Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -1,388 +1,387 @@
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//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
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static const char* batchingKernelsCL= \
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"/*\n"
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"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
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"This software is provided 'as-is', without any express or implied warranty.\n"
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"In no event will the authors be held liable for any damages arising from the use of this software.\n"
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"Permission is granted to anyone to use this software for any purpose, \n"
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"including commercial applications, and to alter it and redistribute it freely, \n"
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"subject to the following restrictions:\n"
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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.\n"
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"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
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"3. This notice may not be removed or altered from any source distribution.\n"
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"*/\n"
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"//Originally written by Takahiro Harada\n"
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"#ifndef B3_CONTACT4DATA_H\n"
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"#define B3_CONTACT4DATA_H\n"
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"#ifndef B3_FLOAT4_H\n"
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"#define B3_FLOAT4_H\n"
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"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
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"#define B3_PLATFORM_DEFINITIONS_H\n"
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"struct MyTest\n"
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"{\n"
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" int bla;\n"
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"};\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
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"#define B3_LARGE_FLOAT 1e18f\n"
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"#define B3_INFINITY 1e18f\n"
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"#define b3Assert(a)\n"
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"#define b3ConstArray(a) __global const a*\n"
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"#define b3AtomicInc atomic_inc\n"
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"#define b3AtomicAdd atomic_add\n"
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"#define b3Fabs fabs\n"
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"#define b3Sqrt native_sqrt\n"
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"#define b3Sin native_sin\n"
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"#define b3Cos native_cos\n"
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"#define B3_STATIC\n"
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"#endif\n"
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"#endif\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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" typedef float4 b3Float4;\n"
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" #define b3Float4ConstArg const b3Float4\n"
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" #define b3MakeFloat4 (float4)\n"
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" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
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" {\n"
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" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
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" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
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" return dot(a1, b1);\n"
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" }\n"
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" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
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" {\n"
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" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
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" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
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" return cross(a1, b1);\n"
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" }\n"
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" #define b3MinFloat4 min\n"
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" #define b3MaxFloat4 max\n"
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" #define b3Normalized(a) normalize(a)\n"
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"#endif \n"
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" \n"
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"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
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"{\n"
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" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
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" return false;\n"
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" return true;\n"
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"}\n"
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"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
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"{\n"
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" float maxDot = -B3_INFINITY;\n"
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" int i = 0;\n"
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" int ptIndex = -1;\n"
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" for( i = 0; i < vecLen; i++ )\n"
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" {\n"
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" float dot = b3Dot3F4(vecArray[i],vec);\n"
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" \n"
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" if( dot > maxDot )\n"
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" {\n"
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" maxDot = dot;\n"
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" ptIndex = i;\n"
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" }\n"
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" }\n"
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" b3Assert(ptIndex>=0);\n"
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" if (ptIndex<0)\n"
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" {\n"
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" ptIndex = 0;\n"
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" }\n"
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" *dotOut = maxDot;\n"
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" return ptIndex;\n"
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"}\n"
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"#endif //B3_FLOAT4_H\n"
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"typedef struct b3Contact4Data b3Contact4Data_t;\n"
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"struct b3Contact4Data\n"
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"{\n"
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" b3Float4 m_worldPosB[4];\n"
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"// b3Float4 m_localPosA[4];\n"
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"// b3Float4 m_localPosB[4];\n"
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" b3Float4 m_worldNormalOnB; // w: m_nPoints\n"
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" unsigned short m_restituitionCoeffCmp;\n"
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" unsigned short m_frictionCoeffCmp;\n"
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" int m_batchIdx;\n"
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" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
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" int m_bodyBPtrAndSignBit;\n"
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" int m_childIndexA;\n"
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" int m_childIndexB;\n"
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" int m_unused1;\n"
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" int m_unused2;\n"
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"};\n"
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"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
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"{\n"
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" return (int)contact->m_worldNormalOnB.w;\n"
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"};\n"
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"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
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"{\n"
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" contact->m_worldNormalOnB.w = (float)numPoints;\n"
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"};\n"
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"#endif //B3_CONTACT4DATA_H\n"
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"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
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"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
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"#ifdef cl_ext_atomic_counters_32\n"
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"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
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"#else\n"
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"#define counter32_t volatile __global int*\n"
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"#endif\n"
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"typedef unsigned int u32;\n"
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"typedef unsigned short u16;\n"
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"typedef unsigned char u8;\n"
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"#define GET_GROUP_IDX get_group_id(0)\n"
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"#define GET_LOCAL_IDX get_local_id(0)\n"
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"#define GET_GLOBAL_IDX get_global_id(0)\n"
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"#define GET_GROUP_SIZE get_local_size(0)\n"
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"#define GET_NUM_GROUPS get_num_groups(0)\n"
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"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
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"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
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"#define AtomInc(x) atom_inc(&(x))\n"
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"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
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"#define AppendInc(x, out) out = atomic_inc(x)\n"
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"#define AtomAdd(x, value) atom_add(&(x), value)\n"
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"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
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"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
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"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
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"#define make_float4 (float4)\n"
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"#define make_float2 (float2)\n"
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"#define make_uint4 (uint4)\n"
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"#define make_int4 (int4)\n"
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"#define make_uint2 (uint2)\n"
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"#define make_int2 (int2)\n"
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"#define max2 max\n"
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"#define min2 min\n"
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"#define WG_SIZE 64\n"
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"typedef struct \n"
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"{\n"
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" int m_n;\n"
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" int m_start;\n"
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" int m_staticIdx;\n"
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" int m_paddings[1];\n"
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"} ConstBuffer;\n"
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"typedef struct \n"
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"{\n"
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" int m_a;\n"
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" int m_b;\n"
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" u32 m_idx;\n"
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"}Elem;\n"
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"#define STACK_SIZE (WG_SIZE*10)\n"
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"//#define STACK_SIZE (WG_SIZE)\n"
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"#define RING_SIZE 1024\n"
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"#define RING_SIZE_MASK (RING_SIZE-1)\n"
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"#define CHECK_SIZE (WG_SIZE)\n"
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"#define GET_RING_CAPACITY (RING_SIZE - ldsRingEnd)\n"
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"#define RING_END ldsTmp\n"
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"u32 readBuf(__local u32* buff, int idx)\n"
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"{\n"
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" idx = idx % (32*CHECK_SIZE);\n"
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" int bitIdx = idx%32;\n"
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" int bufIdx = idx/32;\n"
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" return buff[bufIdx] & (1<<bitIdx);\n"
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"}\n"
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"void writeBuf(__local u32* buff, int idx)\n"
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"{\n"
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" idx = idx % (32*CHECK_SIZE);\n"
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" int bitIdx = idx%32;\n"
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" int bufIdx = idx/32;\n"
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"// buff[bufIdx] |= (1<<bitIdx);\n"
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" atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
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"}\n"
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"u32 tryWrite(__local u32* buff, int idx)\n"
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"{\n"
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" idx = idx % (32*CHECK_SIZE);\n"
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" int bitIdx = idx%32;\n"
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" int bufIdx = idx/32;\n"
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" u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
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" return ((ans >> bitIdx)&1) == 0;\n"
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"}\n"
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"// batching on the GPU\n"
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"__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,\n"
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" __global const u32* gN, __global const u32* gStart, __global int* batchSizes, \n"
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" int m_staticIdx )\n"
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"{\n"
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" __local u32 ldsStackIdx[STACK_SIZE];\n"
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" __local u32 ldsStackEnd;\n"
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" __local Elem ldsRingElem[RING_SIZE];\n"
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" __local u32 ldsRingEnd;\n"
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" __local u32 ldsTmp;\n"
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" __local u32 ldsCheckBuffer[CHECK_SIZE];\n"
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" __local u32 ldsFixedBuffer[CHECK_SIZE];\n"
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" __local u32 ldsGEnd;\n"
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" __local u32 ldsDstEnd;\n"
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" int wgIdx = GET_GROUP_IDX;\n"
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" int lIdx = GET_LOCAL_IDX;\n"
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" \n"
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" const int m_n = gN[wgIdx];\n"
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" const int m_start = gStart[wgIdx];\n"
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" \n"
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" if( lIdx == 0 )\n"
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" {\n"
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" ldsRingEnd = 0;\n"
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" ldsGEnd = 0;\n"
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" ldsStackEnd = 0;\n"
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" ldsDstEnd = m_start;\n"
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" }\n"
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" \n"
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" \n"
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" \n"
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"// while(1)\n"
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"//was 250\n"
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" int ie=0;\n"
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" int maxBatch = 0;\n"
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" for(ie=0; ie<50; ie++)\n"
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" {\n"
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" ldsFixedBuffer[lIdx] = 0;\n"
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" for(int giter=0; giter<4; giter++)\n"
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" {\n"
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" int ringCap = GET_RING_CAPACITY;\n"
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" \n"
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" // 1. fill ring\n"
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" if( ldsGEnd < m_n )\n"
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" {\n"
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" while( ringCap > WG_SIZE )\n"
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" {\n"
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" if( ldsGEnd >= m_n ) break;\n"
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" if( lIdx < ringCap - WG_SIZE )\n"
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" {\n"
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" int srcIdx;\n"
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" AtomInc1( ldsGEnd, srcIdx );\n"
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" if( srcIdx < m_n )\n"
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" {\n"
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" int dstIdx;\n"
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" AtomInc1( ldsRingEnd, dstIdx );\n"
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" \n"
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" int a = gConstraints[m_start+srcIdx].m_bodyAPtrAndSignBit;\n"
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" int b = gConstraints[m_start+srcIdx].m_bodyBPtrAndSignBit;\n"
