Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

more work towards gpu split jacobi solver

Browse Source
This commit is contained in:
erwin coumans
2013-03-26 13:38:04 -07:00
parent 9c0ca25cf6
commit b8c32a99cb
9 changed files with 2101 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
build/stringify.bat
View File

@@ -22,6 +22,8 @@ premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_rigidbody/kernel
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_rigidbody/kernels/solverSetup2.cl" --headerfile="../opencl/gpu_rigidbody/kernels/solverSetup2.h" --stringname="solverSetup2CL" stringify
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_rigidbody/kernels/batchingKernels.cl" --headerfile="../opencl/gpu_rigidbody/kernels/batchingKernels.h" --stringname="batchingKernelsCL" stringify
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_rigidbody/kernels/batchingKernelsNew.cl" --headerfile="../opencl/gpu_rigidbody/kernels/batchingKernelsNew.h" --stringname="batchingKernelsNewCL" stringify
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_rigidbody/kernels/solverUtils.cl" --headerfile="../opencl/gpu_rigidbody/kernels/solverUtils.h" --stringname="solverUtilsCL" stringify
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_rigidbody/kernels/solveContact.cl" --headerfile="../opencl/gpu_rigidbody/kernels/solveContact.h" --stringname="solveContactCL" stringify
premake4 --file=stringifyKernel.lua --kernelfile="../opencl/gpu_rigidbody/kernels/solveFriction.cl" --headerfile="../opencl/gpu_rigidbody/kernels/solveFriction.h" --stringname="solveFrictionCL" stringify

6
demo/gpudemo/GpuDemo.h
View File

@@ -37,9 +37,9 @@ public:
:useOpenCL(true),
preferredOpenCLPlatformIndex(-1),
preferredOpenCLDeviceIndex(-1),
arraySizeX(30),
arraySizeY(30 ),
arraySizeZ(30),
arraySizeX(41),
arraySizeY(44),
arraySizeZ(41),
m_useConcaveMesh(false),
gapX(14.3),
gapY(14.0),

1
demo/gpudemo/rigidbody/GpuConvexScene.cpp
View File

@@ -66,6 +66,7 @@ void GpuConvexScene::setupScene(const ConstructionInfo& ci)
float mass = j==0? 0.f : 1.f;
btVector3 position((j&1)+i*2.2,2+j*2.,(j&1)+k*2.2);
btQuaternion orn(1,0,0,0);
btVector4 color = colors[curColor];

