = dot3F4( n, angVelB );\n"
" \n"
" dAngVelA -= (angNA*0.1f)*n;\n"
" dAngVelB -= (angNB*0.1f)*n;\n"
" }\n"
" }\n"
" }\n"
"\n"
" \n"
" \n"
" }\n"
"\n"
" if (invMassA)\n"
" {\n"
" deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
" deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
" } \n"
" if (invMassB)\n"
" {\n"
" deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
" deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
" }\n"
" \n"
"\n"
"}\n"
"\n"
"\n"
"__kernel void SolveFrictionJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
" __global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n"
" __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
" float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
")\n"
"{\n"
" int i = GET_GLOBAL_IDX;\n"
" if (i<numManifolds)\n"
" {\n"
" solveFrictionConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
" }\n"
"}\n"
"\n"
"\n"
"__kernel void UpdateBodyVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n"
" __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n"
"{\n"
" int i = GET_GLOBAL_IDX;\n"
" if (i<numBodies)\n"
" {\n"
" if (gBodies[i].m_invMass)\n"
" {\n"
" int bodyOffset = offsetSplitBodies[i];\n"
" int count = bodyCount[i];\n"
" if (count)\n"
" {\n"
" gBodies[i].m_linVel += deltaLinearVelocities[bodyOffset];\n"
" gBodies[i].m_angVel += deltaAngularVelocities[bodyOffset];\n"
" }\n"
" }\n"
" }\n"
"}\n"
"\n"
"\n"