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" ldsRingElem[dstIdx].m_a = (a>b)? b:a;\n"
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" ldsRingElem[dstIdx].m_b = (a>b)? a:b;\n"
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" ldsRingElem[dstIdx].m_idx = srcIdx;\n"
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" }\n"
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" }\n"
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" ringCap = GET_RING_CAPACITY;\n"
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" }\n"
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" }\n"
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" GROUP_LDS_BARRIER;\n"
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" \n"
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" // 2. fill stack\n"
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" __local Elem* dst = ldsRingElem;\n"
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" if( lIdx == 0 ) RING_END = 0;\n"
|
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" int srcIdx=lIdx;\n"
|
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" int end = ldsRingEnd;\n"
|
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" {\n"
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||||
" for(int ii=0; ii<end; ii+=WG_SIZE, srcIdx+=WG_SIZE)\n"
|
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" {\n"
|
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" Elem e;\n"
|
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" if(srcIdx<end) e = ldsRingElem[srcIdx];\n"
|
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" bool done = (srcIdx<end)?false:true;\n"
|
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" for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) ldsCheckBuffer[lIdx] = 0;\n"
|
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" \n"
|
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" if( !done )\n"
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" {\n"
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||||
" int aUsed = readBuf( ldsFixedBuffer, abs(e.m_a));\n"
|
||||
" int bUsed = readBuf( ldsFixedBuffer, abs(e.m_b));\n"
|
||||
" if( aUsed==0 && bUsed==0 )\n"
|
||||
" {\n"
|
||||
" int aAvailable=1;\n"
|
||||
" int bAvailable=1;\n"
|
||||
" int ea = abs(e.m_a);\n"
|
||||
" int eb = abs(e.m_b);\n"
|
||||
" bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n"
|
||||
" bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n"
|
||||
" \n"
|
||||
" if (!aStatic)\n"
|
||||
" aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
|
||||
" if (!bStatic)\n"
|
||||
" bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
|
||||
" \n"
|
||||
" //aAvailable = aStatic? 1: aAvailable;\n"
|
||||
" //bAvailable = bStatic? 1: bAvailable;\n"
|
||||
" bool success = (aAvailable && bAvailable);\n"
|
||||
" if(success)\n"
|
||||
" {\n"
|
||||
" \n"
|
||||
" if (!aStatic)\n"
|
||||
" writeBuf( ldsFixedBuffer, ea );\n"
|
||||
" if (!bStatic)\n"
|
||||
" writeBuf( ldsFixedBuffer, eb );\n"
|
||||
" }\n"
|
||||
" done = success;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" // put it aside\n"
|
||||
" if(srcIdx<end)\n"
|
||||
" {\n"
|
||||
" if( done )\n"
|
||||
" {\n"
|
||||
" int dstIdx; AtomInc1( ldsStackEnd, dstIdx );\n"
|
||||
" if( dstIdx < STACK_SIZE )\n"
|
||||
" ldsStackIdx[dstIdx] = e.m_idx;\n"
|
||||
" else{\n"
|
||||
" done = false;\n"
|
||||
" AtomAdd( ldsStackEnd, -1 );\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" if( !done )\n"
|
||||
" {\n"
|
||||
" int dstIdx; AtomInc1( RING_END, dstIdx );\n"
|
||||
" dst[dstIdx] = e;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" // if filled, flush\n"
|
||||
" if( ldsStackEnd == STACK_SIZE )\n"
|
||||
" {\n"
|
||||
" for(int i=lIdx; i<STACK_SIZE; i+=WG_SIZE)\n"
|
||||
" {\n"
|
||||
" int idx = m_start + ldsStackIdx[i];\n"
|
||||
" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
|
||||
" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
|
||||
" gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
|
||||
" }\n"
|
||||
" if( lIdx == 0 ) ldsStackEnd = 0;\n"
|
||||
" //for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) \n"
|
||||
" ldsFixedBuffer[lIdx] = 0;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" if( lIdx == 0 ) ldsRingEnd = RING_END;\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" for(int i=lIdx; i<ldsStackEnd; i+=WG_SIZE)\n"
|
||||
" {\n"
|
||||
" int idx = m_start + ldsStackIdx[i];\n"
|
||||
" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
|
||||
" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
|
||||
" gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
|
||||
" }\n"
|
||||
" // in case it couldn't consume any pair. Flush them\n"
|
||||
" // todo. Serial batch worth while?\n"
|
||||
" if( ldsStackEnd == 0 )\n"
|
||||
" {\n"
|
||||
" for(int i=lIdx; i<ldsRingEnd; i+=WG_SIZE)\n"
|
||||
" {\n"
|
||||
" int idx = m_start + ldsRingElem[i].m_idx;\n"
|
||||
" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
|
||||
" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
|
||||
" int curBatch = 100+i;\n"
|
||||
" if (maxBatch < curBatch)\n"
|
||||
" maxBatch = curBatch;\n"
|
||||
" \n"
|
||||
" gConstraintsOut[ dstIdx ].m_batchIdx = curBatch;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" if( lIdx == 0 ) ldsRingEnd = 0;\n"
|
||||
" }\n"
|
||||
" if( lIdx == 0 ) ldsStackEnd = 0;\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" // termination\n"
|
||||
" if( ldsGEnd == m_n && ldsRingEnd == 0 )\n"
|
||||
" break;\n"
|
||||
" }\n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" if (maxBatch < ie)\n"
|
||||
" maxBatch=ie;\n"
|
||||
" batchSizes[wgIdx]=maxBatch;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
;
|
||||
static const char* batchingKernelsCL =
|
||||
"/*\n"
|
||||
"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
|
||||
"This software is provided 'as-is', without any express or implied warranty.\n"
|
||||
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
|
||||
"Permission is granted to anyone to use this software for any purpose, \n"
|
||||
"including commercial applications, and to alter it and redistribute it freely, \n"
|
||||
"subject to the following restrictions:\n"
|
||||
"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.\n"
|
||||
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
|
||||
"3. This notice may not be removed or altered from any source distribution.\n"
|
||||
"*/\n"
|
||||
"//Originally written by Takahiro Harada\n"
|
||||
"#ifndef B3_CONTACT4DATA_H\n"
|
||||
"#define B3_CONTACT4DATA_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#define B3_FLOAT4_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#define B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"struct MyTest\n"
|
||||
"{\n"
|
||||
" int bla;\n"
|
||||
"};\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
|
||||
"#define B3_LARGE_FLOAT 1e18f\n"
|
||||
"#define B3_INFINITY 1e18f\n"
|
||||
"#define b3Assert(a)\n"
|
||||
"#define b3ConstArray(a) __global const a*\n"
|
||||
"#define b3AtomicInc atomic_inc\n"
|
||||
"#define b3AtomicAdd atomic_add\n"
|
||||
"#define b3Fabs fabs\n"
|
||||
"#define b3Sqrt native_sqrt\n"
|
||||
"#define b3Sin native_sin\n"
|
||||
"#define b3Cos native_cos\n"
|
||||
"#define B3_STATIC\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Float4;\n"
|
||||
" #define b3Float4ConstArg const b3Float4\n"
|
||||
" #define b3MakeFloat4 (float4)\n"
|
||||
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
" }\n"
|
||||
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return cross(a1, b1);\n"
|
||||
" }\n"
|
||||
" #define b3MinFloat4 min\n"
|
||||
" #define b3MaxFloat4 max\n"
|
||||
" #define b3Normalized(a) normalize(a)\n"
|
||||
"#endif \n"
|
||||
" \n"
|
||||
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
|
||||
"{\n"
|
||||
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
|
||||
" return false;\n"
|
||||
" return true;\n"
|
||||
"}\n"
|
||||
"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
|
||||
"{\n"
|
||||
" float maxDot = -B3_INFINITY;\n"
|
||||
" int i = 0;\n"
|
||||
" int ptIndex = -1;\n"
|
||||
" for( i = 0; i < vecLen; i++ )\n"
|
||||
" {\n"
|
||||
" float dot = b3Dot3F4(vecArray[i],vec);\n"
|
||||
" \n"
|
||||
" if( dot > maxDot )\n"
|
||||
" {\n"
|
||||
" maxDot = dot;\n"
|
||||
" ptIndex = i;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" b3Assert(ptIndex>=0);\n"
|
||||
" if (ptIndex<0)\n"
|
||||
" {\n"
|
||||
" ptIndex = 0;\n"
|
||||
" }\n"
|
||||
" *dotOut = maxDot;\n"
|
||||
" return ptIndex;\n"
|
||||
"}\n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"typedef struct b3Contact4Data b3Contact4Data_t;\n"
|
||||
"struct b3Contact4Data\n"
|
||||
"{\n"
|
||||
" b3Float4 m_worldPosB[4];\n"
|
||||
"// b3Float4 m_localPosA[4];\n"
|
||||
"// b3Float4 m_localPosB[4];\n"
|
||||
" b3Float4 m_worldNormalOnB; // w: m_nPoints\n"
|
||||
" unsigned short m_restituitionCoeffCmp;\n"
|
||||
" unsigned short m_frictionCoeffCmp;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
|
||||
" int m_bodyBPtrAndSignBit;\n"
|
||||
" int m_childIndexA;\n"
|
||||
" int m_childIndexB;\n"
|
||||
" int m_unused1;\n"
|
||||
" int m_unused2;\n"
|
||||
"};\n"
|
||||
"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
|
||||
"{\n"
|
||||
" return (int)contact->m_worldNormalOnB.w;\n"
|
||||
"};\n"
|
||||
"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
|
||||
"{\n"
|
||||
" contact->m_worldNormalOnB.w = (float)numPoints;\n"
|
||||
"};\n"
|
||||
"#endif //B3_CONTACT4DATA_H\n"
|
||||
"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
|
||||
"#ifdef cl_ext_atomic_counters_32\n"
|
||||
"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
|
||||
"#else\n"
|
||||
"#define counter32_t volatile __global int*\n"
|
||||
"#endif\n"
|
||||
"typedef unsigned int u32;\n"
|
||||
"typedef unsigned short u16;\n"
|
||||
"typedef unsigned char u8;\n"
|
||||
"#define GET_GROUP_IDX get_group_id(0)\n"
|
||||
"#define GET_LOCAL_IDX get_local_id(0)\n"
|
||||
"#define GET_GLOBAL_IDX get_global_id(0)\n"
|
||||
"#define GET_GROUP_SIZE get_local_size(0)\n"
|
||||
"#define GET_NUM_GROUPS get_num_groups(0)\n"
|
||||
"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define AtomInc(x) atom_inc(&(x))\n"
|
||||
"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
|
||||
"#define AppendInc(x, out) out = atomic_inc(x)\n"
|
||||
"#define AtomAdd(x, value) atom_add(&(x), value)\n"
|
||||
"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
|
||||
"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
|
||||
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
||||
"#define make_float4 (float4)\n"
|
||||
"#define make_float2 (float2)\n"
|
||||
"#define make_uint4 (uint4)\n"
|
||||
"#define make_int4 (int4)\n"
|
||||
"#define make_uint2 (uint2)\n"
|
||||
"#define make_int2 (int2)\n"
|
||||
"#define max2 max\n"
|
||||
"#define min2 min\n"
|
||||
"#define WG_SIZE 64\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" int m_n;\n"
|
||||
" int m_start;\n"
|
||||
" int m_staticIdx;\n"
|
||||
" int m_paddings[1];\n"
|
||||
"} ConstBuffer;\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" int m_a;\n"
|
||||
" int m_b;\n"
|
||||
" u32 m_idx;\n"
|
||||
"}Elem;\n"
|
||||
"#define STACK_SIZE (WG_SIZE*10)\n"
|
||||
"//#define STACK_SIZE (WG_SIZE)\n"
|
||||
"#define RING_SIZE 1024\n"
|
||||
"#define RING_SIZE_MASK (RING_SIZE-1)\n"
|
||||
"#define CHECK_SIZE (WG_SIZE)\n"
|
||||
"#define GET_RING_CAPACITY (RING_SIZE - ldsRingEnd)\n"
|
||||
"#define RING_END ldsTmp\n"
|
||||
"u32 readBuf(__local u32* buff, int idx)\n"
|
||||
"{\n"
|
||||
" idx = idx % (32*CHECK_SIZE);\n"
|
||||
" int bitIdx = idx%32;\n"
|
||||
" int bufIdx = idx/32;\n"
|
||||
" return buff[bufIdx] & (1<<bitIdx);\n"
|
||||
"}\n"
|
||||
"void writeBuf(__local u32* buff, int idx)\n"
|
||||
"{\n"
|
||||
" idx = idx % (32*CHECK_SIZE);\n"
|
||||
" int bitIdx = idx%32;\n"
|
||||
" int bufIdx = idx/32;\n"
|
||||
"// buff[bufIdx] |= (1<<bitIdx);\n"
|
||||
" atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
|
||||
"}\n"
|
||||
"u32 tryWrite(__local u32* buff, int idx)\n"
|
||||
"{\n"
|
||||
" idx = idx % (32*CHECK_SIZE);\n"
|
||||
" int bitIdx = idx%32;\n"
|
||||
" int bufIdx = idx/32;\n"
|
||||
" u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
|
||||
" return ((ans >> bitIdx)&1) == 0;\n"
|
||||
"}\n"
|
||||
"// batching on the GPU\n"
|
||||
"__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,\n"
|
||||
" __global const u32* gN, __global const u32* gStart, __global int* batchSizes, \n"
|
||||
" int m_staticIdx )\n"
|
||||
"{\n"
|
||||
" __local u32 ldsStackIdx[STACK_SIZE];\n"
|
||||
" __local u32 ldsStackEnd;\n"
|
||||
" __local Elem ldsRingElem[RING_SIZE];\n"
|
||||
" __local u32 ldsRingEnd;\n"
|
||||
" __local u32 ldsTmp;\n"
|
||||
" __local u32 ldsCheckBuffer[CHECK_SIZE];\n"
|
||||
" __local u32 ldsFixedBuffer[CHECK_SIZE];\n"
|
||||
" __local u32 ldsGEnd;\n"
|
||||
" __local u32 ldsDstEnd;\n"
|
||||
" int wgIdx = GET_GROUP_IDX;\n"
|
||||
" int lIdx = GET_LOCAL_IDX;\n"
|
||||
" \n"
|
||||
" const int m_n = gN[wgIdx];\n"
|
||||
" const int m_start = gStart[wgIdx];\n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" ldsRingEnd = 0;\n"
|
||||
" ldsGEnd = 0;\n"
|
||||
" ldsStackEnd = 0;\n"
|
||||
" ldsDstEnd = m_start;\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
"// while(1)\n"
|
||||
"//was 250\n"
|
||||
" int ie=0;\n"
|
||||
" int maxBatch = 0;\n"
|
||||
" for(ie=0; ie<50; ie++)\n"
|
||||
" {\n"
|
||||
" ldsFixedBuffer[lIdx] = 0;\n"
|
||||
" for(int giter=0; giter<4; giter++)\n"
|
||||
" {\n"
|
||||
" int ringCap = GET_RING_CAPACITY;\n"
|
||||
" \n"
|
||||
" // 1. fill ring\n"
|
||||
" if( ldsGEnd < m_n )\n"
|
||||
" {\n"
|
||||
" while( ringCap > WG_SIZE )\n"
|
||||
" {\n"
|
||||
" if( ldsGEnd >= m_n ) break;\n"
|
||||
" if( lIdx < ringCap - WG_SIZE )\n"
|
||||
" {\n"
|
||||
" int srcIdx;\n"
|
||||
" AtomInc1( ldsGEnd, srcIdx );\n"
|
||||
" if( srcIdx < m_n )\n"
|
||||
" {\n"
|
||||
" int dstIdx;\n"
|
||||
" AtomInc1( ldsRingEnd, dstIdx );\n"
|
||||
" \n"
|
||||
" int a = gConstraints[m_start+srcIdx].m_bodyAPtrAndSignBit;\n"
|
||||
" int b = gConstraints[m_start+srcIdx].m_bodyBPtrAndSignBit;\n"
|
||||
" ldsRingElem[dstIdx].m_a = (a>b)? b:a;\n"
|
||||
" ldsRingElem[dstIdx].m_b = (a>b)? a:b;\n"
|
||||
" ldsRingElem[dstIdx].m_idx = srcIdx;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" ringCap = GET_RING_CAPACITY;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" \n"
|
||||
" // 2. fill stack\n"
|
||||
" __local Elem* dst = ldsRingElem;\n"
|
||||
" if( lIdx == 0 ) RING_END = 0;\n"
|
||||
" int srcIdx=lIdx;\n"
|
||||
" int end = ldsRingEnd;\n"
|
||||
" {\n"
|
||||
" for(int ii=0; ii<end; ii+=WG_SIZE, srcIdx+=WG_SIZE)\n"
|
||||
" {\n"
|
||||
" Elem e;\n"
|
||||
" if(srcIdx<end) e = ldsRingElem[srcIdx];\n"
|
||||
" bool done = (srcIdx<end)?false:true;\n"
|
||||
" for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) ldsCheckBuffer[lIdx] = 0;\n"
|
||||
" \n"
|
||||
" if( !done )\n"
|
||||
" {\n"
|
||||
" int aUsed = readBuf( ldsFixedBuffer, abs(e.m_a));\n"
|
||||
" int bUsed = readBuf( ldsFixedBuffer, abs(e.m_b));\n"
|
||||
" if( aUsed==0 && bUsed==0 )\n"
|
||||
" {\n"
|
||||
" int aAvailable=1;\n"
|
||||
" int bAvailable=1;\n"
|
||||
" int ea = abs(e.m_a);\n"
|
||||
" int eb = abs(e.m_b);\n"
|
||||
" bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n"
|
||||
" bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n"
|
||||
" \n"
|
||||
" if (!aStatic)\n"
|
||||
" aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
|
||||
" if (!bStatic)\n"
|
||||
" bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
|
||||
" \n"
|
||||
" //aAvailable = aStatic? 1: aAvailable;\n"
|
||||
" //bAvailable = bStatic? 1: bAvailable;\n"
|
||||
" bool success = (aAvailable && bAvailable);\n"
|
||||
" if(success)\n"
|
||||
" {\n"
|
||||
" \n"
|
||||
" if (!aStatic)\n"
|
||||
" writeBuf( ldsFixedBuffer, ea );\n"
|
||||
" if (!bStatic)\n"
|
||||
" writeBuf( ldsFixedBuffer, eb );\n"
|
||||
" }\n"
|
||||
" done = success;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" // put it aside\n"
|
||||
" if(srcIdx<end)\n"
|
||||
" {\n"
|
||||
" if( done )\n"
|
||||
" {\n"
|
||||
" int dstIdx; AtomInc1( ldsStackEnd, dstIdx );\n"
|
||||
" if( dstIdx < STACK_SIZE )\n"
|
||||
" ldsStackIdx[dstIdx] = e.m_idx;\n"
|
||||
" else{\n"
|
||||
" done = false;\n"
|
||||
" AtomAdd( ldsStackEnd, -1 );\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" if( !done )\n"
|
||||
" {\n"
|
||||
" int dstIdx; AtomInc1( RING_END, dstIdx );\n"
|
||||
" dst[dstIdx] = e;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" // if filled, flush\n"
|
||||
" if( ldsStackEnd == STACK_SIZE )\n"
|
||||
" {\n"
|
||||
" for(int i=lIdx; i<STACK_SIZE; i+=WG_SIZE)\n"
|
||||
" {\n"
|
||||
" int idx = m_start + ldsStackIdx[i];\n"
|
||||
" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
|
||||
" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
|
||||
" gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
|
||||
" }\n"
|
||||
" if( lIdx == 0 ) ldsStackEnd = 0;\n"
|
||||
" //for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) \n"
|
||||
" ldsFixedBuffer[lIdx] = 0;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" if( lIdx == 0 ) ldsRingEnd = RING_END;\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" for(int i=lIdx; i<ldsStackEnd; i+=WG_SIZE)\n"
|
||||
" {\n"
|
||||
" int idx = m_start + ldsStackIdx[i];\n"
|
||||
" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
|
||||
" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
|
||||
" gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
|
||||
" }\n"
|
||||
" // in case it couldn't consume any pair. Flush them\n"
|
||||
" // todo. Serial batch worth while?\n"
|
||||
" if( ldsStackEnd == 0 )\n"
|
||||
" {\n"
|
||||
" for(int i=lIdx; i<ldsRingEnd; i+=WG_SIZE)\n"
|
||||
" {\n"
|
||||
" int idx = m_start + ldsRingElem[i].m_idx;\n"
|
||||
" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
|
||||
" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
|
||||
" int curBatch = 100+i;\n"
|
||||
" if (maxBatch < curBatch)\n"
|
||||
" maxBatch = curBatch;\n"
|
||||
" \n"
|
||||
" gConstraintsOut[ dstIdx ].m_batchIdx = curBatch;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" if( lIdx == 0 ) ldsRingEnd = 0;\n"
|
||||
" }\n"
|
||||
" if( lIdx == 0 ) ldsStackEnd = 0;\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" // termination\n"
|
||||
" if( ldsGEnd == m_n && ldsRingEnd == 0 )\n"
|
||||
" break;\n"
|
||||
" }\n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" if (maxBatch < ie)\n"
|
||||
" maxBatch=ie;\n"
|
||||
" batchSizes[wgIdx]=maxBatch;\n"
|
||||
" }\n"
|
||||
"}\n";
|
||||
|
||||
@@ -1,291 +1,290 @@
|
||||
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
|
||||
static const char* batchingKernelsNewCL= \
|
||||
"/*\n"
|
||||
"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
|
||||
"This software is provided 'as-is', without any express or implied warranty.\n"
|
||||
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
|
||||
"Permission is granted to anyone to use this software for any purpose, \n"
|
||||
"including commercial applications, and to alter it and redistribute it freely, \n"
|
||||
"subject to the following restrictions:\n"
|
||||
"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.\n"
|
||||
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
|
||||
"3. This notice may not be removed or altered from any source distribution.\n"
|
||||
"*/\n"
|
||||
"//Originally written by Erwin Coumans\n"
|
||||
"#ifndef B3_CONTACT4DATA_H\n"
|
||||
"#define B3_CONTACT4DATA_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#define B3_FLOAT4_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#define B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"struct MyTest\n"
|
||||
"{\n"
|
||||
" int bla;\n"
|
||||
"};\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
|
||||
"#define B3_LARGE_FLOAT 1e18f\n"
|
||||
"#define B3_INFINITY 1e18f\n"
|
||||
"#define b3Assert(a)\n"
|
||||
"#define b3ConstArray(a) __global const a*\n"
|
||||
"#define b3AtomicInc atomic_inc\n"
|
||||
"#define b3AtomicAdd atomic_add\n"
|
||||
"#define b3Fabs fabs\n"
|
||||
"#define b3Sqrt native_sqrt\n"
|
||||
"#define b3Sin native_sin\n"
|
||||
"#define b3Cos native_cos\n"
|
||||
"#define B3_STATIC\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Float4;\n"
|
||||
" #define b3Float4ConstArg const b3Float4\n"
|
||||
" #define b3MakeFloat4 (float4)\n"
|
||||