627
opencl/gpu_rigidbody/host/btGpuJacobiSolver.cpp
View File

@@ -4,12 +4,46 @@
#include "parallel_primitives/host/btPrefixScanCL.h"
#include "btGpuConstraint4.h"
#include "BulletCommon/btQuickprof.h"
#include "../../parallel_primitives/host/btInt2.h"
#include "../../parallel_primitives/host/btFillCL.h"
#include "../../parallel_primitives/host/btLauncherCL.h"
#include "../kernels/solverUtils.h"
#define SOLVER_UTILS_KERNEL_PATH "opencl/gpu_rigidbody/kernels/solverUtils.cl"
struct btGpuJacobiSolverInternalData
{
//btRadixSort32CL* m_sort32;
//btBoundSearchCL* m_search;
btPrefixScanCL* m_scan;
btOpenCLArray<unsigned int>* m_bodyCount;
btOpenCLArray<btInt2>* m_contactConstraintOffsets;
btOpenCLArray<unsigned int>* m_offsetSplitBodies;
btOpenCLArray<btVector3>* m_deltaLinearVelocities;
btOpenCLArray<btVector3>* m_deltaAngularVelocities;
btOpenCLArray<btGpuConstraint4>* m_contactConstraints;
btFillCL* m_filler;
cl_kernel m_countBodiesKernel;
cl_kernel m_contactToConstraintSplitKernel;
cl_kernel m_clearVelocitiesKernel;
cl_kernel m_solveContactKernel;
cl_kernel m_solveFrictionKernel;
};
btGpuJacobiSolver::btGpuJacobiSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity)
@@ -19,10 +53,52 @@ btGpuJacobiSolver::btGpuJacobiSolver(cl_context ctx, cl_device_id device, cl_com
{
m_data = new btGpuJacobiSolverInternalData;
m_data->m_scan = new btPrefixScanCL(m_context,m_device,m_queue);
m_data->m_bodyCount = new btOpenCLArray<unsigned int>(m_context,m_queue);
m_data->m_filler = new btFillCL(m_context,m_device,m_queue);
m_data->m_contactConstraintOffsets = new btOpenCLArray<btInt2>(m_context,m_queue);
m_data->m_offsetSplitBodies = new btOpenCLArray<unsigned int>(m_context,m_queue);
m_data->m_contactConstraints = new btOpenCLArray<btGpuConstraint4>(m_context,m_queue);
m_data->m_deltaLinearVelocities = new btOpenCLArray<btVector3>(m_context,m_queue);
m_data->m_deltaAngularVelocities = new btOpenCLArray<btVector3>(m_context,m_queue);
cl_int pErrNum;
const char* additionalMacros="";
const char* solverUtilsSource = solverUtilsCL;
{
cl_program solverUtilsProg= btOpenCLUtils::compileCLProgramFromString( ctx, device, solverUtilsSource, &pErrNum,additionalMacros, SOLVER_UTILS_KERNEL_PATH);
btAssert(solverUtilsProg);
m_data->m_countBodiesKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "CountBodiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
btAssert(m_data->m_countBodiesKernel);
m_data->m_contactToConstraintSplitKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "ContactToConstraintSplitKernel", &pErrNum, solverUtilsProg,additionalMacros );
btAssert(m_data->m_contactToConstraintSplitKernel);
m_data->m_clearVelocitiesKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "ClearVelocitiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
btAssert(m_data->m_clearVelocitiesKernel);
m_data->m_solveContactKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "SolveContactJacobiKernel", &pErrNum, solverUtilsProg,additionalMacros );
btAssert(m_data->m_solveContactKernel );
m_data->m_solveFrictionKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "SolveFrictionJacobiKernel", &pErrNum, solverUtilsProg,additionalMacros );
btAssert(m_data->m_solveFrictionKernel);
}
}
btGpuJacobiSolver::~btGpuJacobiSolver()
{
clReleaseKernel(m_data->m_solveContactKernel);
clReleaseKernel(m_data->m_solveFrictionKernel);
clReleaseKernel(m_data->m_countBodiesKernel);
clReleaseKernel(m_data->m_contactToConstraintSplitKernel);
clReleaseKernel(m_data->m_clearVelocitiesKernel );
delete m_data->m_deltaLinearVelocities;
delete m_data->m_deltaAngularVelocities;
delete m_data->m_contactConstraints;
delete m_data->m_offsetSplitBodies;
delete m_data->m_contactConstraintOffsets;
delete m_data->m_bodyCount;
delete m_data->m_filler;
delete m_data->m_scan;
