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introduce b3GpuSolverConstraint and fix Windows build

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This commit is contained in:
erwin coumans
2013-07-09 18:03:51 -07:00
parent 282e19171f
commit a3c2456c65
4 changed files with 103 additions and 22 deletions
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28
src/Bullet3OpenCL/RigidBody/b3GpuPgsJacobiSolver.cpp
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@@ -58,12 +58,12 @@ struct b3GpuPgsJacobiSolverInternalData
b3OpenCLArray<b3GpuSolverBody>* m_gpuSolverBodies;
b3OpenCLArray<b3BatchConstraint>* m_gpuBatchConstraints;
b3OpenCLArray<b3SolverConstraint>* m_gpuConstraintRows;
b3OpenCLArray<b3GpuSolverConstraint>* m_gpuConstraintRows;
b3OpenCLArray<unsigned int>* m_gpuConstraintInfo1;
// b3AlignedObjectArray<b3GpuSolverBody> m_cpuSolverBodies;
b3AlignedObjectArray<b3BatchConstraint> m_cpuBatchConstraints;
b3AlignedObjectArray<b3SolverConstraint> m_cpuConstraintRows;
b3AlignedObjectArray<b3GpuSolverConstraint> m_cpuConstraintRows;
b3AlignedObjectArray<unsigned int> m_cpuConstraintInfo1;
b3AlignedObjectArray<b3RigidBodyCL> m_cpuBodies;
@@ -125,7 +125,7 @@ b3GpuPgsJacobiSolver::b3GpuPgsJacobiSolver (cl_context ctx, cl_device_id device,
m_gpuData->m_gpuSolverBodies = new b3OpenCLArray<b3GpuSolverBody>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuBatchConstraints = new b3OpenCLArray<b3BatchConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuConstraintRows = new b3OpenCLArray<b3SolverConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuConstraintRows = new b3OpenCLArray<b3GpuSolverConstraint>(m_gpuData->m_context,m_gpuData->m_queue);
m_gpuData->m_gpuConstraintInfo1 = new b3OpenCLArray<unsigned int>(m_gpuData->m_context,m_gpuData->m_queue);
cl_int errNum=0;
@@ -345,7 +345,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
m_gpuData->m_gpuConstraintRows->resize(totalNumRows);
// b3ConstraintArray verify;
// b3GpuConstraintArray verify;
if (useGpuInfo2)
{
@@ -390,7 +390,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
if (info1)
{
b3SolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[batchConstraints[i].m_constraintRowOffset];
b3GpuSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[batchConstraints[i].m_constraintRowOffset];
b3GpuGenericConstraint& constraint = m_gpuData->m_cpuConstraints[i];
b3RigidBodyCL& rbA = m_gpuData->m_cpuBodies[ constraint.getRigidBodyA()];
@@ -435,7 +435,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
int j;
for ( j=0;j<info1;j++)
{
memset(&currentConstraintRow[j],0,sizeof(b3SolverConstraint));
memset(&currentConstraintRow[j],0,sizeof(b3GpuSolverConstraint));
currentConstraintRow[j].m_angularComponentA.setValue(0,0,0);
currentConstraintRow[j].m_angularComponentB.setValue(0,0,0);
currentConstraintRow[j].m_appliedImpulse = 0.f;
@@ -483,9 +483,9 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
info2.m_J2linearAxis = 0;
info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
info2.rowskip = sizeof(b3SolverConstraint)/sizeof(b3Scalar);//check this
///the size of b3SolverConstraint needs be a multiple of b3Scalar
b3Assert(info2.rowskip*sizeof(b3Scalar)== sizeof(b3SolverConstraint));
info2.rowskip = sizeof(b3GpuSolverConstraint)/sizeof(b3Scalar);//check this
///the size of b3GpuSolverConstraint needs be a multiple of b3Scalar
b3Assert(info2.rowskip*sizeof(b3Scalar)== sizeof(b3GpuSolverConstraint));
info2.m_constraintError = &currentConstraintRow->m_rhs;
currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
info2.m_damping = infoGlobal.m_damping;
@@ -498,7 +498,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlySetup(b3OpenCLArray<b3Rigi
///finalize the constraint setup
for ( j=0;j<info1;j++)
{
b3SolverConstraint& solverConstraint = currentConstraintRow[j];
b3GpuSolverConstraint& solverConstraint = currentConstraintRow[j];
if (solverConstraint.m_upperLimit>=m_gpuData->m_cpuConstraints[i].getBreakingImpulseThreshold())
{
@@ -622,7 +622,7 @@ __inline void internalApplyImpulse( b3GpuSolverBody* body, const b3Vector3& lin
}
void resolveSingleConstraintRowGeneric2( b3GpuSolverBody* body1, b3GpuSolverBody* body2, b3SolverConstraint* c)
void resolveSingleConstraintRowGeneric2( b3GpuSolverBody* body1, b3GpuSolverBody* body2, b3GpuSolverConstraint* c)
{
float deltaImpulse = c->m_rhs-b3Scalar(c->m_appliedImpulse)*c->m_cfm;
float deltaVel1Dotn = b3Dot(c->m_contactNormal,body1->m_deltaLinearVelocity) + b3Dot(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);
@@ -678,7 +678,7 @@ void b3GpuPgsJacobiSolver::averageVelocities()
}
b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlyIterations(b3OpenCLArray<b3SolverConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuSolverConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal)
{
//only create the batches once.
//@todo: incrementally update batches when constraints are added/activated and/or removed/deactivated
@@ -766,7 +766,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlyIterations(b3OpenCLArray<b
for (int jj=0;jj<c.m_numConstraintRows;jj++)
{
//
b3SolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[c.m_constraintRowOffset+jj];
b3GpuSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[c.m_constraintRowOffset+jj];
//resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
resolveSingleConstraintRowGeneric2(&m_tmpSolverBodyPool[constraint.m_solverBodyIdA],&m_tmpSolverBodyPool[constraint.m_solverBodyIdB],&constraint);
@@ -804,7 +804,7 @@ b3Scalar b3GpuPgsJacobiSolver::solveGroupCacheFriendlyIterations(b3OpenCLArray<b
int numJoints = m_tmpSolverNonContactConstraintPool.size();
for (int j=0;j<numJoints;j++)
{
b3SolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
b3GpuSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
resolveSingleConstraintRowGeneric2(&m_tmpSolverBodyPool[constraint.m_solverBodyIdA],&m_tmpSolverBodyPool[constraint.m_solverBodyIdB],&constraint);
}