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
" }\n"
|
||||
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return cross(a1, b1);\n"
|
||||
" }\n"
|
||||
" #define b3MinFloat4 min\n"
|
||||
" #define b3MaxFloat4 max\n"
|
||||
" #define b3Normalized(a) normalize(a)\n"
|
||||
"#endif \n"
|
||||
" \n"
|
||||
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
|
||||
"{\n"
|
||||
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
|
||||
" return false;\n"
|
||||
" return true;\n"
|
||||
"}\n"
|
||||
"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
|
||||
"{\n"
|
||||
" float maxDot = -B3_INFINITY;\n"
|
||||
" int i = 0;\n"
|
||||
" int ptIndex = -1;\n"
|
||||
" for( i = 0; i < vecLen; i++ )\n"
|
||||
" {\n"
|
||||
" float dot = b3Dot3F4(vecArray[i],vec);\n"
|
||||
" \n"
|
||||
" if( dot > maxDot )\n"
|
||||
" {\n"
|
||||
" maxDot = dot;\n"
|
||||
" ptIndex = i;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" b3Assert(ptIndex>=0);\n"
|
||||
" if (ptIndex<0)\n"
|
||||
" {\n"
|
||||
" ptIndex = 0;\n"
|
||||
" }\n"
|
||||
" *dotOut = maxDot;\n"
|
||||
" return ptIndex;\n"
|
||||
"}\n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"typedef struct b3Contact4Data b3Contact4Data_t;\n"
|
||||
"struct b3Contact4Data\n"
|
||||
"{\n"
|
||||
" b3Float4 m_worldPosB[4];\n"
|
||||
"// b3Float4 m_localPosA[4];\n"
|
||||
"// b3Float4 m_localPosB[4];\n"
|
||||
" b3Float4 m_worldNormalOnB; // w: m_nPoints\n"
|
||||
" unsigned short m_restituitionCoeffCmp;\n"
|
||||
" unsigned short m_frictionCoeffCmp;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
|
||||
" int m_bodyBPtrAndSignBit;\n"
|
||||
" int m_childIndexA;\n"
|
||||
" int m_childIndexB;\n"
|
||||
" int m_unused1;\n"
|
||||
" int m_unused2;\n"
|
||||
"};\n"
|
||||
"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
|
||||
"{\n"
|
||||
" return (int)contact->m_worldNormalOnB.w;\n"
|
||||
"};\n"
|
||||
"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
|
||||
"{\n"
|
||||
" contact->m_worldNormalOnB.w = (float)numPoints;\n"
|
||||
"};\n"
|
||||
"#endif //B3_CONTACT4DATA_H\n"
|
||||
"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
|
||||
"#ifdef cl_ext_atomic_counters_32\n"
|
||||
"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
|
||||
"#else\n"
|
||||
"#define counter32_t volatile __global int*\n"
|
||||
"#endif\n"
|
||||
"#define SIMD_WIDTH 64\n"
|
||||
"typedef unsigned int u32;\n"
|
||||
"typedef unsigned short u16;\n"
|
||||
"typedef unsigned char u8;\n"
|
||||
"#define GET_GROUP_IDX get_group_id(0)\n"
|
||||
"#define GET_LOCAL_IDX get_local_id(0)\n"
|
||||
"#define GET_GLOBAL_IDX get_global_id(0)\n"
|
||||
"#define GET_GROUP_SIZE get_local_size(0)\n"
|
||||
"#define GET_NUM_GROUPS get_num_groups(0)\n"
|
||||
"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define AtomInc(x) atom_inc(&(x))\n"
|
||||
"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
|
||||
"#define AppendInc(x, out) out = atomic_inc(x)\n"
|
||||
"#define AtomAdd(x, value) atom_add(&(x), value)\n"
|
||||
"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
|
||||
"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
|
||||
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
||||
"#define make_float4 (float4)\n"
|
||||
"#define make_float2 (float2)\n"
|
||||
"#define make_uint4 (uint4)\n"
|
||||
"#define make_int4 (int4)\n"
|
||||
"#define make_uint2 (uint2)\n"
|
||||
"#define make_int2 (int2)\n"
|
||||
"#define max2 max\n"
|
||||
"#define min2 min\n"
|
||||
"#define WG_SIZE 64\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" int m_n;\n"
|
||||
" int m_start;\n"
|
||||
" int m_staticIdx;\n"
|
||||
" int m_paddings[1];\n"
|
||||
"} ConstBuffer;\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" int m_a;\n"
|
||||
" int m_b;\n"
|
||||
" u32 m_idx;\n"
|
||||
"}Elem;\n"
|
||||
"// batching on the GPU\n"
|
||||
"__kernel void CreateBatchesBruteForce( __global struct b3Contact4Data* gConstraints, __global const u32* gN, __global const u32* gStart, int m_staticIdx )\n"
|
||||
"{\n"
|
||||
" int wgIdx = GET_GROUP_IDX;\n"
|
||||
" int lIdx = GET_LOCAL_IDX;\n"
|
||||
" \n"
|
||||
" const int m_n = gN[wgIdx];\n"
|
||||
" const int m_start = gStart[wgIdx];\n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" for (int i=0;i<m_n;i++)\n"
|
||||
" {\n"
|
||||
" int srcIdx = i+m_start;\n"
|
||||
" int batchIndex = i;\n"
|
||||
" gConstraints[ srcIdx ].m_batchIdx = batchIndex; \n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"#define CHECK_SIZE (WG_SIZE)\n"
|
||||
"u32 readBuf(__local u32* buff, int idx)\n"
|
||||
"{\n"
|
||||
" idx = idx % (32*CHECK_SIZE);\n"
|
||||
" int bitIdx = idx%32;\n"
|
||||
" int bufIdx = idx/32;\n"
|
||||
" return buff[bufIdx] & (1<<bitIdx);\n"
|
||||
"}\n"
|
||||
"void writeBuf(__local u32* buff, int idx)\n"
|
||||
"{\n"
|
||||
" idx = idx % (32*CHECK_SIZE);\n"
|
||||
" int bitIdx = idx%32;\n"
|
||||
" int bufIdx = idx/32;\n"
|
||||
" buff[bufIdx] |= (1<<bitIdx);\n"
|
||||
" //atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
|
||||
"}\n"
|
||||
"u32 tryWrite(__local u32* buff, int idx)\n"
|
||||
"{\n"
|
||||
" idx = idx % (32*CHECK_SIZE);\n"
|
||||
" int bitIdx = idx%32;\n"
|
||||
" int bufIdx = idx/32;\n"
|
||||
" u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
|
||||
" return ((ans >> bitIdx)&1) == 0;\n"
|
||||
"}\n"
|
||||
"// batching on the GPU\n"
|
||||
"__kernel void CreateBatchesNew( __global struct b3Contact4Data* gConstraints, __global const u32* gN, __global const u32* gStart, __global int* batchSizes, int staticIdx )\n"
|
||||
"{\n"
|
||||
" int wgIdx = GET_GROUP_IDX;\n"
|
||||
" int lIdx = GET_LOCAL_IDX;\n"
|
||||
" const int numConstraints = gN[wgIdx];\n"
|
||||
" const int m_start = gStart[wgIdx];\n"
|
||||
" b3Contact4Data_t tmp;\n"
|
||||
" \n"
|
||||
" __local u32 ldsFixedBuffer[CHECK_SIZE];\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" __global struct b3Contact4Data* cs = &gConstraints[m_start]; \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" int numValidConstraints = 0;\n"
|
||||
" int batchIdx = 0;\n"
|
||||
" while( numValidConstraints < numConstraints)\n"
|
||||
" {\n"
|
||||
" int nCurrentBatch = 0;\n"
|
||||
" // clear flag\n"
|
||||
" \n"
|
||||
" for(int i=0; i<CHECK_SIZE; i++) \n"
|
||||
" ldsFixedBuffer[i] = 0; \n"
|
||||
" for(int i=numValidConstraints; i<numConstraints; i++)\n"
|
||||
" {\n"
|
||||
" int bodyAS = cs[i].m_bodyAPtrAndSignBit;\n"
|
||||
" int bodyBS = cs[i].m_bodyBPtrAndSignBit;\n"
|
||||
" int bodyA = abs(bodyAS);\n"
|
||||
" int bodyB = abs(bodyBS);\n"
|
||||
" bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;\n"
|
||||
" bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;\n"
|
||||
" int aUnavailable = aIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyA);\n"
|
||||
" int bUnavailable = bIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyB);\n"
|
||||
" \n"
|
||||
" if( aUnavailable==0 && bUnavailable==0 ) // ok\n"
|
||||
" {\n"
|
||||
" if (!aIsStatic)\n"
|
||||
" {\n"
|
||||
" writeBuf( ldsFixedBuffer, bodyA );\n"
|
||||
" }\n"
|
||||
" if (!bIsStatic)\n"
|
||||
" {\n"
|
||||
" writeBuf( ldsFixedBuffer, bodyB );\n"
|
||||
" }\n"
|
||||
" cs[i].m_batchIdx = batchIdx;\n"
|
||||
" if (i!=numValidConstraints)\n"
|
||||
" {\n"
|
||||
" tmp = cs[i];\n"
|
||||
" cs[i] = cs[numValidConstraints];\n"
|
||||
" cs[numValidConstraints] = tmp;\n"
|
||||
" }\n"
|
||||
" numValidConstraints++;\n"
|
||||
" \n"
|
||||
" nCurrentBatch++;\n"
|
||||
" if( nCurrentBatch == SIMD_WIDTH)\n"
|
||||
" {\n"
|
||||
" nCurrentBatch = 0;\n"
|
||||
" for(int i=0; i<CHECK_SIZE; i++) \n"
|
||||
" ldsFixedBuffer[i] = 0;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" }//for\n"
|
||||
" batchIdx ++;\n"
|
||||
" }//while\n"
|
||||
" \n"
|
||||
" batchSizes[wgIdx] = batchIdx;\n"
|
||||
" }//if( lIdx == 0 )\n"
|
||||
" \n"
|
||||
" //return batchIdx;\n"
|
||||
"}\n"
|
||||
;
|
||||
static const char* batchingKernelsNewCL =
|
||||
"/*\n"
|
||||
"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
|
||||
"This software is provided 'as-is', without any express or implied warranty.\n"
|
||||
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
|
||||
"Permission is granted to anyone to use this software for any purpose, \n"
|
||||
"including commercial applications, and to alter it and redistribute it freely, \n"
|
||||
"subject to the following restrictions:\n"
|
||||
"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.\n"
|
||||
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
|
||||
"3. This notice may not be removed or altered from any source distribution.\n"
|
||||
"*/\n"
|
||||
"//Originally written by Erwin Coumans\n"
|
||||
"#ifndef B3_CONTACT4DATA_H\n"
|
||||
"#define B3_CONTACT4DATA_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#define B3_FLOAT4_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#define B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"struct MyTest\n"
|
||||
"{\n"
|
||||
" int bla;\n"
|
||||
"};\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
|
||||
"#define B3_LARGE_FLOAT 1e18f\n"
|
||||
"#define B3_INFINITY 1e18f\n"
|
||||
"#define b3Assert(a)\n"
|
||||
"#define b3ConstArray(a) __global const a*\n"
|
||||
"#define b3AtomicInc atomic_inc\n"
|
||||
"#define b3AtomicAdd atomic_add\n"
|
||||
"#define b3Fabs fabs\n"
|
||||
"#define b3Sqrt native_sqrt\n"
|
||||
"#define b3Sin native_sin\n"
|
||||
"#define b3Cos native_cos\n"
|
||||
"#define B3_STATIC\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Float4;\n"
|
||||
" #define b3Float4ConstArg const b3Float4\n"
|
||||
" #define b3MakeFloat4 (float4)\n"
|
||||
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
" }\n"
|
||||
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return cross(a1, b1);\n"
|
||||
" }\n"
|
||||
" #define b3MinFloat4 min\n"
|
||||
" #define b3MaxFloat4 max\n"
|
||||
" #define b3Normalized(a) normalize(a)\n"
|
||||
"#endif \n"
|
||||
" \n"
|
||||
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
|
||||
"{\n"
|
||||
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
|
||||
" return false;\n"
|
||||
" return true;\n"
|
||||
"}\n"
|
||||
"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
|
||||
"{\n"
|
||||
" float maxDot = -B3_INFINITY;\n"
|
||||
" int i = 0;\n"
|
||||
" int ptIndex = -1;\n"
|
||||
" for( i = 0; i < vecLen; i++ )\n"
|
||||
" {\n"
|
||||
" float dot = b3Dot3F4(vecArray[i],vec);\n"
|
||||
" \n"
|
||||
" if( dot > maxDot )\n"
|
||||
" {\n"
|
||||
" maxDot = dot;\n"
|
||||
" ptIndex = i;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" b3Assert(ptIndex>=0);\n"
|
||||
" if (ptIndex<0)\n"
|
||||
" {\n"
|
||||
" ptIndex = 0;\n"
|
||||
" }\n"
|
||||
" *dotOut = maxDot;\n"
|
||||
" return ptIndex;\n"
|
||||
"}\n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"typedef struct b3Contact4Data b3Contact4Data_t;\n"
|
||||
"struct b3Contact4Data\n"
|
||||
"{\n"
|
||||
" b3Float4 m_worldPosB[4];\n"
|
||||
"// b3Float4 m_localPosA[4];\n"
|
||||
"// b3Float4 m_localPosB[4];\n"
|
||||
" b3Float4 m_worldNormalOnB; // w: m_nPoints\n"
|
||||
" unsigned short m_restituitionCoeffCmp;\n"
|
||||
" unsigned short m_frictionCoeffCmp;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n"
|
||||
" int m_bodyBPtrAndSignBit;\n"
|
||||
" int m_childIndexA;\n"
|
||||
" int m_childIndexB;\n"
|
||||
" int m_unused1;\n"
|
||||
" int m_unused2;\n"
|
||||
"};\n"
|
||||
"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n"
|
||||
"{\n"
|
||||
" return (int)contact->m_worldNormalOnB.w;\n"
|
||||
"};\n"
|
||||
"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n"
|
||||
"{\n"
|
||||
" contact->m_worldNormalOnB.w = (float)numPoints;\n"
|
||||
"};\n"
|
||||
"#endif //B3_CONTACT4DATA_H\n"
|
||||
"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
|
||||
"#ifdef cl_ext_atomic_counters_32\n"
|
||||
"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
|
||||
"#else\n"
|
||||
"#define counter32_t volatile __global int*\n"
|
||||
"#endif\n"
|
||||
"#define SIMD_WIDTH 64\n"
|
||||
"typedef unsigned int u32;\n"
|
||||
"typedef unsigned short u16;\n"
|
||||
"typedef unsigned char u8;\n"
|
||||
"#define GET_GROUP_IDX get_group_id(0)\n"
|
||||
"#define GET_LOCAL_IDX get_local_id(0)\n"
|
||||
"#define GET_GLOBAL_IDX get_global_id(0)\n"
|
||||
"#define GET_GROUP_SIZE get_local_size(0)\n"
|
||||
"#define GET_NUM_GROUPS get_num_groups(0)\n"
|
||||
"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define AtomInc(x) atom_inc(&(x))\n"
|
||||
"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
|
||||
"#define AppendInc(x, out) out = atomic_inc(x)\n"
|
||||
"#define AtomAdd(x, value) atom_add(&(x), value)\n"
|
||||
"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
|
||||
"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
|
||||
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
||||
"#define make_float4 (float4)\n"
|
||||
"#define make_float2 (float2)\n"
|
||||
"#define make_uint4 (uint4)\n"
|
||||
"#define make_int4 (int4)\n"
|
||||
"#define make_uint2 (uint2)\n"
|
||||
"#define make_int2 (int2)\n"
|
||||
"#define max2 max\n"
|
||||
"#define min2 min\n"
|
||||
"#define WG_SIZE 64\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" int m_n;\n"
|
||||
" int m_start;\n"
|
||||
" int m_staticIdx;\n"
|
||||
" int m_paddings[1];\n"
|
||||
"} ConstBuffer;\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" int m_a;\n"
|
||||
" int m_b;\n"
|
||||
" u32 m_idx;\n"
|
||||
"}Elem;\n"
|
||||
"// batching on the GPU\n"
|
||||
"__kernel void CreateBatchesBruteForce( __global struct b3Contact4Data* gConstraints, __global const u32* gN, __global const u32* gStart, int m_staticIdx )\n"
|
||||
"{\n"
|
||||
" int wgIdx = GET_GROUP_IDX;\n"
|
||||
" int lIdx = GET_LOCAL_IDX;\n"
|
||||
" \n"
|
||||
" const int m_n = gN[wgIdx];\n"
|
||||
" const int m_start = gStart[wgIdx];\n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" for (int i=0;i<m_n;i++)\n"
|
||||
" {\n"
|
||||
" int srcIdx = i+m_start;\n"
|
||||
" int batchIndex = i;\n"
|
||||
" gConstraints[ srcIdx ].m_batchIdx = batchIndex; \n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"#define CHECK_SIZE (WG_SIZE)\n"
|
||||
"u32 readBuf(__local u32* buff, int idx)\n"
|
||||
"{\n"
|
||||
" idx = idx % (32*CHECK_SIZE);\n"
|
||||
" int bitIdx = idx%32;\n"
|
||||
" int bufIdx = idx/32;\n"
|
||||
" return buff[bufIdx] & (1<<bitIdx);\n"
|
||||
"}\n"
|
||||
"void writeBuf(__local u32* buff, int idx)\n"
|
||||
"{\n"
|
||||
" idx = idx % (32*CHECK_SIZE);\n"
|
||||
" int bitIdx = idx%32;\n"
|
||||
" int bufIdx = idx/32;\n"
|
||||
" buff[bufIdx] |= (1<<bitIdx);\n"
|
||||
" //atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
|
||||
"}\n"
|
||||
"u32 tryWrite(__local u32* buff, int idx)\n"
|
||||
"{\n"
|
||||
" idx = idx % (32*CHECK_SIZE);\n"
|
||||
" int bitIdx = idx%32;\n"
|
||||
" int bufIdx = idx/32;\n"
|
||||
" u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
|
||||
" return ((ans >> bitIdx)&1) == 0;\n"
|
||||
"}\n"
|
||||
"// batching on the GPU\n"
|
||||
"__kernel void CreateBatchesNew( __global struct b3Contact4Data* gConstraints, __global const u32* gN, __global const u32* gStart, __global int* batchSizes, int staticIdx )\n"
|
||||
"{\n"
|
||||
" int wgIdx = GET_GROUP_IDX;\n"
|
||||
" int lIdx = GET_LOCAL_IDX;\n"
|
||||
" const int numConstraints = gN[wgIdx];\n"
|
||||
" const int m_start = gStart[wgIdx];\n"
|
||||
" b3Contact4Data_t tmp;\n"
|
||||
" \n"
|
||||
" __local u32 ldsFixedBuffer[CHECK_SIZE];\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" __global struct b3Contact4Data* cs = &gConstraints[m_start]; \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" int numValidConstraints = 0;\n"
|
||||
" int batchIdx = 0;\n"
|
||||
" while( numValidConstraints < numConstraints)\n"
|
||||
" {\n"
|
||||
" int nCurrentBatch = 0;\n"
|
||||
" // clear flag\n"
|
||||
" \n"
|
||||
" for(int i=0; i<CHECK_SIZE; i++) \n"
|
||||
" ldsFixedBuffer[i] = 0; \n"
|
||||
" for(int i=numValidConstraints; i<numConstraints; i++)\n"
|
||||
" {\n"
|
||||
" int bodyAS = cs[i].m_bodyAPtrAndSignBit;\n"
|
||||
" int bodyBS = cs[i].m_bodyBPtrAndSignBit;\n"
|
||||
" int bodyA = abs(bodyAS);\n"
|
||||
" int bodyB = abs(bodyBS);\n"
|
||||
" bool aIsStatic = (bodyAS<0) || bodyAS==staticIdx;\n"
|
||||
" bool bIsStatic = (bodyBS<0) || bodyBS==staticIdx;\n"
|
||||
" int aUnavailable = aIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyA);\n"
|
||||
" int bUnavailable = bIsStatic ? 0 : readBuf( ldsFixedBuffer, bodyB);\n"
|
||||
" \n"
|
||||
" if( aUnavailable==0 && bUnavailable==0 ) // ok\n"
|
||||
" {\n"
|
||||
" if (!aIsStatic)\n"
|
||||
" {\n"
|
||||
" writeBuf( ldsFixedBuffer, bodyA );\n"
|
||||
" }\n"
|
||||
" if (!bIsStatic)\n"
|
||||
" {\n"
|
||||
" writeBuf( ldsFixedBuffer, bodyB );\n"
|
||||
" }\n"
|
||||
" cs[i].m_batchIdx = batchIdx;\n"
|
||||
" if (i!=numValidConstraints)\n"
|
||||
" {\n"
|
||||
" tmp = cs[i];\n"
|
||||
" cs[i] = cs[numValidConstraints];\n"
|
||||
" cs[numValidConstraints] = tmp;\n"
|
||||
" }\n"
|
||||
" numValidConstraints++;\n"
|
||||
" \n"
|
||||
" nCurrentBatch++;\n"
|
||||
" if( nCurrentBatch == SIMD_WIDTH)\n"
|
||||
" {\n"
|
||||
" nCurrentBatch = 0;\n"
|
||||
" for(int i=0; i<CHECK_SIZE; i++) \n"
|
||||
" ldsFixedBuffer[i] = 0;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" }//for\n"
|
||||
" batchIdx ++;\n"
|
||||
" }//while\n"
|
||||
" \n"
|
||||
" batchSizes[wgIdx] = batchIdx;\n"
|
||||
" }//if( lIdx == 0 )\n"
|
||||
" \n"
|
||||
" //return batchIdx;\n"
|
||||
"}\n";
|
||||
|
||||
@@ -1,433 +1,432 @@
|
||||
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
|
||||
static const char* integrateKernelCL= \
|
||||
"/*\n"
|
||||
"Copyright (c) 2013 Advanced Micro Devices, Inc. \n"
|
||||
"This software is provided 'as-is', without any express or implied warranty.\n"
|
||||
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
|
||||
"Permission is granted to anyone to use this software for any purpose, \n"
|
||||
"including commercial applications, and to alter it and redistribute it freely, \n"
|
||||
"subject to the following restrictions:\n"
|
||||
"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.\n"
|
||||
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
|
||||
"3. This notice may not be removed or altered from any source distribution.\n"
|
||||
"*/\n"
|
||||
"//Originally written by Erwin Coumans\n"
|
||||
"#ifndef B3_RIGIDBODY_DATA_H\n"
|
||||
"#define B3_RIGIDBODY_DATA_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#define B3_FLOAT4_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#define B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"struct MyTest\n"
|
||||
"{\n"
|
||||
" int bla;\n"
|
||||
"};\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
|
||||
"#define B3_LARGE_FLOAT 1e18f\n"
|
||||
"#define B3_INFINITY 1e18f\n"
|
||||
"#define b3Assert(a)\n"
|
||||
"#define b3ConstArray(a) __global const a*\n"
|
||||
"#define b3AtomicInc atomic_inc\n"
|
||||
"#define b3AtomicAdd atomic_add\n"
|
||||
"#define b3Fabs fabs\n"
|
||||
"#define b3Sqrt native_sqrt\n"
|
||||
"#define b3Sin native_sin\n"
|
||||
"#define b3Cos native_cos\n"
|
||||
"#define B3_STATIC\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Float4;\n"
|
||||
" #define b3Float4ConstArg const b3Float4\n"
|
||||
" #define b3MakeFloat4 (float4)\n"
|
||||
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
" }\n"
|
||||
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return cross(a1, b1);\n"
|
||||
" }\n"
|
||||
" #define b3MinFloat4 min\n"
|
||||
" #define b3MaxFloat4 max\n"
|
||||
" #define b3Normalized(a) normalize(a)\n"
|
||||
"#endif \n"
|
||||
" \n"
|
||||
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
|
||||
"{\n"
|
||||
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
|
||||
" return false;\n"
|
||||
" return true;\n"
|
||||
"}\n"
|
||||
"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
|
||||
"{\n"
|
||||
" float maxDot = -B3_INFINITY;\n"
|
||||
" int i = 0;\n"
|
||||
" int ptIndex = -1;\n"
|
||||
" for( i = 0; i < vecLen; i++ )\n"
|
||||
" {\n"
|
||||
" float dot = b3Dot3F4(vecArray[i],vec);\n"
|
||||
" \n"
|
||||
" if( dot > maxDot )\n"
|
||||
" {\n"
|
||||
" maxDot = dot;\n"
|
||||
" ptIndex = i;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" b3Assert(ptIndex>=0);\n"
|
||||
" if (ptIndex<0)\n"
|
||||
" {\n"
|
||||
" ptIndex = 0;\n"
|
||||
" }\n"
|
||||
" *dotOut = maxDot;\n"
|
||||
" return ptIndex;\n"
|
||||
"}\n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifndef B3_QUAT_H\n"
|
||||
"#define B3_QUAT_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Quat;\n"