delete m_data;
}
@@ -59,19 +135,12 @@ btVector4 make_float4(float x,float y, float z, float w)
}
template<bool JACOBI>
static
__inline
void solveContact(btGpuConstraint4& cs,
const btVector3& posA, btVector3& linVelA, btVector3& angVelA, float invMassA, const btMatrix3x3& invInertiaA,
const btVector3& posB, btVector3& linVelB, btVector3& angVelB, float invMassB, const btMatrix3x3& invInertiaB,
float maxRambdaDt[4], float minRambdaDt[4])
static __inline void solveContact(btGpuConstraint4& cs,
const btVector3& posA, const btVector3& linVelARO, const btVector3& angVelARO, float invMassA, const btMatrix3x3& invInertiaA,
const btVector3& posB, const btVector3& linVelBRO, const btVector3& angVelBRO, float invMassB, const btMatrix3x3& invInertiaB,
float maxRambdaDt[4], float minRambdaDt[4], btVector3& dLinVelA, btVector3& dAngVelA, btVector3& dLinVelB, btVector3& dAngVelB)
{
btVector3 dLinVelA; dLinVelA.setZero();
btVector3 dAngVelA; dAngVelA.setZero();
btVector3 dLinVelB; dLinVelB.setZero();
btVector3 dAngVelB; dAngVelB.setZero();
for(int ic=0; ic<4; ic++)
{
@@ -85,7 +154,7 @@ void solveContact(btGpuConstraint4& cs,
setLinearAndAngular( (const btVector3 &)-cs.m_linear, (const btVector3 &)r0, (const btVector3 &)r1, linear, angular0, angular1 );
float rambdaDt = calcRelVel((const btVector3 &)cs.m_linear,(const btVector3 &) -cs.m_linear, angular0, angular1,
linVelA, angVelA, linVelB, angVelB ) + cs.m_b[ic];
linVelARO+dLinVelA, angVelARO+dAngVelA, linVelBRO+dLinVelB, angVelBRO+dAngVelB ) + cs.m_b[ic];
rambdaDt *= cs.m_jacCoeffInv[ic];
{
@@ -106,31 +175,19 @@ void solveContact(btGpuConstraint4& cs,
btAssert(_finite(linImp0.x()));
btAssert(_finite(linImp1.x()));
#endif
if( JACOBI )
if (invMassA)
{
dLinVelA += linImp0;
dAngVelA += angImp0;
}
if (invMassB)
{
dLinVelB += linImp1;
dAngVelB += angImp1;
}
else
{
linVelA += linImp0;
angVelA += angImp0;
linVelB += linImp1;
angVelB += angImp1;
}
}
}
if( JACOBI )
{
linVelA += dLinVelA;
angVelA += dAngVelA;
linVelB += dLinVelB;
angVelB += dAngVelB;
}
}
@@ -138,11 +195,16 @@ void solveContact(btGpuConstraint4& cs,
static inline void solveFriction(btGpuConstraint4& cs,
const btVector3& posA, btVector3& linVelA, btVector3& angVelA, float invMassA, const btMatrix3x3& invInertiaA,
const btVector3& posB, btVector3& linVelB, btVector3& angVelB, float invMassB, const btMatrix3x3& invInertiaB,
float maxRambdaDt[4], float minRambdaDt[4])
const btVector3& posA, const btVector3& linVelARO, const btVector3& angVelARO, float invMassA, const btMatrix3x3& invInertiaA,
const btVector3& posB, const btVector3& linVelBRO, const btVector3& angVelBRO, float invMassB, const btMatrix3x3& invInertiaB,
float maxRambdaDt[4], float minRambdaDt[4], btVector3& dLinVelA, btVector3& dAngVelA, btVector3& dLinVelB, btVector3& dAngVelB)
{
btVector3 linVelA = linVelARO+dLinVelA;
btVector3 linVelB = linVelBRO+dLinVelB;
btVector3 angVelA = angVelARO+dAngVelA;
btVector3 angVelB = angVelBRO+dAngVelB;
if( cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0 ) return;
const btVector3& center = (const btVector3&)cs.m_center;
@@ -187,10 +249,16 @@ static inline void solveFriction(btGpuConstraint4& cs,
btAssert(_finite(linImp0.x()));
btAssert(_finite(linImp1.x()));
#endif
linVelA += linImp0;
angVelA += angImp0;
linVelB += linImp1;
angVelB += angImp1;
if (invMassA)
{
dLinVelA += linImp0;
dAngVelA += angImp0;
}
if (invMassB)
{
dLinVelB += linImp1;
dAngVelB += angImp1;
}
}
{ // angular damping for point constraint
@@ -201,8 +269,10 @@ static inline void solveFriction(btGpuConstraint4& cs,
float angNA = btDot( n, angVelA );
float angNB = btDot( n, angVelB );
angVelA -= (angNA*0.1f)*n;
angVelB -= (angNB*0.1f)*n;
if (invMassA)
dAngVelA -= (angNA*0.1f)*n;
if (invMassB)
dAngVelB -= (angNB*0.1f)*n;
}
}
@@ -224,7 +294,7 @@ btVector3 mtMul3(const btVector3& a, const btMatrix3x3& b)