|
||||
" #define b3QuatConstArg const b3Quat\n"
|
||||
" \n"
|
||||
" \n"
|
||||
"inline float4 b3FastNormalize4(float4 v)\n"
|
||||
"{\n"
|
||||
" v = (float4)(v.xyz,0.f);\n"
|
||||
" return fast_normalize(v);\n"
|
||||
"}\n"
|
||||
" \n"
|
||||
"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
|
||||
"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
|
||||
"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
|
||||
"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
|
||||
"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
|
||||
"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
|
||||
"{\n"
|
||||
" b3Quat ans;\n"
|
||||
" ans = b3Cross3( a, b );\n"
|
||||
" ans += a.w*b+b.w*a;\n"
|
||||
"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
|
||||
" ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
|
||||
"{\n"
|
||||
" b3Quat q;\n"
|
||||
" q=in;\n"
|
||||
" //return b3FastNormalize4(in);\n"
|
||||
" float len = native_sqrt(dot(q, q));\n"
|
||||
" if(len > 0.f)\n"
|
||||
" {\n"
|
||||
" q *= 1.f / len;\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" {\n"
|
||||
" q.x = q.y = q.z = 0.f;\n"
|
||||
" q.w = 1.f;\n"
|
||||
" }\n"
|
||||
" return q;\n"
|
||||
"}\n"
|
||||
"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
|
||||
"{\n"
|
||||
" b3Quat qInv = b3QuatInvert( q );\n"
|
||||
" float4 vcpy = vec;\n"
|
||||
" vcpy.w = 0.f;\n"
|
||||
" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
|
||||
"{\n"
|
||||
" return (b3Quat)(-q.xyz, q.w);\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
|
||||
"{\n"
|
||||
" return (b3Quat)(-q.xyz, q.w);\n"
|
||||
"}\n"
|
||||
"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
|
||||
"{\n"
|
||||
" return b3QuatRotate( b3QuatInvert( q ), vec );\n"
|
||||
"}\n"
|
||||
"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)\n"
|
||||
"{\n"
|
||||
" return b3QuatRotate( orientation, point ) + (translation);\n"
|
||||
"}\n"
|
||||
" \n"
|
||||
"#endif \n"
|
||||
"#endif //B3_QUAT_H\n"
|
||||
"#ifndef B3_MAT3x3_H\n"
|
||||
"#define B3_MAT3x3_H\n"
|
||||
"#ifndef B3_QUAT_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_QUAT_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" b3Float4 m_row[3];\n"
|
||||
"}b3Mat3x3;\n"
|
||||
"#define b3Mat3x3ConstArg const b3Mat3x3\n"
|
||||
"#define b3GetRow(m,row) (m.m_row[row])\n"
|
||||
"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
|
||||
"{\n"
|
||||
" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
|
||||
" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
|
||||
" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
|
||||
" out.m_row[0].w = 0.f;\n"
|
||||
" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
|
||||
" out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
|
||||
" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
|
||||
" out.m_row[1].w = 0.f;\n"
|
||||
" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
|
||||
" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
|
||||
" out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
|
||||
" out.m_row[2].w = 0.f;\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0] = fabs(matIn.m_row[0]);\n"
|
||||
" out.m_row[1] = fabs(matIn.m_row[1]);\n"
|
||||
" out.m_row[2] = fabs(matIn.m_row[2]);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtZero();\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtIdentity();\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtZero()\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m;\n"
|
||||
" m.m_row[0] = (b3Float4)(0.f);\n"
|
||||
" m.m_row[1] = (b3Float4)(0.f);\n"
|
||||
" m.m_row[2] = (b3Float4)(0.f);\n"
|
||||
" return m;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtIdentity()\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m;\n"
|
||||
" m.m_row[0] = (b3Float4)(1,0,0,0);\n"
|
||||
" m.m_row[1] = (b3Float4)(0,1,0,0);\n"
|
||||
" m.m_row[2] = (b3Float4)(0,0,1,0);\n"
|
||||
" return m;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
|
||||
" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
|
||||
" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 transB;\n"
|
||||
" transB = mtTranspose( b );\n"
|
||||
" b3Mat3x3 ans;\n"
|
||||
" // why this doesn't run when 0ing in the for{}\n"
|
||||
" a.m_row[0].w = 0.f;\n"
|
||||
" a.m_row[1].w = 0.f;\n"
|
||||
" a.m_row[2].w = 0.f;\n"
|
||||
" for(int i=0; i<3; i++)\n"
|
||||
" {\n"
|
||||
"// a.m_row[i].w = 0.f;\n"
|
||||
" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
|
||||
" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
|
||||
" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
|
||||
" ans.m_row[i].w = 0.f;\n"
|
||||
" }\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
|
||||
"{\n"
|
||||
" b3Float4 ans;\n"
|
||||
" ans.x = b3Dot3F4( a.m_row[0], b );\n"
|
||||
" ans.y = b3Dot3F4( a.m_row[1], b );\n"
|
||||
" ans.z = b3Dot3F4( a.m_row[2], b );\n"
|
||||
" ans.w = 0.f;\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
|
||||
"{\n"
|
||||
" b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
|
||||
" b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
|
||||
" b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
|
||||
" b3Float4 ans;\n"
|
||||
" ans.x = b3Dot3F4( a, colx );\n"
|
||||
" ans.y = b3Dot3F4( a, coly );\n"
|
||||
" ans.z = b3Dot3F4( a, colz );\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"#endif\n"
|
||||
"#endif //B3_MAT3x3_H\n"
|
||||
"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
|
||||
"struct b3RigidBodyData\n"
|
||||
"{\n"
|
||||
" b3Float4 m_pos;\n"
|
||||
" b3Quat m_quat;\n"
|
||||
" b3Float4 m_linVel;\n"
|
||||
" b3Float4 m_angVel;\n"
|
||||
" int m_collidableIdx;\n"
|
||||
" float m_invMass;\n"
|
||||
" float m_restituitionCoeff;\n"
|
||||
" float m_frictionCoeff;\n"
|
||||
"};\n"
|
||||
"typedef struct b3InertiaData b3InertiaData_t;\n"
|
||||
"struct b3InertiaData\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m_invInertiaWorld;\n"
|
||||
" b3Mat3x3 m_initInvInertia;\n"
|
||||
"};\n"
|
||||
"#endif //B3_RIGIDBODY_DATA_H\n"
|
||||
" \n"
|
||||
"#ifndef B3_RIGIDBODY_DATA_H\n"
|
||||
"#endif //B3_RIGIDBODY_DATA_H\n"
|
||||
" \n"
|
||||
"inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
|
||||
"{\n"
|
||||
" \n"
|
||||
" if (bodies[nodeID].m_invMass != 0.f)\n"
|
||||
" {\n"
|
||||
" float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
|
||||
" //angular velocity\n"
|
||||
" {\n"
|
||||
" b3Float4 axis;\n"
|
||||
" //add some hardcoded angular damping\n"
|
||||
" bodies[nodeID].m_angVel.x *= angularDamping;\n"
|
||||
" bodies[nodeID].m_angVel.y *= angularDamping;\n"
|
||||
" bodies[nodeID].m_angVel.z *= angularDamping;\n"
|
||||
" \n"
|
||||
" b3Float4 angvel = bodies[nodeID].m_angVel;\n"
|
||||
" float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
|
||||
" \n"
|
||||
" //limit the angular motion\n"
|
||||
" if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
|
||||
" {\n"
|
||||
" fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
|
||||
" }\n"
|
||||
" if(fAngle < 0.001f)\n"
|
||||
" {\n"
|
||||
" // use Taylor's expansions of sync function\n"
|
||||
" axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" {\n"
|
||||
" // sync(fAngle) = sin(c*fAngle)/t\n"
|
||||
" axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" b3Quat dorn;\n"
|
||||
" dorn.x = axis.x;\n"
|
||||
" dorn.y = axis.y;\n"
|
||||
" dorn.z = axis.z;\n"
|
||||
" dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
|
||||
" b3Quat orn0 = bodies[nodeID].m_quat;\n"
|
||||
" b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
|
||||
" predictedOrn = b3QuatNormalized(predictedOrn);\n"
|
||||
" bodies[nodeID].m_quat=predictedOrn;\n"
|
||||
" }\n"
|
||||
" //linear velocity \n"
|
||||
" bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;\n"
|
||||
" \n"
|
||||
" //apply gravity\n"
|
||||
" bodies[nodeID].m_linVel += gravityAcceleration * timeStep;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
|
||||
"{\n"
|
||||
" float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
|
||||
" \n"
|
||||
" if( (body->m_invMass != 0.f))\n"
|
||||
" {\n"
|
||||
" //angular velocity\n"
|
||||
" {\n"
|
||||
" b3Float4 axis;\n"
|
||||
" //add some hardcoded angular damping\n"
|
||||
" body->m_angVel.x *= angularDamping;\n"
|
||||
" body->m_angVel.y *= angularDamping;\n"
|
||||
" body->m_angVel.z *= angularDamping;\n"
|
||||
" \n"
|
||||
" b3Float4 angvel = body->m_angVel;\n"
|
||||
" float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
|
||||
" //limit the angular motion\n"
|
||||
" if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
|
||||
" {\n"
|
||||
" fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
|
||||
" }\n"
|
||||
" if(fAngle < 0.001f)\n"
|
||||
" {\n"
|
||||
" // use Taylor's expansions of sync function\n"
|
||||
" axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" {\n"
|
||||
" // sync(fAngle) = sin(c*fAngle)/t\n"
|
||||
" axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
|
||||
" }\n"
|
||||
" b3Quat dorn;\n"
|
||||
" dorn.x = axis.x;\n"
|
||||
" dorn.y = axis.y;\n"
|
||||
" dorn.z = axis.z;\n"
|
||||
" dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
|
||||
" b3Quat orn0 = body->m_quat;\n"
|
||||
" b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
|
||||
" predictedOrn = b3QuatNormalized(predictedOrn);\n"
|
||||
" body->m_quat=predictedOrn;\n"
|
||||
" }\n"
|
||||
" //apply gravity\n"
|
||||
" body->m_linVel += gravityAcceleration * timeStep;\n"
|
||||
" //linear velocity \n"
|
||||
" body->m_pos += body->m_linVel * timeStep;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"__kernel void \n"
|
||||
" integrateTransformsKernel( __global b3RigidBodyData_t* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n"
|
||||
"{\n"
|
||||
" int nodeID = get_global_id(0);\n"
|
||||
" \n"
|
||||
" if( nodeID < numNodes)\n"
|
||||
" {\n"
|
||||
" integrateSingleTransform(bodies,nodeID, timeStep, angularDamping,gravityAcceleration);\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
;
|
||||
static const char* integrateKernelCL =
|
||||
"/*\n"
|
||||
"Copyright (c) 2013 Advanced Micro Devices, Inc. \n"
|
||||
"This software is provided 'as-is', without any express or implied warranty.\n"
|
||||
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
|
||||
"Permission is granted to anyone to use this software for any purpose, \n"
|
||||
"including commercial applications, and to alter it and redistribute it freely, \n"
|
||||
"subject to the following restrictions:\n"
|
||||
"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.\n"
|
||||
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
|
||||
"3. This notice may not be removed or altered from any source distribution.\n"
|
||||
"*/\n"
|
||||
"//Originally written by Erwin Coumans\n"
|
||||
"#ifndef B3_RIGIDBODY_DATA_H\n"
|
||||
"#define B3_RIGIDBODY_DATA_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#define B3_FLOAT4_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#define B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"struct MyTest\n"
|
||||
"{\n"
|
||||
" int bla;\n"
|
||||
"};\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
|
||||
"#define B3_LARGE_FLOAT 1e18f\n"
|
||||
"#define B3_INFINITY 1e18f\n"
|
||||
"#define b3Assert(a)\n"
|
||||
"#define b3ConstArray(a) __global const a*\n"
|
||||
"#define b3AtomicInc atomic_inc\n"
|
||||
"#define b3AtomicAdd atomic_add\n"
|
||||
"#define b3Fabs fabs\n"
|
||||
"#define b3Sqrt native_sqrt\n"
|
||||
"#define b3Sin native_sin\n"
|
||||
"#define b3Cos native_cos\n"
|
||||
"#define B3_STATIC\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Float4;\n"
|
||||
" #define b3Float4ConstArg const b3Float4\n"
|
||||
" #define b3MakeFloat4 (float4)\n"
|
||||
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
" }\n"
|
||||
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return cross(a1, b1);\n"
|
||||
" }\n"
|
||||
" #define b3MinFloat4 min\n"
|
||||
" #define b3MaxFloat4 max\n"
|
||||
" #define b3Normalized(a) normalize(a)\n"
|
||||
"#endif \n"
|
||||
" \n"
|
||||
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
|
||||
"{\n"
|
||||
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
|
||||
" return false;\n"
|
||||
" return true;\n"
|
||||
"}\n"
|
||||
"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
|
||||
"{\n"
|
||||
" float maxDot = -B3_INFINITY;\n"
|
||||
" int i = 0;\n"
|
||||
" int ptIndex = -1;\n"
|
||||
" for( i = 0; i < vecLen; i++ )\n"
|
||||
" {\n"
|
||||
" float dot = b3Dot3F4(vecArray[i],vec);\n"
|
||||
" \n"
|
||||
" if( dot > maxDot )\n"
|
||||
" {\n"
|
||||
" maxDot = dot;\n"
|
||||
" ptIndex = i;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" b3Assert(ptIndex>=0);\n"
|
||||
" if (ptIndex<0)\n"
|
||||
" {\n"
|
||||
" ptIndex = 0;\n"
|
||||
" }\n"
|
||||
" *dotOut = maxDot;\n"
|
||||
" return ptIndex;\n"
|
||||
"}\n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifndef B3_QUAT_H\n"
|
||||
"#define B3_QUAT_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Quat;\n"
|
||||
" #define b3QuatConstArg const b3Quat\n"
|
||||
" \n"
|
||||
" \n"
|
||||
"inline float4 b3FastNormalize4(float4 v)\n"
|
||||
"{\n"
|
||||
" v = (float4)(v.xyz,0.f);\n"
|
||||
" return fast_normalize(v);\n"
|
||||
"}\n"
|
||||
" \n"
|
||||
"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
|
||||
"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
|
||||
"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
|
||||
"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
|
||||
"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
|
||||
"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
|
||||
"{\n"
|
||||
" b3Quat ans;\n"
|
||||
" ans = b3Cross3( a, b );\n"
|
||||
" ans += a.w*b+b.w*a;\n"
|
||||
"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
|
||||
" ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
|
||||
"{\n"
|
||||
" b3Quat q;\n"
|
||||
" q=in;\n"
|
||||
" //return b3FastNormalize4(in);\n"
|
||||
" float len = native_sqrt(dot(q, q));\n"
|
||||
" if(len > 0.f)\n"
|
||||
" {\n"
|
||||
" q *= 1.f / len;\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" {\n"
|
||||
" q.x = q.y = q.z = 0.f;\n"
|
||||
" q.w = 1.f;\n"
|
||||
" }\n"
|
||||
" return q;\n"
|
||||
"}\n"
|
||||
"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
|
||||
"{\n"
|
||||
" b3Quat qInv = b3QuatInvert( q );\n"
|
||||
" float4 vcpy = vec;\n"
|
||||
" vcpy.w = 0.f;\n"
|
||||
" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
|
||||
"{\n"
|
||||
" return (b3Quat)(-q.xyz, q.w);\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
|
||||
"{\n"
|
||||
" return (b3Quat)(-q.xyz, q.w);\n"
|
||||
"}\n"
|
||||
"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
|
||||
"{\n"
|
||||
" return b3QuatRotate( b3QuatInvert( q ), vec );\n"
|
||||
"}\n"
|
||||
"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)\n"
|
||||
"{\n"
|
||||
" return b3QuatRotate( orientation, point ) + (translation);\n"
|
||||
"}\n"
|
||||
" \n"
|
||||
"#endif \n"
|
||||
"#endif //B3_QUAT_H\n"
|
||||
"#ifndef B3_MAT3x3_H\n"
|
||||
"#define B3_MAT3x3_H\n"
|
||||
"#ifndef B3_QUAT_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_QUAT_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" b3Float4 m_row[3];\n"
|
||||
"}b3Mat3x3;\n"
|
||||
"#define b3Mat3x3ConstArg const b3Mat3x3\n"
|
||||
"#define b3GetRow(m,row) (m.m_row[row])\n"
|
||||
"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
|
||||
"{\n"
|
||||
" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
|
||||
" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
|
||||
" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
|
||||
" out.m_row[0].w = 0.f;\n"
|
||||
" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
|
||||
" out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
|
||||
" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
|
||||
" out.m_row[1].w = 0.f;\n"
|
||||
" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
|
||||
" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
|
||||
" out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
|
||||
" out.m_row[2].w = 0.f;\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0] = fabs(matIn.m_row[0]);\n"
|
||||
" out.m_row[1] = fabs(matIn.m_row[1]);\n"
|
||||
" out.m_row[2] = fabs(matIn.m_row[2]);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtZero();\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtIdentity();\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtZero()\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m;\n"
|
||||
" m.m_row[0] = (b3Float4)(0.f);\n"
|
||||
" m.m_row[1] = (b3Float4)(0.f);\n"
|
||||
" m.m_row[2] = (b3Float4)(0.f);\n"
|
||||
" return m;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtIdentity()\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m;\n"
|
||||
" m.m_row[0] = (b3Float4)(1,0,0,0);\n"
|
||||
" m.m_row[1] = (b3Float4)(0,1,0,0);\n"
|
||||
" m.m_row[2] = (b3Float4)(0,0,1,0);\n"
|
||||
" return m;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
|
||||
" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
|
||||
" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 transB;\n"
|
||||
" transB = mtTranspose( b );\n"
|
||||
" b3Mat3x3 ans;\n"
|
||||
" // why this doesn't run when 0ing in the for{}\n"
|
||||
" a.m_row[0].w = 0.f;\n"
|
||||
" a.m_row[1].w = 0.f;\n"
|
||||
" a.m_row[2].w = 0.f;\n"
|
||||
" for(int i=0; i<3; i++)\n"
|
||||
" {\n"
|
||||
"// a.m_row[i].w = 0.f;\n"
|
||||
" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
|
||||
" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
|
||||
" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
|
||||
" ans.m_row[i].w = 0.f;\n"
|
||||
" }\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
|
||||
"{\n"
|
||||
" b3Float4 ans;\n"
|
||||
" ans.x = b3Dot3F4( a.m_row[0], b );\n"
|
||||
" ans.y = b3Dot3F4( a.m_row[1], b );\n"
|
||||
" ans.z = b3Dot3F4( a.m_row[2], b );\n"
|
||||
" ans.w = 0.f;\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
|
||||
"{\n"
|
||||
" b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
|
||||
" b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
|
||||
" b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
|
||||
" b3Float4 ans;\n"
|
||||
" ans.x = b3Dot3F4( a, colx );\n"
|
||||
" ans.y = b3Dot3F4( a, coly );\n"
|
||||
" ans.z = b3Dot3F4( a, colz );\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"#endif\n"
|
||||
"#endif //B3_MAT3x3_H\n"
|
||||
"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
|
||||
"struct b3RigidBodyData\n"
|
||||
"{\n"
|
||||
" b3Float4 m_pos;\n"
|
||||
" b3Quat m_quat;\n"
|
||||
" b3Float4 m_linVel;\n"
|
||||
" b3Float4 m_angVel;\n"
|
||||
" int m_collidableIdx;\n"
|
||||
" float m_invMass;\n"
|
||||
" float m_restituitionCoeff;\n"
|
||||
" float m_frictionCoeff;\n"
|
||||
"};\n"
|
||||
"typedef struct b3InertiaData b3InertiaData_t;\n"
|
||||
"struct b3InertiaData\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m_invInertiaWorld;\n"
|
||||
" b3Mat3x3 m_initInvInertia;\n"
|
||||
"};\n"
|
||||
"#endif //B3_RIGIDBODY_DATA_H\n"
|
||||
" \n"
|
||||
"#ifndef B3_RIGIDBODY_DATA_H\n"
|
||||
"#endif //B3_RIGIDBODY_DATA_H\n"
|
||||
" \n"
|
||||
"inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
|
||||
"{\n"
|
||||
" \n"
|
||||
" if (bodies[nodeID].m_invMass != 0.f)\n"
|
||||
" {\n"
|
||||
" float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
|
||||
" //angular velocity\n"
|
||||
" {\n"
|
||||
" b3Float4 axis;\n"
|
||||
" //add some hardcoded angular damping\n"
|
||||
" bodies[nodeID].m_angVel.x *= angularDamping;\n"
|
||||
" bodies[nodeID].m_angVel.y *= angularDamping;\n"
|
||||
" bodies[nodeID].m_angVel.z *= angularDamping;\n"
|
||||
" \n"
|
||||
" b3Float4 angvel = bodies[nodeID].m_angVel;\n"
|
||||
" float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
|
||||
" \n"
|
||||
" //limit the angular motion\n"
|
||||
" if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
|
||||
" {\n"
|
||||
" fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
|
||||
" }\n"
|
||||
" if(fAngle < 0.001f)\n"
|
||||
" {\n"
|
||||
" // use Taylor's expansions of sync function\n"
|
||||
" axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" {\n"
|
||||
" // sync(fAngle) = sin(c*fAngle)/t\n"
|
||||
" axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" b3Quat dorn;\n"
|
||||
" dorn.x = axis.x;\n"
|
||||
" dorn.y = axis.y;\n"
|
||||
" dorn.z = axis.z;\n"
|
||||
" dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
|
||||
" b3Quat orn0 = bodies[nodeID].m_quat;\n"
|
||||
" b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
|
||||
" predictedOrn = b3QuatNormalized(predictedOrn);\n"
|
||||
" bodies[nodeID].m_quat=predictedOrn;\n"
|
||||
" }\n"
|
||||
" //linear velocity \n"
|
||||
" bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;\n"
|
||||
" \n"
|
||||
" //apply gravity\n"
|
||||
" bodies[nodeID].m_linVel += gravityAcceleration * timeStep;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
|
||||
"{\n"
|
||||
" float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
|
||||
" \n"
|
||||
" if( (body->m_invMass != 0.f))\n"
|
||||
" {\n"
|
||||
" //angular velocity\n"
|
||||
" {\n"
|
||||
" b3Float4 axis;\n"
|
||||
" //add some hardcoded angular damping\n"
|
||||
" body->m_angVel.x *= angularDamping;\n"
|
||||
" body->m_angVel.y *= angularDamping;\n"
|
||||
" body->m_angVel.z *= angularDamping;\n"
|
||||
" \n"
|
||||
" b3Float4 angvel = body->m_angVel;\n"
|
||||
" float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
|
||||
" //limit the angular motion\n"
|
||||
" if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
|
||||
" {\n"
|
||||
" fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
|
||||
" }\n"
|
||||
" if(fAngle < 0.001f)\n"
|
||||
" {\n"
|
||||
" // use Taylor's expansions of sync function\n"
|
||||
" axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" {\n"
|
||||
" // sync(fAngle) = sin(c*fAngle)/t\n"
|
||||
" axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
|
||||
" }\n"
|
||||
" b3Quat dorn;\n"
|
||||
" dorn.x = axis.x;\n"
|
||||
" dorn.y = axis.y;\n"
|
||||
" dorn.z = axis.z;\n"
|
||||
" dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
|
||||
" b3Quat orn0 = body->m_quat;\n"
|
||||
" b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
|
||||
" predictedOrn = b3QuatNormalized(predictedOrn);\n"
|
||||
" body->m_quat=predictedOrn;\n"
|
||||
" }\n"
|
||||
" //apply gravity\n"
|
||||
" body->m_linVel += gravityAcceleration * timeStep;\n"
|
||||
" //linear velocity \n"
|
||||
" body->m_pos += body->m_linVel * timeStep;\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"__kernel void \n"
|
||||
" integrateTransformsKernel( __global b3RigidBodyData_t* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n"
|
||||
"{\n"
|
||||
" int nodeID = get_global_id(0);\n"
|
||||
" \n"
|
||||
" if( nodeID < numNodes)\n"
|
||||
" {\n"
|
||||
" integrateSingleTransform(bodies,nodeID, timeStep, angularDamping,gravityAcceleration);\n"
|
||||
" }\n"
|
||||
"}\n";
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,393 +1,392 @@
|
||||
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
|
||||
static const char* solveContactCL= \
|
||||
"/*\n"
|
||||
"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
|
||||
"This software is provided 'as-is', without any express or implied warranty.\n"
|
||||
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
|
||||
"Permission is granted to anyone to use this software for any purpose, \n"
|
||||
"including commercial applications, and to alter it and redistribute it freely, \n"
|
||||
"subject to the following restrictions:\n"
|
||||
"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.\n"
|
||||
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
|
||||
"3. This notice may not be removed or altered from any source distribution.\n"
|
||||
"*/\n"
|
||||
"//Originally written by Takahiro Harada\n"
|
||||
"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
|
||||
"#ifdef cl_ext_atomic_counters_32\n"
|
||||
"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
|
||||
"#else\n"
|
||||
"#define counter32_t volatile global int*\n"
|
||||
"#endif\n"
|
||||
"typedef unsigned int u32;\n"
|
||||
"typedef unsigned short u16;\n"
|
||||
"typedef unsigned char u8;\n"
|
||||
"#define GET_GROUP_IDX get_group_id(0)\n"
|
||||
"#define GET_LOCAL_IDX get_local_id(0)\n"
|
||||
"#define GET_GLOBAL_IDX get_global_id(0)\n"
|
||||
"#define GET_GROUP_SIZE get_local_size(0)\n"
|
||||
"#define GET_NUM_GROUPS get_num_groups(0)\n"
|
||||
"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define AtomInc(x) atom_inc(&(x))\n"
|
||||
"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
|
||||
"#define AppendInc(x, out) out = atomic_inc(x)\n"
|
||||
"#define AtomAdd(x, value) atom_add(&(x), value)\n"
|
||||
"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
|
||||
"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
|
||||
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
||||
"#define mymake_float4 (float4)\n"
|
||||
"//#define make_float2 (float2)\n"
|
||||
"//#define make_uint4 (uint4)\n"
|
||||
"//#define make_int4 (int4)\n"
|
||||
"//#define make_uint2 (uint2)\n"
|
||||
"//#define make_int2 (int2)\n"
|
||||
"#define max2 max\n"
|
||||
"#define min2 min\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Vector\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"__inline\n"
|
||||
"float4 fastNormalize4(float4 v)\n"
|
||||
"{\n"
|
||||
" return fast_normalize(v);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 cross3(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" return cross(a,b);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float dot3F4(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" float4 a1 = mymake_float4(a.xyz,0.f);\n"
|
||||
" float4 b1 = mymake_float4(b.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 normalize3(const float4 a)\n"
|
||||
"{\n"
|
||||
" float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
|
||||
" return fastNormalize4( n );\n"
|
||||
"// float length = sqrtf(dot3F4(a, a));\n"
|
||||
"// return 1.f/length * a;\n"
|
||||
"}\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Matrix3x3\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_row[3];\n"
|
||||
"}Matrix3x3;\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul1(Matrix3x3 a, float4 b);\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul3(float4 a, Matrix3x3 b);\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul1(Matrix3x3 a, float4 b)\n"
|
||||
"{\n"
|
||||
" float4 ans;\n"
|
||||
" ans.x = dot3F4( a.m_row[0], b );\n"
|
||||
" ans.y = dot3F4( a.m_row[1], b );\n"
|
||||
" ans.z = dot3F4( a.m_row[2], b );\n"
|
||||
" ans.w = 0.f;\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul3(float4 a, Matrix3x3 b)\n"
|
||||
"{\n"
|
||||
" float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
|
||||
" float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
|
||||
" float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
|
||||
" float4 ans;\n"
|
||||
" ans.x = dot3F4( a, colx );\n"
|
||||
" ans.y = dot3F4( a, coly );\n"
|
||||
" ans.z = dot3F4( a, colz );\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Quaternion\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"typedef float4 Quaternion;\n"
|
||||
"#define WG_SIZE 64\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_pos;\n"
|
||||
" Quaternion m_quat;\n"
|
||||
" float4 m_linVel;\n"
|
||||
" float4 m_angVel;\n"
|
||||
" u32 m_shapeIdx;\n"
|
||||
" float m_invMass;\n"
|
||||
" float m_restituitionCoeff;\n"
|
||||
" float m_frictionCoeff;\n"
|
||||
"} Body;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" Matrix3x3 m_invInertia;\n"
|
||||
" Matrix3x3 m_initInvInertia;\n"
|
||||
"} Shape;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_linear;\n"
|
||||
" float4 m_worldPos[4];\n"
|
||||
" float4 m_center; \n"
|
||||
" float m_jacCoeffInv[4];\n"
|
||||
" float m_b[4];\n"
|
||||
" float m_appliedRambdaDt[4];\n"
|
||||
" float m_fJacCoeffInv[2]; \n"
|
||||
" float m_fAppliedRambdaDt[2]; \n"
|
||||
" u32 m_bodyA;\n"
|
||||
" u32 m_bodyB;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" u32 m_paddings[1];\n"
|
||||
"} Constraint4;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" int m_nConstraints;\n"
|
||||
" int m_start;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_nSplit;\n"
|
||||
"// int m_paddings[1];\n"
|
||||
"} ConstBuffer;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" int m_solveFriction;\n"
|
||||
" int m_maxBatch; // long batch really kills the performance\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_nSplit;\n"
|
||||
"// int m_paddings[1];\n"
|
||||
"} ConstBufferBatchSolve;\n"
|
||||
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
|
||||
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
|
||||
"{\n"
|
||||
" *linear = mymake_float4(-n.xyz,0.f);\n"
|
||||
" *angular0 = -cross3(r0, n);\n"
|
||||
" *angular1 = cross3(r1, n);\n"
|
||||
"}\n"
|
||||
"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
|
||||
"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
|
||||
"{\n"
|
||||
" return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
|
||||
"}\n"
|
||||
"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
|
||||
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
|
||||
"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
|
||||
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
|
||||
"{\n"
|
||||
" // linear0,1 are normlized\n"
|
||||
" float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
|
||||
" float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
|
||||
" float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
|
||||
" float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
|
||||
" return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
|
||||
"}\n"
|
||||
"void solveContact(__global Constraint4* cs,\n"
|
||||
" float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
|
||||
" float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB);\n"
|
||||
"void solveContact(__global Constraint4* cs,\n"
|
||||
" float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
|
||||
" float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB)\n"
|
||||
"{\n"
|
||||
" float minRambdaDt = 0;\n"
|
||||
" float maxRambdaDt = FLT_MAX;\n"
|
||||
" for(int ic=0; ic<4; ic++)\n"
|
||||
" {\n"
|
||||
" if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
|
||||
" float4 angular0, angular1, linear;\n"
|
||||
" 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"
|
||||
" float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
|
||||
" *linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];\n"
|
||||
" rambdaDt *= cs->m_jacCoeffInv[ic];\n"
|
||||
" {\n"
|
||||
" float prevSum = cs->m_appliedRambdaDt[ic];\n"
|
||||
" float updated = prevSum;\n"
|
||||
" updated += rambdaDt;\n"
|
||||
" updated = max2( updated, minRambdaDt );\n"
|
||||
" updated = min2( updated, maxRambdaDt );\n"
|
||||
" rambdaDt = updated - prevSum;\n"
|
||||
" cs->m_appliedRambdaDt[ic] = updated;\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"
|
||||
" *linVelA += linImp0;\n"
|
||||
" *angVelA += angImp0;\n"
|
||||
" *linVelB += linImp1;\n"
|
||||
" *angVelB += angImp1;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
|
||||
" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
|
||||
"{\n"
|
||||
" if (fabs(n[0].z) > 0.70710678f) {\n"
|
||||
" // choose p in y-z plane\n"
|
||||
" float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
|
||||
" float k = 1.f/sqrt(a);\n"
|
||||
" p[0].x = 0;\n"
|
||||
" p[0].y = -n[0].z*k;\n"
|
||||
" p[0].z = n[0].y*k;\n"
|
||||
" // set q = n x p\n"
|
||||
" q[0].x = a*k;\n"
|
||||
" q[0].y = -n[0].x*p[0].z;\n"
|
||||
" q[0].z = n[0].x*p[0].y;\n"
|
||||
" }\n"
|
||||
" else {\n"
|
||||
" // choose p in x-y plane\n"
|
||||
" float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
|
||||
" float k = 1.f/sqrt(a);\n"
|
||||
" p[0].x = -n[0].y*k;\n"
|
||||
" p[0].y = n[0].x*k;\n"
|
||||
" p[0].z = 0;\n"
|
||||
" // set q = n x p\n"
|
||||
" q[0].x = -n[0].z*p[0].y;\n"
|
||||
" q[0].y = n[0].z*p[0].x;\n"
|
||||
" q[0].z = a*k;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
|
||||
"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
|
||||
"{\n"
|
||||
" //float frictionCoeff = ldsCs[0].m_linear.w;\n"
|
||||
" int aIdx = ldsCs[0].m_bodyA;\n"
|
||||
" int bIdx = ldsCs[0].m_bodyB;\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"
|
||||
" 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"
|
||||
" solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
|
||||
" posB, &linVelB, &angVelB, invMassB, invInertiaB );\n"
|
||||
" if (gBodies[aIdx].m_invMass)\n"
|
||||
" {\n"
|
||||
" gBodies[aIdx].m_linVel = linVelA;\n"
|
||||
" gBodies[aIdx].m_angVel = angVelA;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
|
||||
" gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" if (gBodies[bIdx].m_invMass)\n"
|
||||
" {\n"
|
||||
" gBodies[bIdx].m_linVel = linVelB;\n"
|
||||
" gBodies[bIdx].m_angVel = angVelB;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
|
||||
" gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" int m_valInt0;\n"
|
||||
" int m_valInt1;\n"
|
||||
" int m_valInt2;\n"
|
||||
" int m_valInt3;\n"
|
||||
" float m_val0;\n"
|
||||
" float m_val1;\n"
|
||||
" float m_val2;\n"
|
||||
" float m_val3;\n"
|
||||
"} SolverDebugInfo;\n"
|
||||
"__kernel\n"
|
||||
"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
|
||||
"void BatchSolveKernelContact(__global Body* gBodies,\n"
|
||||
" __global Shape* gShapes,\n"
|
||||
" __global Constraint4* gConstraints,\n"
|
||||
" __global int* gN,\n"
|
||||
" __global int* gOffsets,\n"
|
||||
" __global int* batchSizes,\n"
|
||||
" int maxBatch1,\n"
|
||||
" int cellBatch,\n"
|
||||
" int4 nSplit\n"
|
||||
" )\n"
|
||||
"{\n"
|
||||
" //__local int ldsBatchIdx[WG_SIZE+1];\n"
|
||||
" __local int ldsCurBatch;\n"
|
||||
" __local int ldsNextBatch;\n"
|
||||
" __local int ldsStart;\n"
|
||||
" int lIdx = GET_LOCAL_IDX;\n"
|
||||
" int wgIdx = GET_GROUP_IDX;\n"
|
||||
"// int gIdx = GET_GLOBAL_IDX;\n"
|
||||
"// debugInfo[gIdx].m_valInt0 = gIdx;\n"
|
||||
" //debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
|
||||
" int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
|
||||
" int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
|
||||
" int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
|
||||
" int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
|
||||
" //int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);\n"
|
||||
" //int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);\n"
|
||||
" //int cellIdx = xIdx+yIdx*nSplit;\n"
|
||||
" \n"
|
||||
" if( gN[cellIdx] == 0 ) \n"
|
||||
" return;\n"
|
||||
" int maxBatch = batchSizes[cellIdx];\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" const int start = gOffsets[cellIdx];\n"
|
||||
" const int end = start + gN[cellIdx];\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" ldsCurBatch = 0;\n"
|
||||
" ldsNextBatch = 0;\n"
|
||||
" ldsStart = start;\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" int idx=ldsStart+lIdx;\n"
|
||||
" while (ldsCurBatch < maxBatch)\n"
|
||||
" {\n"
|
||||
" for(; idx<end; )\n"
|
||||
" {\n"
|
||||
" if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
|
||||
" {\n"
|
||||
" solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
|
||||
" idx+=64;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" break;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" ldsCurBatch++;\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"__kernel void solveSingleContactKernel(__global Body* gBodies,\n"
|
||||
" __global Shape* gShapes,\n"
|
||||
" __global Constraint4* gConstraints,\n"
|
||||
" int cellIdx,\n"
|
||||
" int batchOffset,\n"
|
||||
" int numConstraintsInBatch\n"
|
||||
" )\n"
|
||||
"{\n"
|
||||
" int index = get_global_id(0);\n"
|
||||
" if (index < numConstraintsInBatch)\n"
|
||||
" {\n"
|
||||
" int idx=batchOffset+index;\n"
|
||||
" solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
|
||||
" } \n"
|
||||
"}\n"
|
||||
;
|
||||
static const char* solveContactCL =
|
||||
"/*\n"
|
||||
"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
|
||||
"This software is provided 'as-is', without any express or implied warranty.\n"
|
||||
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
|
||||
"Permission is granted to anyone to use this software for any purpose, \n"
|
||||
"including commercial applications, and to alter it and redistribute it freely, \n"
|
||||
"subject to the following restrictions:\n"
|
||||
"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.\n"
|
||||
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
|
||||
"3. This notice may not be removed or altered from any source distribution.\n"
|
||||
"*/\n"
|
||||
"//Originally written by Takahiro Harada\n"
|
||||
"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
|
||||
"#ifdef cl_ext_atomic_counters_32\n"
|
||||
"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
|
||||
"#else\n"
|
||||
"#define counter32_t volatile global int*\n"
|
||||
"#endif\n"
|
||||
"typedef unsigned int u32;\n"
|
||||
"typedef unsigned short u16;\n"
|
||||
"typedef unsigned char u8;\n"
|
||||
"#define GET_GROUP_IDX get_group_id(0)\n"
|
||||
"#define GET_LOCAL_IDX get_local_id(0)\n"
|
||||
"#define GET_GLOBAL_IDX get_global_id(0)\n"
|
||||
"#define GET_GROUP_SIZE get_local_size(0)\n"
|
||||
"#define GET_NUM_GROUPS get_num_groups(0)\n"
|
||||
"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define AtomInc(x) atom_inc(&(x))\n"
|
||||
"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
|
||||
"#define AppendInc(x, out) out = atomic_inc(x)\n"
|
||||
"#define AtomAdd(x, value) atom_add(&(x), value)\n"
|
||||
"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
|
||||
"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
|
||||
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
||||
"#define mymake_float4 (float4)\n"
|
||||
"//#define make_float2 (float2)\n"
|
||||
"//#define make_uint4 (uint4)\n"
|
||||
"//#define make_int4 (int4)\n"
|
||||
"//#define make_uint2 (uint2)\n"
|
||||
"//#define make_int2 (int2)\n"
|
||||
"#define max2 max\n"
|
||||
"#define min2 min\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Vector\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"__inline\n"
|
||||
"float4 fastNormalize4(float4 v)\n"
|
||||
"{\n"
|
||||
" return fast_normalize(v);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 cross3(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" return cross(a,b);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float dot3F4(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" float4 a1 = mymake_float4(a.xyz,0.f);\n"
|
||||
" float4 b1 = mymake_float4(b.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 normalize3(const float4 a)\n"
|
||||
"{\n"
|
||||
" float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
|
||||
" return fastNormalize4( n );\n"
|
||||
"// float length = sqrtf(dot3F4(a, a));\n"
|
||||
"// return 1.f/length * a;\n"
|
||||
"}\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Matrix3x3\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_row[3];\n"
|
||||
"}Matrix3x3;\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul1(Matrix3x3 a, float4 b);\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul3(float4 a, Matrix3x3 b);\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul1(Matrix3x3 a, float4 b)\n"
|
||||
"{\n"
|
||||
" float4 ans;\n"
|
||||
" ans.x = dot3F4( a.m_row[0], b );\n"
|
||||
" ans.y = dot3F4( a.m_row[1], b );\n"
|
||||
" ans.z = dot3F4( a.m_row[2], b );\n"
|
||||
" ans.w = 0.f;\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul3(float4 a, Matrix3x3 b)\n"
|
||||
"{\n"
|
||||
" float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
|
||||
" float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
|
||||
" float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
|
||||
" float4 ans;\n"
|
||||
" ans.x = dot3F4( a, colx );\n"
|
||||
" ans.y = dot3F4( a, coly );\n"
|
||||
" ans.z = dot3F4( a, colz );\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Quaternion\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"typedef float4 Quaternion;\n"
|
||||
"#define WG_SIZE 64\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_pos;\n"
|
||||
" Quaternion m_quat;\n"
|
||||
" float4 m_linVel;\n"
|
||||
" float4 m_angVel;\n"
|
||||
" u32 m_shapeIdx;\n"
|
||||
" float m_invMass;\n"
|
||||
" float m_restituitionCoeff;\n"
|
||||
" float m_frictionCoeff;\n"
|
||||
"} Body;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" Matrix3x3 m_invInertia;\n"
|
||||
" Matrix3x3 m_initInvInertia;\n"
|
||||
"} Shape;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_linear;\n"
|
||||
" float4 m_worldPos[4];\n"
|
||||
" float4 m_center; \n"
|
||||
" float m_jacCoeffInv[4];\n"
|
||||
" float m_b[4];\n"
|
||||
" float m_appliedRambdaDt[4];\n"
|
||||
" float m_fJacCoeffInv[2]; \n"
|
||||
" float m_fAppliedRambdaDt[2]; \n"
|
||||
" u32 m_bodyA;\n"
|
||||
" u32 m_bodyB;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" u32 m_paddings[1];\n"
|
||||
"} Constraint4;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" int m_nConstraints;\n"
|
||||
" int m_start;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_nSplit;\n"
|
||||
"// int m_paddings[1];\n"
|
||||
"} ConstBuffer;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" int m_solveFriction;\n"
|
||||
" int m_maxBatch; // long batch really kills the performance\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_nSplit;\n"
|
||||
"// int m_paddings[1];\n"
|
||||
"} ConstBufferBatchSolve;\n"
|
||||
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
|
||||
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
|
||||
"{\n"
|
||||
" *linear = mymake_float4(-n.xyz,0.f);\n"
|
||||
" *angular0 = -cross3(r0, n);\n"
|
||||
" *angular1 = cross3(r1, n);\n"
|
||||
"}\n"
|
||||
"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
|
||||
"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
|
||||
"{\n"
|
||||
" return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
|
||||
"}\n"
|
||||
"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
|
||||
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
|
||||
"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
|
||||
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
|
||||
"{\n"
|
||||
" // linear0,1 are normlized\n"
|
||||
" float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
|
||||
" float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
|
||||
" float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
|
||||
" float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
|
||||
" return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
|
||||
"}\n"
|
||||
"void solveContact(__global Constraint4* cs,\n"
|
||||
" float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
|
||||
" float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB);\n"
|
||||
"void solveContact(__global Constraint4* cs,\n"
|
||||
" float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n"
|
||||
" float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB)\n"
|
||||
"{\n"
|
||||
" float minRambdaDt = 0;\n"
|
||||
" float maxRambdaDt = FLT_MAX;\n"
|
||||
" for(int ic=0; ic<4; ic++)\n"
|
||||
" {\n"
|
||||
" if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
|
||||
" float4 angular0, angular1, linear;\n"
|
||||
" 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"
|
||||
" float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
|
||||
" *linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];\n"
|
||||
" rambdaDt *= cs->m_jacCoeffInv[ic];\n"
|
||||
" {\n"
|
||||
" float prevSum = cs->m_appliedRambdaDt[ic];\n"
|
||||
" float updated = prevSum;\n"
|
||||
" updated += rambdaDt;\n"
|
||||
" updated = max2( updated, minRambdaDt );\n"
|
||||
" updated = min2( updated, maxRambdaDt );\n"
|
||||
" rambdaDt = updated - prevSum;\n"
|
||||
" cs->m_appliedRambdaDt[ic] = updated;\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"
|
||||
" *linVelA += linImp0;\n"
|
||||
" *angVelA += angImp0;\n"
|
||||
" *linVelB += linImp1;\n"
|
||||
" *angVelB += angImp1;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
|
||||
" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
|
||||
"{\n"
|
||||
" if (fabs(n[0].z) > 0.70710678f) {\n"
|
||||
" // choose p in y-z plane\n"
|
||||
" float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
|
||||
" float k = 1.f/sqrt(a);\n"
|
||||
" p[0].x = 0;\n"
|
||||
" p[0].y = -n[0].z*k;\n"
|
||||
" p[0].z = n[0].y*k;\n"
|
||||
" // set q = n x p\n"
|
||||
" q[0].x = a*k;\n"
|
||||
" q[0].y = -n[0].x*p[0].z;\n"
|
||||
" q[0].z = n[0].x*p[0].y;\n"
|
||||
" }\n"
|
||||
" else {\n"
|
||||
" // choose p in x-y plane\n"
|
||||
" float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
|
||||
" float k = 1.f/sqrt(a);\n"
|
||||
" p[0].x = -n[0].y*k;\n"
|
||||
" p[0].y = n[0].x*k;\n"
|
||||
" p[0].z = 0;\n"
|
||||
" // set q = n x p\n"
|
||||
" q[0].x = -n[0].z*p[0].y;\n"
|
||||
" q[0].y = n[0].z*p[0].x;\n"
|
||||
" q[0].z = a*k;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
|
||||
"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
|
||||
"{\n"
|
||||
" //float frictionCoeff = ldsCs[0].m_linear.w;\n"
|
||||
" int aIdx = ldsCs[0].m_bodyA;\n"
|
||||
" int bIdx = ldsCs[0].m_bodyB;\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"
|
||||
" 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"
|
||||
" solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
|
||||
" posB, &linVelB, &angVelB, invMassB, invInertiaB );\n"
|
||||
" if (gBodies[aIdx].m_invMass)\n"
|
||||
" {\n"
|
||||
" gBodies[aIdx].m_linVel = linVelA;\n"
|
||||
" gBodies[aIdx].m_angVel = angVelA;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
|
||||
" gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" if (gBodies[bIdx].m_invMass)\n"
|
||||
" {\n"
|
||||
" gBodies[bIdx].m_linVel = linVelB;\n"
|
||||
" gBodies[bIdx].m_angVel = angVelB;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
|
||||
" gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" int m_valInt0;\n"
|
||||
" int m_valInt1;\n"
|
||||
" int m_valInt2;\n"
|
||||
" int m_valInt3;\n"
|
||||
" float m_val0;\n"
|
||||
" float m_val1;\n"
|
||||
" float m_val2;\n"
|
||||
" float m_val3;\n"
|
||||
"} SolverDebugInfo;\n"
|
||||
"__kernel\n"
|
||||
"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
|
||||
"void BatchSolveKernelContact(__global Body* gBodies,\n"
|
||||
" __global Shape* gShapes,\n"
|
||||
" __global Constraint4* gConstraints,\n"
|
||||
" __global int* gN,\n"
|
||||
" __global int* gOffsets,\n"
|
||||
" __global int* batchSizes,\n"
|
||||
" int maxBatch1,\n"
|
||||
" int cellBatch,\n"
|
||||
" int4 nSplit\n"
|
||||
" )\n"
|
||||
"{\n"
|
||||
" //__local int ldsBatchIdx[WG_SIZE+1];\n"
|
||||
" __local int ldsCurBatch;\n"
|
||||
" __local int ldsNextBatch;\n"
|
||||
" __local int ldsStart;\n"
|
||||
" int lIdx = GET_LOCAL_IDX;\n"
|
||||
" int wgIdx = GET_GROUP_IDX;\n"
|
||||
"// int gIdx = GET_GLOBAL_IDX;\n"
|
||||
"// debugInfo[gIdx].m_valInt0 = gIdx;\n"
|
||||
" //debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
|
||||
" int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
|
||||
" int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
|
||||
" int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
|
||||
" int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
|
||||
" //int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);\n"
|
||||
" //int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);\n"
|
||||
" //int cellIdx = xIdx+yIdx*nSplit;\n"
|
||||
" \n"
|
||||
" if( gN[cellIdx] == 0 ) \n"
|
||||
" return;\n"
|
||||
" int maxBatch = batchSizes[cellIdx];\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" const int start = gOffsets[cellIdx];\n"
|
||||
" const int end = start + gN[cellIdx];\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" ldsCurBatch = 0;\n"
|
||||
" ldsNextBatch = 0;\n"
|
||||
" ldsStart = start;\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" int idx=ldsStart+lIdx;\n"
|
||||
" while (ldsCurBatch < maxBatch)\n"
|
||||
" {\n"
|
||||
" for(; idx<end; )\n"
|
||||
" {\n"
|
||||
" if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
|
||||
" {\n"
|
||||
" solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
|
||||
" idx+=64;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" break;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" ldsCurBatch++;\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"__kernel void solveSingleContactKernel(__global Body* gBodies,\n"
|
||||
" __global Shape* gShapes,\n"
|
||||
" __global Constraint4* gConstraints,\n"
|
||||
" int cellIdx,\n"
|
||||
" int batchOffset,\n"
|
||||
" int numConstraintsInBatch\n"
|
||||
" )\n"
|
||||
"{\n"
|
||||
" int index = get_global_id(0);\n"
|
||||
" if (index < numConstraintsInBatch)\n"
|
||||
" {\n"
|
||||
" int idx=batchOffset+index;\n"
|
||||
" solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
|
||||
" } \n"
|
||||
"}\n";
|
||||
|
||||
@@ -1,421 +1,420 @@
|
||||
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
|
||||
static const char* solveFrictionCL= \
|
||||
"/*\n"
|
||||
"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
|
||||
"This software is provided 'as-is', without any express or implied warranty.\n"
|
||||
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
|
||||
"Permission is granted to anyone to use this software for any purpose, \n"
|
||||
"including commercial applications, and to alter it and redistribute it freely, \n"
|
||||
"subject to the following restrictions:\n"
|
||||
"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.\n"
|
||||
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
|
||||
"3. This notice may not be removed or altered from any source distribution.\n"
|
||||
"*/\n"
|
||||
"//Originally written by Takahiro Harada\n"
|
||||
"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
|
||||
"#ifdef cl_ext_atomic_counters_32\n"
|
||||
"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
|
||||
"#else\n"
|
||||
"#define counter32_t volatile global int*\n"
|
||||
"#endif\n"
|
||||
"typedef unsigned int u32;\n"
|
||||
"typedef unsigned short u16;\n"
|
||||
"typedef unsigned char u8;\n"
|
||||
"#define GET_GROUP_IDX get_group_id(0)\n"
|
||||
"#define GET_LOCAL_IDX get_local_id(0)\n"
|
||||
"#define GET_GLOBAL_IDX get_global_id(0)\n"
|
||||
"#define GET_GROUP_SIZE get_local_size(0)\n"
|
||||
"#define GET_NUM_GROUPS get_num_groups(0)\n"
|
||||
"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define AtomInc(x) atom_inc(&(x))\n"
|
||||
"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
|
||||
"#define AppendInc(x, out) out = atomic_inc(x)\n"
|
||||
"#define AtomAdd(x, value) atom_add(&(x), value)\n"
|
||||
"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
|
||||
"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
|
||||
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
||||
"#define mymake_float4 (float4)\n"
|
||||
"//#define make_float2 (float2)\n"
|
||||
"//#define make_uint4 (uint4)\n"
|
||||
"//#define make_int4 (int4)\n"
|
||||
"//#define make_uint2 (uint2)\n"
|
||||
"//#define make_int2 (int2)\n"
|
||||
"#define max2 max\n"
|
||||
"#define min2 min\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Vector\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"__inline\n"
|
||||
"float4 fastNormalize4(float4 v)\n"
|
||||
"{\n"
|
||||
" return fast_normalize(v);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 cross3(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" return cross(a,b);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float dot3F4(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" float4 a1 = mymake_float4(a.xyz,0.f);\n"
|
||||
" float4 b1 = mymake_float4(b.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 normalize3(const float4 a)\n"
|
||||
"{\n"
|
||||
" float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
|
||||
" return fastNormalize4( n );\n"
|
||||
"// float length = sqrtf(dot3F4(a, a));\n"
|
||||
"// return 1.f/length * a;\n"
|
||||
"}\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Matrix3x3\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_row[3];\n"
|
||||
"}Matrix3x3;\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul1(Matrix3x3 a, float4 b);\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul3(float4 a, Matrix3x3 b);\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul1(Matrix3x3 a, float4 b)\n"
|
||||
"{\n"
|
||||
" float4 ans;\n"
|
||||
" ans.x = dot3F4( a.m_row[0], b );\n"
|
||||
" ans.y = dot3F4( a.m_row[1], b );\n"
|
||||
" ans.z = dot3F4( a.m_row[2], b );\n"
|
||||
" ans.w = 0.f;\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul3(float4 a, Matrix3x3 b)\n"
|
||||
"{\n"
|
||||
" float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
|
||||
" float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
|
||||
" float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
|
||||
" float4 ans;\n"
|
||||
" ans.x = dot3F4( a, colx );\n"
|
||||
" ans.y = dot3F4( a, coly );\n"
|
||||
" ans.z = dot3F4( a, colz );\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Quaternion\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"typedef float4 Quaternion;\n"
|
||||
"#define WG_SIZE 64\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_pos;\n"
|
||||
" Quaternion m_quat;\n"
|
||||
" float4 m_linVel;\n"
|
||||
" float4 m_angVel;\n"
|
||||
" u32 m_shapeIdx;\n"
|
||||
" float m_invMass;\n"
|
||||
" float m_restituitionCoeff;\n"
|
||||
" float m_frictionCoeff;\n"
|
||||
"} Body;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" Matrix3x3 m_invInertia;\n"
|
||||
" Matrix3x3 m_initInvInertia;\n"
|
||||
"} Shape;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_linear;\n"
|
||||
" float4 m_worldPos[4];\n"
|
||||
" float4 m_center; \n"
|
||||
" float m_jacCoeffInv[4];\n"
|
||||
" float m_b[4];\n"
|
||||
" float m_appliedRambdaDt[4];\n"
|
||||
" float m_fJacCoeffInv[2]; \n"
|
||||
" float m_fAppliedRambdaDt[2]; \n"
|
||||
" u32 m_bodyA;\n"
|
||||
" u32 m_bodyB;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" u32 m_paddings[1];\n"
|
||||
"} Constraint4;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" int m_nConstraints;\n"
|
||||
" int m_start;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_nSplit;\n"
|
||||
"// int m_paddings[1];\n"
|
||||
"} ConstBuffer;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" int m_solveFriction;\n"
|
||||
" int m_maxBatch; // long batch really kills the performance\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_nSplit;\n"
|
||||
"// int m_paddings[1];\n"
|
||||
"} ConstBufferBatchSolve;\n"
|
||||
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
|
||||
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
|
||||
"{\n"
|
||||
" *linear = mymake_float4(-n.xyz,0.f);\n"
|
||||
" *angular0 = -cross3(r0, n);\n"
|
||||
" *angular1 = cross3(r1, n);\n"
|
||||
"}\n"
|
||||
"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
|
||||
"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
|
||||
"{\n"
|
||||
" return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
|
||||
"}\n"
|
||||
"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
|
||||
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
|
||||
"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
|
||||
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
|
||||
"{\n"
|
||||
" // linear0,1 are normlized\n"
|
||||
" float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
|
||||
" float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
|
||||
" float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
|
||||
" float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
|
||||
" return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
|
||||
"}\n"
|
||||
"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
|
||||
" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
|
||||
"{\n"
|
||||
" if (fabs(n[0].z) > 0.70710678f) {\n"
|
||||
" // choose p in y-z plane\n"
|
||||
" float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
|
||||
" float k = 1.f/sqrt(a);\n"
|
||||
" p[0].x = 0;\n"
|
||||
" p[0].y = -n[0].z*k;\n"
|
||||
" p[0].z = n[0].y*k;\n"
|
||||
" // set q = n x p\n"
|
||||
" q[0].x = a*k;\n"
|
||||
" q[0].y = -n[0].x*p[0].z;\n"
|
||||
" q[0].z = n[0].x*p[0].y;\n"
|
||||
" }\n"
|
||||
" else {\n"
|
||||
" // choose p in x-y plane\n"
|
||||
" float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
|
||||
" float k = 1.f/sqrt(a);\n"
|
||||
" p[0].x = -n[0].y*k;\n"
|
||||
" p[0].y = n[0].x*k;\n"
|
||||
" p[0].z = 0;\n"
|
||||
" // set q = n x p\n"
|
||||
" q[0].x = -n[0].z*p[0].y;\n"
|
||||
" q[0].y = n[0].z*p[0].x;\n"
|
||||
" q[0].z = a*k;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
|
||||
"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
|
||||
"{\n"
|
||||
" float frictionCoeff = ldsCs[0].m_linear.w;\n"
|
||||
" int aIdx = ldsCs[0].m_bodyA;\n"
|
||||
" int bIdx = ldsCs[0].m_bodyB;\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"
|
||||
" 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"
|
||||
" float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
|
||||
" float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\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"
|
||||
"// 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, angVelA, linVelB, angVelB );\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"
|
||||
" linVelA += linImp0;\n"
|
||||
" angVelA += angImp0;\n"
|
||||
" linVelB += linImp1;\n"
|
||||
" angVelB += 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"
|
||||
" angVelA -= (angNA*0.1f)*n;\n"
|
||||
" angVelB -= (angNB*0.1f)*n;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" if (gBodies[aIdx].m_invMass)\n"
|
||||
" {\n"
|
||||
" gBodies[aIdx].m_linVel = linVelA;\n"
|
||||
" gBodies[aIdx].m_angVel = angVelA;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
|
||||
" gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
|
||||
" }\n"
|
||||
" if (gBodies[bIdx].m_invMass)\n"
|
||||
" {\n"
|
||||
" gBodies[bIdx].m_linVel = linVelB;\n"
|
||||
" gBodies[bIdx].m_angVel = angVelB;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
|
||||
" gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" int m_valInt0;\n"
|
||||
" int m_valInt1;\n"
|
||||
" int m_valInt2;\n"
|
||||
" int m_valInt3;\n"
|
||||
" float m_val0;\n"
|
||||
" float m_val1;\n"
|
||||
" float m_val2;\n"
|
||||
" float m_val3;\n"
|
||||
"} SolverDebugInfo;\n"
|
||||
"__kernel\n"
|
||||
"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
|
||||
"void BatchSolveKernelFriction(__global Body* gBodies,\n"
|
||||
" __global Shape* gShapes,\n"
|
||||
" __global Constraint4* gConstraints,\n"
|
||||
" __global int* gN,\n"
|
||||
" __global int* gOffsets,\n"
|
||||
" __global int* batchSizes,\n"
|
||||
" int maxBatch1,\n"
|
||||
" int cellBatch,\n"
|
||||
" int4 nSplit\n"
|
||||
" )\n"
|
||||
"{\n"
|
||||
" //__local int ldsBatchIdx[WG_SIZE+1];\n"
|
||||
" __local int ldsCurBatch;\n"
|
||||
" __local int ldsNextBatch;\n"
|
||||
" __local int ldsStart;\n"
|
||||
" int lIdx = GET_LOCAL_IDX;\n"
|
||||
" int wgIdx = GET_GROUP_IDX;\n"
|
||||
"// int gIdx = GET_GLOBAL_IDX;\n"
|
||||
"// debugInfo[gIdx].m_valInt0 = gIdx;\n"
|
||||
" //debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
|
||||
" int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
|
||||
" int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
|
||||
" int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
|
||||
" int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
|
||||
" int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
|
||||
" \n"
|
||||
" if( gN[cellIdx] == 0 ) \n"
|
||||
" return;\n"
|
||||
" int maxBatch = batchSizes[cellIdx];\n"
|
||||
" const int start = gOffsets[cellIdx];\n"
|
||||
" const int end = start + gN[cellIdx];\n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" ldsCurBatch = 0;\n"
|
||||
" ldsNextBatch = 0;\n"
|
||||
" ldsStart = start;\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" int idx=ldsStart+lIdx;\n"
|
||||
" while (ldsCurBatch < maxBatch)\n"
|
||||
" {\n"
|
||||
" for(; idx<end; )\n"
|
||||
" {\n"
|
||||
" if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
|
||||
" {\n"
|
||||
" solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
|
||||
" idx+=64;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" break;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" ldsCurBatch++;\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"__kernel void solveSingleFrictionKernel(__global Body* gBodies,\n"
|
||||
" __global Shape* gShapes,\n"
|
||||
" __global Constraint4* gConstraints,\n"
|
||||
" int cellIdx,\n"
|
||||
" int batchOffset,\n"
|
||||
" int numConstraintsInBatch\n"
|
||||
" )\n"
|
||||
"{\n"
|
||||
" int index = get_global_id(0);\n"
|
||||
" if (index < numConstraintsInBatch)\n"
|
||||
" {\n"
|
||||
" \n"
|
||||
" int idx=batchOffset+index;\n"
|
||||
" \n"
|
||||
" solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
|
||||
" } \n"
|
||||
"}\n"
|
||||
;
|
||||
static const char* solveFrictionCL =
|
||||
"/*\n"
|
||||
"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
|
||||
"This software is provided 'as-is', without any express or implied warranty.\n"
|
||||
"In no event will the authors be held liable for any damages arising from the use of this software.\n"
|
||||
"Permission is granted to anyone to use this software for any purpose, \n"
|
||||
"including commercial applications, and to alter it and redistribute it freely, \n"
|
||||
"subject to the following restrictions:\n"
|
||||
"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.\n"
|
||||
"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
|
||||
"3. This notice may not be removed or altered from any source distribution.\n"
|
||||
"*/\n"
|
||||
"//Originally written by Takahiro Harada\n"
|
||||
"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
|
||||
"#ifdef cl_ext_atomic_counters_32\n"
|
||||
"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
|
||||
"#else\n"
|
||||
"#define counter32_t volatile global int*\n"
|
||||
"#endif\n"
|
||||
"typedef unsigned int u32;\n"
|
||||
"typedef unsigned short u16;\n"
|
||||
"typedef unsigned char u8;\n"
|
||||
"#define GET_GROUP_IDX get_group_id(0)\n"
|
||||
"#define GET_LOCAL_IDX get_local_id(0)\n"
|
||||
"#define GET_GLOBAL_IDX get_global_id(0)\n"
|
||||
"#define GET_GROUP_SIZE get_local_size(0)\n"
|
||||
"#define GET_NUM_GROUPS get_num_groups(0)\n"
|
||||
"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
|
||||
"#define AtomInc(x) atom_inc(&(x))\n"
|
||||
"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
|
||||
"#define AppendInc(x, out) out = atomic_inc(x)\n"
|
||||
"#define AtomAdd(x, value) atom_add(&(x), value)\n"
|
||||
"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
|
||||
"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
|
||||
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
|
||||
"#define mymake_float4 (float4)\n"
|
||||
"//#define make_float2 (float2)\n"
|
||||
"//#define make_uint4 (uint4)\n"
|
||||
"//#define make_int4 (int4)\n"
|
||||
"//#define make_uint2 (uint2)\n"
|
||||
"//#define make_int2 (int2)\n"
|
||||
"#define max2 max\n"
|
||||
"#define min2 min\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Vector\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"__inline\n"
|
||||
"float4 fastNormalize4(float4 v)\n"
|
||||
"{\n"
|
||||
" return fast_normalize(v);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 cross3(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" return cross(a,b);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float dot3F4(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" float4 a1 = mymake_float4(a.xyz,0.f);\n"
|
||||
" float4 b1 = mymake_float4(b.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 normalize3(const float4 a)\n"
|
||||
"{\n"
|
||||
" float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
|
||||
" return fastNormalize4( n );\n"
|
||||
"// float length = sqrtf(dot3F4(a, a));\n"
|
||||
"// return 1.f/length * a;\n"
|
||||
"}\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Matrix3x3\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_row[3];\n"
|
||||
"}Matrix3x3;\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul1(Matrix3x3 a, float4 b);\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul3(float4 a, Matrix3x3 b);\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul1(Matrix3x3 a, float4 b)\n"
|
||||
"{\n"
|
||||
" float4 ans;\n"
|
||||
" ans.x = dot3F4( a.m_row[0], b );\n"
|
||||
" ans.y = dot3F4( a.m_row[1], b );\n"
|
||||
" ans.z = dot3F4( a.m_row[2], b );\n"
|
||||
" ans.w = 0.f;\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul3(float4 a, Matrix3x3 b)\n"
|
||||
"{\n"
|
||||
" float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
|
||||
" float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
|
||||
" float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
|
||||
" float4 ans;\n"
|
||||
" ans.x = dot3F4( a, colx );\n"
|
||||
" ans.y = dot3F4( a, coly );\n"
|
||||
" ans.z = dot3F4( a, colz );\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"// Quaternion\n"
|
||||
"///////////////////////////////////////\n"
|
||||
"typedef float4 Quaternion;\n"
|
||||
"#define WG_SIZE 64\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_pos;\n"
|
||||
" Quaternion m_quat;\n"
|
||||
" float4 m_linVel;\n"
|
||||
" float4 m_angVel;\n"
|
||||
" u32 m_shapeIdx;\n"
|
||||
" float m_invMass;\n"
|
||||
" float m_restituitionCoeff;\n"
|
||||
" float m_frictionCoeff;\n"
|
||||
"} Body;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" Matrix3x3 m_invInertia;\n"
|
||||
" Matrix3x3 m_initInvInertia;\n"
|
||||
"} Shape;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_linear;\n"
|
||||
" float4 m_worldPos[4];\n"
|
||||
" float4 m_center; \n"
|
||||
" float m_jacCoeffInv[4];\n"
|
||||
" float m_b[4];\n"
|
||||
" float m_appliedRambdaDt[4];\n"
|
||||
" float m_fJacCoeffInv[2]; \n"
|
||||
" float m_fAppliedRambdaDt[2]; \n"
|
||||
" u32 m_bodyA;\n"
|
||||
" u32 m_bodyB;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" u32 m_paddings[1];\n"
|
||||
"} Constraint4;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" int m_nConstraints;\n"
|
||||
" int m_start;\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_nSplit;\n"
|
||||
"// int m_paddings[1];\n"
|
||||
"} ConstBuffer;\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" int m_solveFriction;\n"
|
||||
" int m_maxBatch; // long batch really kills the performance\n"
|
||||
" int m_batchIdx;\n"
|
||||
" int m_nSplit;\n"
|
||||
"// int m_paddings[1];\n"
|
||||
"} ConstBufferBatchSolve;\n"
|
||||
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
|
||||
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
|
||||
"{\n"
|
||||
" *linear = mymake_float4(-n.xyz,0.f);\n"
|
||||
" *angular0 = -cross3(r0, n);\n"
|
||||
" *angular1 = cross3(r1, n);\n"
|
||||
"}\n"
|
||||
"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
|
||||
"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
|
||||
"{\n"
|
||||
" return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
|
||||
"}\n"
|
||||
"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
|
||||
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
|
||||
"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
|
||||
" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
|
||||
"{\n"
|
||||
" // linear0,1 are normlized\n"
|
||||
" float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
|
||||
" float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
|
||||
" float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
|
||||
" float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
|
||||
" return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
|
||||
"}\n"
|
||||
"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
|
||||
" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
|
||||
"{\n"
|
||||
" if (fabs(n[0].z) > 0.70710678f) {\n"
|
||||
" // choose p in y-z plane\n"
|
||||
" float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
|
||||
" float k = 1.f/sqrt(a);\n"
|
||||
" p[0].x = 0;\n"
|
||||
" p[0].y = -n[0].z*k;\n"
|
||||
" p[0].z = n[0].y*k;\n"
|
||||
" // set q = n x p\n"
|
||||
" q[0].x = a*k;\n"
|
||||
" q[0].y = -n[0].x*p[0].z;\n"
|
||||
" q[0].z = n[0].x*p[0].y;\n"
|
||||
" }\n"
|
||||
" else {\n"
|
||||
" // choose p in x-y plane\n"
|
||||
" float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
|
||||
" float k = 1.f/sqrt(a);\n"
|
||||
" p[0].x = -n[0].y*k;\n"
|
||||
" p[0].y = n[0].x*k;\n"
|
||||
" p[0].z = 0;\n"
|
||||
" // set q = n x p\n"
|
||||
" q[0].x = -n[0].z*p[0].y;\n"
|
||||
" q[0].y = n[0].z*p[0].x;\n"
|
||||
" q[0].z = a*k;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
|
||||
"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
|
||||
"{\n"
|
||||
" float frictionCoeff = ldsCs[0].m_linear.w;\n"
|
||||
" int aIdx = ldsCs[0].m_bodyA;\n"
|
||||
" int bIdx = ldsCs[0].m_bodyB;\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"
|
||||
" 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"
|
||||
" float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
|
||||
" float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\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"
|
||||
"// 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, angVelA, linVelB, angVelB );\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"
|
||||
" linVelA += linImp0;\n"
|
||||
" angVelA += angImp0;\n"
|
||||
" linVelB += linImp1;\n"
|
||||
" angVelB += 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"
|
||||
" angVelA -= (angNA*0.1f)*n;\n"
|
||||
" angVelB -= (angNB*0.1f)*n;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" }\n"
|
||||
" if (gBodies[aIdx].m_invMass)\n"
|
||||
" {\n"
|
||||
" gBodies[aIdx].m_linVel = linVelA;\n"
|
||||
" gBodies[aIdx].m_angVel = angVelA;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
|
||||
" gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
|
||||
" }\n"
|
||||
" if (gBodies[bIdx].m_invMass)\n"
|
||||
" {\n"
|
||||
" gBodies[bIdx].m_linVel = linVelB;\n"
|
||||
" gBodies[bIdx].m_angVel = angVelB;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
|
||||
" gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"typedef struct \n"
|
||||
"{\n"
|
||||
" int m_valInt0;\n"
|
||||
" int m_valInt1;\n"
|
||||
" int m_valInt2;\n"
|
||||
" int m_valInt3;\n"
|
||||
" float m_val0;\n"
|
||||
" float m_val1;\n"
|
||||
" float m_val2;\n"
|
||||
" float m_val3;\n"
|
||||
"} SolverDebugInfo;\n"
|
||||
"__kernel\n"
|
||||
"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
|
||||
"void BatchSolveKernelFriction(__global Body* gBodies,\n"
|
||||
" __global Shape* gShapes,\n"
|
||||
" __global Constraint4* gConstraints,\n"
|
||||
" __global int* gN,\n"
|
||||
" __global int* gOffsets,\n"
|
||||
" __global int* batchSizes,\n"
|
||||
" int maxBatch1,\n"
|
||||
" int cellBatch,\n"
|
||||
" int4 nSplit\n"
|
||||
" )\n"
|
||||
"{\n"
|
||||
" //__local int ldsBatchIdx[WG_SIZE+1];\n"
|
||||
" __local int ldsCurBatch;\n"
|
||||
" __local int ldsNextBatch;\n"
|
||||
" __local int ldsStart;\n"
|
||||
" int lIdx = GET_LOCAL_IDX;\n"
|
||||
" int wgIdx = GET_GROUP_IDX;\n"
|
||||
"// int gIdx = GET_GLOBAL_IDX;\n"
|
||||
"// debugInfo[gIdx].m_valInt0 = gIdx;\n"
|
||||
" //debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
|
||||
" int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
|
||||
" int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
|
||||
" int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
|
||||
" int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
|
||||
" int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
|
||||
" \n"
|
||||
" if( gN[cellIdx] == 0 ) \n"
|
||||
" return;\n"
|
||||
" int maxBatch = batchSizes[cellIdx];\n"
|
||||
" const int start = gOffsets[cellIdx];\n"
|
||||
" const int end = start + gN[cellIdx];\n"
|
||||
" \n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" ldsCurBatch = 0;\n"
|
||||
" ldsNextBatch = 0;\n"
|
||||
" ldsStart = start;\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" int idx=ldsStart+lIdx;\n"
|
||||
" while (ldsCurBatch < maxBatch)\n"
|
||||
" {\n"
|
||||
" for(; idx<end; )\n"
|
||||
" {\n"
|
||||
" if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
|
||||
" {\n"
|
||||
" solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
|
||||
" idx+=64;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" break;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" if( lIdx == 0 )\n"
|
||||
" {\n"
|
||||
" ldsCurBatch++;\n"
|
||||
" }\n"
|
||||
" GROUP_LDS_BARRIER;\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"__kernel void solveSingleFrictionKernel(__global Body* gBodies,\n"
|
||||
" __global Shape* gShapes,\n"
|
||||
" __global Constraint4* gConstraints,\n"
|
||||
" int cellIdx,\n"
|
||||
" int batchOffset,\n"
|
||||
" int numConstraintsInBatch\n"
|
||||
" )\n"
|
||||
"{\n"
|
||||
" int index = get_global_id(0);\n"
|
||||
" if (index < numConstraintsInBatch)\n"
|
||||
" {\n"
|
||||
" \n"
|
||||
" int idx=batchOffset+index;\n"
|
||||
" \n"
|
||||
" solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
|
||||
" } \n"
|
||||
"}\n";
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,483 +1,482 @@
|
||||
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
|
||||
static const char* updateAabbsKernelCL= \
|
||||
"#ifndef B3_UPDATE_AABBS_H\n"
|
||||
"#define B3_UPDATE_AABBS_H\n"
|
||||
"#ifndef B3_AABB_H\n"
|
||||
"#define B3_AABB_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#define B3_FLOAT4_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#define B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"struct MyTest\n"
|
||||
"{\n"
|
||||
" int bla;\n"
|
||||
"};\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
|
||||
"#define B3_LARGE_FLOAT 1e18f\n"
|
||||
"#define B3_INFINITY 1e18f\n"
|
||||
"#define b3Assert(a)\n"
|
||||
"#define b3ConstArray(a) __global const a*\n"
|
||||
"#define b3AtomicInc atomic_inc\n"
|
||||
"#define b3AtomicAdd atomic_add\n"
|
||||
"#define b3Fabs fabs\n"
|
||||
"#define b3Sqrt native_sqrt\n"
|
||||
"#define b3Sin native_sin\n"
|
||||
"#define b3Cos native_cos\n"
|
||||
"#define B3_STATIC\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Float4;\n"
|
||||
" #define b3Float4ConstArg const b3Float4\n"
|
||||
" #define b3MakeFloat4 (float4)\n"
|
||||
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
" }\n"
|
||||
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return cross(a1, b1);\n"
|
||||
" }\n"
|
||||
" #define b3MinFloat4 min\n"
|
||||
" #define b3MaxFloat4 max\n"
|
||||
" #define b3Normalized(a) normalize(a)\n"
|
||||
"#endif \n"
|
||||
" \n"
|
||||
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
|
||||
"{\n"
|
||||
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
|
||||
" return false;\n"
|
||||
" return true;\n"
|
||||
"}\n"
|
||||
"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
|
||||
"{\n"
|
||||
" float maxDot = -B3_INFINITY;\n"
|
||||
" int i = 0;\n"
|
||||
" int ptIndex = -1;\n"
|
||||
" for( i = 0; i < vecLen; i++ )\n"
|
||||
" {\n"
|
||||
" float dot = b3Dot3F4(vecArray[i],vec);\n"
|
||||
" \n"
|
||||
" if( dot > maxDot )\n"
|
||||
" {\n"
|
||||
" maxDot = dot;\n"
|
||||
" ptIndex = i;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" b3Assert(ptIndex>=0);\n"
|
||||
" if (ptIndex<0)\n"
|
||||
" {\n"
|
||||
" ptIndex = 0;\n"
|
||||
" }\n"
|
||||
" *dotOut = maxDot;\n"
|
||||
" return ptIndex;\n"
|
||||
"}\n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifndef B3_MAT3x3_H\n"
|
||||
"#define B3_MAT3x3_H\n"
|
||||
"#ifndef B3_QUAT_H\n"
|
||||
"#define B3_QUAT_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Quat;\n"
|
||||
" #define b3QuatConstArg const b3Quat\n"
|
||||
" \n"
|
||||
" \n"
|
||||
"inline float4 b3FastNormalize4(float4 v)\n"
|
||||
"{\n"
|
||||
" v = (float4)(v.xyz,0.f);\n"
|
||||
" return fast_normalize(v);\n"
|
||||
"}\n"
|
||||
" \n"
|
||||
"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
|
||||
"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
|
||||
"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
|
||||
"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
|
||||
"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
|
||||
"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
|
||||
"{\n"
|
||||
" b3Quat ans;\n"
|
||||
" ans = b3Cross3( a, b );\n"
|
||||
" ans += a.w*b+b.w*a;\n"
|
||||
"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
|
||||
" ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
|
||||
"{\n"
|
||||
" b3Quat q;\n"
|
||||
" q=in;\n"
|
||||
" //return b3FastNormalize4(in);\n"
|
||||
" float len = native_sqrt(dot(q, q));\n"
|
||||
" if(len > 0.f)\n"
|
||||
" {\n"
|
||||
" q *= 1.f / len;\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" {\n"
|
||||
" q.x = q.y = q.z = 0.f;\n"
|
||||
" q.w = 1.f;\n"
|
||||
" }\n"
|
||||
" return q;\n"
|
||||
"}\n"
|
||||
"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
|
||||
"{\n"
|
||||
" b3Quat qInv = b3QuatInvert( q );\n"
|
||||
" float4 vcpy = vec;\n"
|
||||
" vcpy.w = 0.f;\n"
|
||||
" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
|
||||
"{\n"
|
||||
" return (b3Quat)(-q.xyz, q.w);\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
|
||||
"{\n"
|
||||
" return (b3Quat)(-q.xyz, q.w);\n"
|
||||
"}\n"
|
||||
"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
|
||||
"{\n"
|
||||
" return b3QuatRotate( b3QuatInvert( q ), vec );\n"
|
||||
"}\n"
|
||||
"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)\n"
|
||||
"{\n"
|
||||
" return b3QuatRotate( orientation, point ) + (translation);\n"
|
||||
"}\n"
|
||||
" \n"
|
||||
"#endif \n"
|
||||
"#endif //B3_QUAT_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" b3Float4 m_row[3];\n"
|
||||
"}b3Mat3x3;\n"
|
||||
"#define b3Mat3x3ConstArg const b3Mat3x3\n"
|
||||
"#define b3GetRow(m,row) (m.m_row[row])\n"
|
||||
"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
|
||||
"{\n"
|
||||
" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
|
||||
" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
|
||||
" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
|
||||
" out.m_row[0].w = 0.f;\n"
|
||||
" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
|
||||
" out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
|
||||
" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
|
||||
" out.m_row[1].w = 0.f;\n"
|
||||
" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
|
||||
" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
|
||||
" out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
|
||||
" out.m_row[2].w = 0.f;\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0] = fabs(matIn.m_row[0]);\n"
|
||||
" out.m_row[1] = fabs(matIn.m_row[1]);\n"
|
||||
" out.m_row[2] = fabs(matIn.m_row[2]);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtZero();\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtIdentity();\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtZero()\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m;\n"
|
||||
" m.m_row[0] = (b3Float4)(0.f);\n"
|
||||
" m.m_row[1] = (b3Float4)(0.f);\n"
|
||||
" m.m_row[2] = (b3Float4)(0.f);\n"
|
||||
" return m;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtIdentity()\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m;\n"
|
||||
" m.m_row[0] = (b3Float4)(1,0,0,0);\n"
|
||||
" m.m_row[1] = (b3Float4)(0,1,0,0);\n"
|
||||
" m.m_row[2] = (b3Float4)(0,0,1,0);\n"
|
||||
" return m;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
|
||||
" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
|
||||
" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 transB;\n"
|
||||
" transB = mtTranspose( b );\n"
|
||||
" b3Mat3x3 ans;\n"
|
||||
" // why this doesn't run when 0ing in the for{}\n"
|
||||
" a.m_row[0].w = 0.f;\n"
|
||||
" a.m_row[1].w = 0.f;\n"
|
||||
" a.m_row[2].w = 0.f;\n"
|
||||
" for(int i=0; i<3; i++)\n"
|
||||
" {\n"
|
||||
"// a.m_row[i].w = 0.f;\n"
|
||||
" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
|
||||
" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
|
||||
" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
|
||||
" ans.m_row[i].w = 0.f;\n"
|
||||
" }\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
|
||||
"{\n"
|
||||
" b3Float4 ans;\n"
|
||||
" ans.x = b3Dot3F4( a.m_row[0], b );\n"
|
||||
" ans.y = b3Dot3F4( a.m_row[1], b );\n"
|
||||
" ans.z = b3Dot3F4( a.m_row[2], b );\n"
|
||||
" ans.w = 0.f;\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
|
||||
"{\n"
|
||||
" b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
|
||||
" b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
|
||||
" b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
|
||||
" b3Float4 ans;\n"
|
||||
" ans.x = b3Dot3F4( a, colx );\n"
|
||||
" ans.y = b3Dot3F4( a, coly );\n"
|
||||
" ans.z = b3Dot3F4( a, colz );\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"#endif\n"
|
||||
"#endif //B3_MAT3x3_H\n"
|
||||
"typedef struct b3Aabb b3Aabb_t;\n"
|
||||
"struct b3Aabb\n"
|
||||
"{\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" float m_min[4];\n"
|
||||
" b3Float4 m_minVec;\n"
|
||||
" int m_minIndices[4];\n"
|
||||
" };\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" float m_max[4];\n"
|
||||
" b3Float4 m_maxVec;\n"
|
||||
" int m_signedMaxIndices[4];\n"
|
||||
" };\n"
|
||||
"};\n"
|
||||
"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
|
||||
" b3Float4ConstArg pos,\n"
|
||||
" b3QuatConstArg orn,\n"
|
||||
" b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
|
||||
"{\n"
|
||||
" b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
|
||||
" localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
|
||||
" b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
|
||||
" b3Mat3x3 m;\n"
|
||||
" m = b3QuatGetRotationMatrix(orn);\n"
|
||||
" b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
|
||||
" b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
|
||||
" \n"
|
||||
" b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
|
||||
" b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
|
||||
" b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
|
||||
" 0.f);\n"
|
||||
" *aabbMinOut = center-extent;\n"
|
||||
" *aabbMaxOut = center+extent;\n"
|
||||
"}\n"
|
||||
"/// conservative test for overlap between two aabbs\n"
|
||||
"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
|
||||
" b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
|
||||
"{\n"
|
||||
" bool overlap = true;\n"
|
||||
" overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
|
||||
" overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
|
||||
" overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
|
||||
" return overlap;\n"
|
||||
"}\n"
|
||||
"#endif //B3_AABB_H\n"
|
||||
"#ifndef B3_COLLIDABLE_H\n"
|
||||
"#define B3_COLLIDABLE_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifndef B3_QUAT_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_QUAT_H\n"
|
||||
"enum b3ShapeTypes\n"
|
||||
"{\n"
|
||||
" SHAPE_HEIGHT_FIELD=1,\n"
|
||||
" SHAPE_CONVEX_HULL=3,\n"
|
||||
" SHAPE_PLANE=4,\n"
|
||||
" SHAPE_CONCAVE_TRIMESH=5,\n"
|
||||
" SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
|
||||
" SHAPE_SPHERE=7,\n"
|
||||
" MAX_NUM_SHAPE_TYPES,\n"
|
||||
"};\n"
|
||||
"typedef struct b3Collidable b3Collidable_t;\n"
|
||||
"struct b3Collidable\n"
|
||||
"{\n"
|
||||
" union {\n"
|
||||
" int m_numChildShapes;\n"
|
||||
" int m_bvhIndex;\n"
|
||||
" };\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" float m_radius;\n"
|
||||
" int m_compoundBvhIndex;\n"
|
||||
" };\n"
|
||||
" int m_shapeType;\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" int m_shapeIndex;\n"
|
||||
" float m_height;\n"
|
||||
" };\n"
|
||||
"};\n"
|
||||
"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
|
||||
"struct b3GpuChildShape\n"
|
||||
"{\n"
|
||||
" b3Float4 m_childPosition;\n"
|
||||
" b3Quat m_childOrientation;\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" int m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
|
||||
" int m_capsuleAxis;\n"
|
||||
" };\n"
|
||||
" union \n"
|
||||
" {\n"
|
||||
" float m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n"
|
||||
" int m_numChildShapes;//used for compound shape\n"
|
||||
" };\n"
|
||||
" union \n"
|
||||
" {\n"
|
||||
" float m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n"
|
||||
" int m_collidableShapeIndex;\n"
|
||||
" };\n"
|
||||
" int m_shapeType;\n"
|
||||
"};\n"
|
||||
"struct b3CompoundOverlappingPair\n"
|
||||
"{\n"
|
||||
" int m_bodyIndexA;\n"
|
||||
" int m_bodyIndexB;\n"
|
||||
"// int m_pairType;\n"
|
||||
" int m_childShapeIndexA;\n"
|
||||
" int m_childShapeIndexB;\n"
|
||||
"};\n"
|
||||
"#endif //B3_COLLIDABLE_H\n"
|
||||
"#ifndef B3_RIGIDBODY_DATA_H\n"
|
||||
"#define B3_RIGIDBODY_DATA_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifndef B3_QUAT_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_QUAT_H\n"
|
||||
"#ifndef B3_MAT3x3_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif\n"
|
||||
"#endif //B3_MAT3x3_H\n"
|
||||
"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
|
||||
"struct b3RigidBodyData\n"
|
||||
"{\n"
|
||||
" b3Float4 m_pos;\n"
|
||||
" b3Quat m_quat;\n"
|
||||
" b3Float4 m_linVel;\n"
|
||||
" b3Float4 m_angVel;\n"
|
||||
" int m_collidableIdx;\n"
|
||||
" float m_invMass;\n"
|
||||
" float m_restituitionCoeff;\n"
|
||||
" float m_frictionCoeff;\n"
|
||||
"};\n"
|
||||
"typedef struct b3InertiaData b3InertiaData_t;\n"
|
||||
"struct b3InertiaData\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m_invInertiaWorld;\n"
|
||||
" b3Mat3x3 m_initInvInertia;\n"
|
||||
"};\n"
|
||||
"#endif //B3_RIGIDBODY_DATA_H\n"
|
||||
" \n"
|
||||
"void b3ComputeWorldAabb( int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)\n"
|
||||
"{\n"
|
||||
" __global const b3RigidBodyData_t* body = &bodies[bodyId];\n"
|
||||
" b3Float4 position = body->m_pos;\n"
|
||||
" b3Quat orientation = body->m_quat;\n"
|
||||
" \n"
|
||||
" int collidableIndex = body->m_collidableIdx;\n"
|
||||
" int shapeIndex = collidables[collidableIndex].m_shapeIndex;\n"
|
||||
" \n"
|
||||
" if (shapeIndex>=0)\n"
|
||||
" {\n"
|
||||
" \n"
|
||||
" b3Aabb_t localAabb = localShapeAABB[collidableIndex];\n"
|
||||
" b3Aabb_t worldAabb;\n"
|
||||
" \n"
|
||||
" b3Float4 aabbAMinOut,aabbAMaxOut; \n"
|
||||
" float margin = 0.f;\n"
|
||||
" b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);\n"
|
||||
" \n"
|
||||
" worldAabb.m_minVec =aabbAMinOut;\n"
|
||||
" worldAabb.m_minIndices[3] = bodyId;\n"
|
||||
" worldAabb.m_maxVec = aabbAMaxOut;\n"
|
||||
" worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;\n"
|
||||
" worldAabbs[bodyId] = worldAabb;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"#endif //B3_UPDATE_AABBS_H\n"
|
||||
"__kernel void initializeGpuAabbsFull( const int numNodes, __global b3RigidBodyData_t* gBodies,__global b3Collidable_t* collidables, __global b3Aabb_t* plocalShapeAABB, __global b3Aabb_t* pAABB)\n"
|
||||
"{\n"
|
||||
" int nodeID = get_global_id(0);\n"
|
||||
" if( nodeID < numNodes )\n"
|
||||
" {\n"
|
||||
" b3ComputeWorldAabb(nodeID, gBodies, collidables, plocalShapeAABB,pAABB);\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"__kernel void clearOverlappingPairsKernel( __global int4* pairs, int numPairs)\n"
|
||||
"{\n"
|
||||
" int pairId = get_global_id(0);\n"
|
||||
" if( pairId< numPairs )\n"
|
||||
" {\n"
|
||||
" pairs[pairId].z = 0xffffffff;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
;
|
||||
static const char* updateAabbsKernelCL =
|
||||
"#ifndef B3_UPDATE_AABBS_H\n"
|
||||
"#define B3_UPDATE_AABBS_H\n"
|
||||
"#ifndef B3_AABB_H\n"
|
||||
"#define B3_AABB_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#define B3_FLOAT4_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#define B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"struct MyTest\n"
|
||||
"{\n"
|
||||
" int bla;\n"
|
||||
"};\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
|
||||
"#define B3_LARGE_FLOAT 1e18f\n"
|
||||
"#define B3_INFINITY 1e18f\n"
|
||||
"#define b3Assert(a)\n"
|
||||
"#define b3ConstArray(a) __global const a*\n"
|
||||
"#define b3AtomicInc atomic_inc\n"
|
||||
"#define b3AtomicAdd atomic_add\n"
|
||||
"#define b3Fabs fabs\n"
|
||||
"#define b3Sqrt native_sqrt\n"
|
||||
"#define b3Sin native_sin\n"
|
||||
"#define b3Cos native_cos\n"
|
||||
"#define B3_STATIC\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Float4;\n"
|
||||
" #define b3Float4ConstArg const b3Float4\n"
|
||||
" #define b3MakeFloat4 (float4)\n"
|
||||
" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return dot(a1, b1);\n"
|
||||
" }\n"
|
||||
" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
|
||||
" {\n"
|
||||
" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
|
||||
" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
|
||||
" return cross(a1, b1);\n"
|
||||
" }\n"
|
||||
" #define b3MinFloat4 min\n"
|
||||
" #define b3MaxFloat4 max\n"
|
||||
" #define b3Normalized(a) normalize(a)\n"
|
||||
"#endif \n"
|
||||
" \n"
|
||||
"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
|
||||
"{\n"
|
||||
" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
|
||||
" return false;\n"
|
||||
" return true;\n"
|
||||
"}\n"
|
||||
"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
|
||||
"{\n"
|
||||
" float maxDot = -B3_INFINITY;\n"
|
||||
" int i = 0;\n"
|
||||
" int ptIndex = -1;\n"
|
||||
" for( i = 0; i < vecLen; i++ )\n"
|
||||
" {\n"
|
||||
" float dot = b3Dot3F4(vecArray[i],vec);\n"
|
||||
" \n"
|
||||
" if( dot > maxDot )\n"
|
||||
" {\n"
|
||||
" maxDot = dot;\n"
|
||||
" ptIndex = i;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" b3Assert(ptIndex>=0);\n"
|
||||
" if (ptIndex<0)\n"
|
||||
" {\n"
|
||||
" ptIndex = 0;\n"
|
||||
" }\n"
|
||||
" *dotOut = maxDot;\n"
|
||||
" return ptIndex;\n"
|
||||
"}\n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifndef B3_MAT3x3_H\n"
|
||||
"#define B3_MAT3x3_H\n"
|
||||
"#ifndef B3_QUAT_H\n"
|
||||
"#define B3_QUAT_H\n"
|
||||
"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif\n"
|
||||
"#endif\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
" typedef float4 b3Quat;\n"
|
||||
" #define b3QuatConstArg const b3Quat\n"
|
||||
" \n"
|
||||
" \n"
|
||||
"inline float4 b3FastNormalize4(float4 v)\n"
|
||||
"{\n"
|
||||
" v = (float4)(v.xyz,0.f);\n"
|
||||
" return fast_normalize(v);\n"
|
||||
"}\n"
|
||||
" \n"
|
||||
"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
|
||||
"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
|
||||
"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
|
||||
"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
|
||||
"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
|
||||
"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
|
||||
"{\n"
|
||||
" b3Quat ans;\n"
|
||||
" ans = b3Cross3( a, b );\n"
|
||||
" ans += a.w*b+b.w*a;\n"
|
||||
"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
|
||||
" ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
|
||||
"{\n"
|
||||
" b3Quat q;\n"
|
||||
" q=in;\n"
|
||||
" //return b3FastNormalize4(in);\n"
|
||||
" float len = native_sqrt(dot(q, q));\n"
|
||||
" if(len > 0.f)\n"
|
||||
" {\n"
|
||||
" q *= 1.f / len;\n"
|
||||
" }\n"
|
||||
" else\n"
|
||||
" {\n"
|
||||
" q.x = q.y = q.z = 0.f;\n"
|
||||
" q.w = 1.f;\n"
|
||||
" }\n"
|
||||
" return q;\n"
|
||||
"}\n"
|
||||
"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
|
||||
"{\n"
|
||||
" b3Quat qInv = b3QuatInvert( q );\n"
|
||||
" float4 vcpy = vec;\n"
|
||||
" vcpy.w = 0.f;\n"
|
||||
" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
|
||||
"{\n"
|
||||
" return (b3Quat)(-q.xyz, q.w);\n"
|
||||
"}\n"
|
||||
"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
|
||||
"{\n"
|
||||
" return (b3Quat)(-q.xyz, q.w);\n"
|
||||
"}\n"
|
||||
"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
|
||||
"{\n"
|
||||
" return b3QuatRotate( b3QuatInvert( q ), vec );\n"
|
||||
"}\n"
|
||||
"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)\n"
|
||||
"{\n"
|
||||
" return b3QuatRotate( orientation, point ) + (translation);\n"
|
||||
"}\n"
|
||||
" \n"
|
||||
"#endif \n"
|
||||
"#endif //B3_QUAT_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" b3Float4 m_row[3];\n"
|
||||
"}b3Mat3x3;\n"
|
||||
"#define b3Mat3x3ConstArg const b3Mat3x3\n"
|
||||
"#define b3GetRow(m,row) (m.m_row[row])\n"
|
||||
"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
|
||||
"{\n"
|
||||
" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
|
||||
" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
|
||||
" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
|
||||
" out.m_row[0].w = 0.f;\n"
|
||||
" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
|
||||
" out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
|
||||
" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
|
||||
" out.m_row[1].w = 0.f;\n"
|
||||
" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
|
||||
" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
|
||||
" out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
|
||||
" out.m_row[2].w = 0.f;\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0] = fabs(matIn.m_row[0]);\n"
|
||||
" out.m_row[1] = fabs(matIn.m_row[1]);\n"
|
||||
" out.m_row[2] = fabs(matIn.m_row[2]);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtZero();\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtIdentity();\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtZero()\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m;\n"
|
||||
" m.m_row[0] = (b3Float4)(0.f);\n"
|
||||
" m.m_row[1] = (b3Float4)(0.f);\n"
|
||||
" m.m_row[2] = (b3Float4)(0.f);\n"
|
||||
" return m;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtIdentity()\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m;\n"
|
||||
" m.m_row[0] = (b3Float4)(1,0,0,0);\n"
|
||||
" m.m_row[1] = (b3Float4)(0,1,0,0);\n"
|
||||
" m.m_row[2] = (b3Float4)(0,0,1,0);\n"
|
||||
" return m;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 out;\n"
|
||||
" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
|
||||
" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
|
||||
" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
|
||||
" return out;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 transB;\n"
|
||||
" transB = mtTranspose( b );\n"
|
||||
" b3Mat3x3 ans;\n"
|
||||
" // why this doesn't run when 0ing in the for{}\n"
|
||||
" a.m_row[0].w = 0.f;\n"
|
||||
" a.m_row[1].w = 0.f;\n"
|
||||
" a.m_row[2].w = 0.f;\n"
|
||||
" for(int i=0; i<3; i++)\n"
|
||||
" {\n"
|
||||
"// a.m_row[i].w = 0.f;\n"
|
||||
" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
|
||||
" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
|
||||
" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
|
||||
" ans.m_row[i].w = 0.f;\n"
|
||||
" }\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
|
||||
"{\n"
|
||||
" b3Float4 ans;\n"
|
||||
" ans.x = b3Dot3F4( a.m_row[0], b );\n"
|
||||
" ans.y = b3Dot3F4( a.m_row[1], b );\n"
|
||||
" ans.z = b3Dot3F4( a.m_row[2], b );\n"
|
||||
" ans.w = 0.f;\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"__inline\n"
|
||||
"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
|
||||
"{\n"
|
||||
" b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
|
||||
" b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
|
||||
" b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
|
||||
" b3Float4 ans;\n"
|
||||
" ans.x = b3Dot3F4( a, colx );\n"
|
||||
" ans.y = b3Dot3F4( a, coly );\n"
|
||||
" ans.z = b3Dot3F4( a, colz );\n"
|
||||
" return ans;\n"
|
||||
"}\n"
|
||||
"#endif\n"
|
||||
"#endif //B3_MAT3x3_H\n"
|
||||
"typedef struct b3Aabb b3Aabb_t;\n"
|
||||
"struct b3Aabb\n"
|
||||
"{\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" float m_min[4];\n"
|
||||
" b3Float4 m_minVec;\n"
|
||||
" int m_minIndices[4];\n"
|
||||
" };\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" float m_max[4];\n"
|
||||
" b3Float4 m_maxVec;\n"
|
||||
" int m_signedMaxIndices[4];\n"
|
||||
" };\n"
|
||||
"};\n"
|
||||
"inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,\n"
|
||||
" b3Float4ConstArg pos,\n"
|
||||
" b3QuatConstArg orn,\n"
|
||||
" b3Float4* aabbMinOut,b3Float4* aabbMaxOut)\n"
|
||||
"{\n"
|
||||
" b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);\n"
|
||||
" localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);\n"
|
||||
" b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);\n"
|
||||
" b3Mat3x3 m;\n"
|
||||
" m = b3QuatGetRotationMatrix(orn);\n"
|
||||
" b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);\n"
|
||||
" b3Float4 center = b3TransformPoint(localCenter,pos,orn);\n"
|
||||
" \n"
|
||||
" b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),\n"
|
||||
" b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),\n"
|
||||
" b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),\n"
|
||||
" 0.f);\n"
|
||||
" *aabbMinOut = center-extent;\n"
|
||||
" *aabbMaxOut = center+extent;\n"
|
||||
"}\n"
|
||||
"/// conservative test for overlap between two aabbs\n"
|
||||
"inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,\n"
|
||||
" b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)\n"
|
||||
"{\n"
|
||||
" bool overlap = true;\n"
|
||||
" overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;\n"
|
||||
" overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;\n"
|
||||
" overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;\n"
|
||||
" return overlap;\n"
|
||||
"}\n"
|
||||
"#endif //B3_AABB_H\n"
|
||||
"#ifndef B3_COLLIDABLE_H\n"
|
||||
"#define B3_COLLIDABLE_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifndef B3_QUAT_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_QUAT_H\n"
|
||||
"enum b3ShapeTypes\n"
|
||||
"{\n"
|
||||
" SHAPE_HEIGHT_FIELD=1,\n"
|
||||
" SHAPE_CONVEX_HULL=3,\n"
|
||||
" SHAPE_PLANE=4,\n"
|
||||
" SHAPE_CONCAVE_TRIMESH=5,\n"
|
||||
" SHAPE_COMPOUND_OF_CONVEX_HULLS=6,\n"
|
||||
" SHAPE_SPHERE=7,\n"
|
||||
" MAX_NUM_SHAPE_TYPES,\n"
|
||||
"};\n"
|
||||
"typedef struct b3Collidable b3Collidable_t;\n"
|
||||
"struct b3Collidable\n"
|
||||
"{\n"
|
||||
" union {\n"
|
||||
" int m_numChildShapes;\n"
|
||||
" int m_bvhIndex;\n"
|
||||
" };\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" float m_radius;\n"
|
||||
" int m_compoundBvhIndex;\n"
|
||||
" };\n"
|
||||
" int m_shapeType;\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" int m_shapeIndex;\n"
|
||||
" float m_height;\n"
|
||||
" };\n"
|
||||
"};\n"
|
||||
"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
|
||||
"struct b3GpuChildShape\n"
|
||||
"{\n"
|
||||
" b3Float4 m_childPosition;\n"
|
||||
" b3Quat m_childOrientation;\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" int m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
|
||||
" int m_capsuleAxis;\n"
|
||||
" };\n"
|
||||
" union \n"
|
||||
" {\n"
|
||||
" float m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n"
|
||||
" int m_numChildShapes;//used for compound shape\n"
|
||||
" };\n"
|
||||
" union \n"
|
||||
" {\n"
|
||||
" float m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n"
|
||||
" int m_collidableShapeIndex;\n"
|
||||
" };\n"
|
||||
" int m_shapeType;\n"
|
||||
"};\n"
|
||||
"struct b3CompoundOverlappingPair\n"
|
||||
"{\n"
|
||||
" int m_bodyIndexA;\n"
|
||||
" int m_bodyIndexB;\n"
|
||||
"// int m_pairType;\n"
|
||||
" int m_childShapeIndexA;\n"
|
||||
" int m_childShapeIndexB;\n"
|
||||
"};\n"
|
||||
"#endif //B3_COLLIDABLE_H\n"
|
||||
"#ifndef B3_RIGIDBODY_DATA_H\n"
|
||||
"#define B3_RIGIDBODY_DATA_H\n"
|
||||
"#ifndef B3_FLOAT4_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_FLOAT4_H\n"
|
||||
"#ifndef B3_QUAT_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif \n"
|
||||
"#endif //B3_QUAT_H\n"
|
||||
"#ifndef B3_MAT3x3_H\n"
|
||||
"#ifdef __cplusplus\n"
|
||||
"#else\n"
|
||||
"#endif\n"
|
||||
"#endif //B3_MAT3x3_H\n"
|
||||
"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
|
||||
"struct b3RigidBodyData\n"
|
||||
"{\n"
|
||||
" b3Float4 m_pos;\n"
|
||||
" b3Quat m_quat;\n"
|
||||
" b3Float4 m_linVel;\n"
|
||||
" b3Float4 m_angVel;\n"
|
||||
" int m_collidableIdx;\n"
|
||||
" float m_invMass;\n"
|
||||
" float m_restituitionCoeff;\n"
|
||||
" float m_frictionCoeff;\n"
|
||||
"};\n"
|
||||
"typedef struct b3InertiaData b3InertiaData_t;\n"
|
||||
"struct b3InertiaData\n"
|
||||
"{\n"
|
||||
" b3Mat3x3 m_invInertiaWorld;\n"
|
||||
" b3Mat3x3 m_initInvInertia;\n"
|
||||
"};\n"
|
||||
"#endif //B3_RIGIDBODY_DATA_H\n"
|
||||
" \n"
|
||||
"void b3ComputeWorldAabb( int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)\n"
|
||||
"{\n"
|
||||
" __global const b3RigidBodyData_t* body = &bodies[bodyId];\n"
|
||||
" b3Float4 position = body->m_pos;\n"
|
||||
" b3Quat orientation = body->m_quat;\n"
|
||||
" \n"
|
||||
" int collidableIndex = body->m_collidableIdx;\n"
|
||||
" int shapeIndex = collidables[collidableIndex].m_shapeIndex;\n"
|
||||
" \n"
|
||||
" if (shapeIndex>=0)\n"
|
||||
" {\n"
|
||||
" \n"
|
||||
" b3Aabb_t localAabb = localShapeAABB[collidableIndex];\n"
|
||||
" b3Aabb_t worldAabb;\n"
|
||||
" \n"
|
||||
" b3Float4 aabbAMinOut,aabbAMaxOut; \n"
|
||||
" float margin = 0.f;\n"
|
||||
" b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);\n"
|
||||
" \n"
|
||||
" worldAabb.m_minVec =aabbAMinOut;\n"
|
||||
" worldAabb.m_minIndices[3] = bodyId;\n"
|
||||
" worldAabb.m_maxVec = aabbAMaxOut;\n"
|
||||
" worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;\n"
|
||||
" worldAabbs[bodyId] = worldAabb;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"#endif //B3_UPDATE_AABBS_H\n"
|
||||
"__kernel void initializeGpuAabbsFull( const int numNodes, __global b3RigidBodyData_t* gBodies,__global b3Collidable_t* collidables, __global b3Aabb_t* plocalShapeAABB, __global b3Aabb_t* pAABB)\n"
|
||||
"{\n"
|
||||
" int nodeID = get_global_id(0);\n"
|
||||
" if( nodeID < numNodes )\n"
|
||||
" {\n"
|
||||
" b3ComputeWorldAabb(nodeID, gBodies, collidables, plocalShapeAABB,pAABB);\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"__kernel void clearOverlappingPairsKernel( __global int4* pairs, int numPairs)\n"
|
||||
"{\n"
|
||||
" int pairId = get_global_id(0);\n"
|
||||
" if( pairId< numPairs )\n"
|
||||
" {\n"
|
||||
" pairs[pairId].z = 0xffffffff;\n"
|
||||
" }\n"
|
||||
"}\n";
|
||||
|
||||
Reference in New Issue
Block a user