float calcJacCoeff(const btVector3& linear0, const btVector3& linear1, const btVector3& angular0, const btVector3& angular1,
float invMass0, const btMatrix3x3* invInertia0, float invMass1, const btMatrix3x3* invInertia1)
float invMass0, const btMatrix3x3* invInertia0, float invMass1, const btMatrix3x3* invInertia1, float countA, float countB)
{
// linear0,1 are normlized
float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;
@@ -232,13 +302,13 @@ float calcJacCoeff(const btVector3& linear0, const btVector3& linear1, const btV
float jmj1 = btDot(mtMul3(angular0,*invInertia0), angular0);
float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;
float jmj3 = btDot(mtMul3(angular1,*invInertia1), angular1);
return -1.f/(jmj0+jmj1+jmj2+jmj3);
return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);
}
void setConstraint4( const btVector3& posA, const btVector3& linVelA, const btVector3& angVelA, float invMassA, const btMatrix3x3& invInertiaA,
const btVector3& posB, const btVector3& linVelB, const btVector3& angVelB, float invMassB, const btMatrix3x3& invInertiaB,
btContact4* src, float dt, float positionDrift, float positionConstraintCoeff,
btContact4* src, float dt, float positionDrift, float positionConstraintCoeff, float countA, float countB,
btGpuConstraint4* dstC )
{
dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
@@ -271,13 +341,16 @@ void setConstraint4( const btVector3& posA, const btVector3& linVelA, const btVe
setLinearAndAngular(src->m_worldNormal, r0, r1, linear, angular0, angular1);
dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
invMassA, &invInertiaA, invMassB, &invInertiaB );
invMassA, &invInertiaA, invMassB, &invInertiaB ,countA,countB);
relVelN = calcRelVel(linear, -linear, angular0, angular1,
linVelA, angVelA, linVelB, angVelB);
float e = 0.f;//src->getRestituitionCoeff();
if( relVelN*relVelN < 0.004f ) e = 0.f;
if( relVelN*relVelN < 0.004f )
{
e = 0.f;
}
dstC->m_b[ic] = e*relVelN;
//float penetration = src->m_worldPos[ic].w;
@@ -306,7 +379,7 @@ void setConstraint4( const btVector3& posA, const btVector3& linVelA, const btVe
setLinearAndAngular(tangent[i], r[0], r[1], linear, angular0, angular1);
dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
invMassA, &invInertiaA, invMassB, &invInertiaB );
invMassA, &invInertiaA, invMassB, &invInertiaB ,countA,countB);
dstC->m_fAppliedRambdaDt[i] = 0.f;
}
dstC->m_center = center;
@@ -330,7 +403,7 @@ void setConstraint4( const btVector3& posA, const btVector3& linVelA, const btVe
void ContactToConstraintKernel(btContact4* gContact, btRigidBodyCL* gBodies, btInertiaCL* gShapes, btGpuConstraint4* gConstraintOut, int nContacts,
float dt,
float positionDrift,
float positionConstraintCoeff, int gIdx
float positionConstraintCoeff, int gIdx, btAlignedObjectArray<unsigned int>& bodyCount
)
{
//int gIdx = 0;//GET_GLOBAL_IDX;
@@ -353,9 +426,10 @@ float positionConstraintCoeff, int gIdx
btMatrix3x3 invInertiaB = gShapes[bIdx].m_invInertiaWorld;//m_invInertia;
btGpuConstraint4 cs;
float countA = invMassA ? btScalar(bodyCount[aIdx]) : 1;
float countB = invMassB ? btScalar(bodyCount[bIdx]) : 1;
setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,
&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,
&cs );
@@ -367,15 +441,19 @@ float positionConstraintCoeff, int gIdx
}
void btGpuJacobiSolver::solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo)
void btGpuJacobiSolver::solveGroupHost(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo)
{
BT_PROFILE("btGpuJacobiSolver::solveGroup");
/*
btAlignedObjectArray<unsigned int> bodyCount;
bodyCount.resize(numBodies);
for (int i=0;i<numBodies;i++)
bodyCount[i] = 0;
btAlignedObjectArray<btInt2> contactConstraintOffsets;
contactConstraintOffsets.resize(numManifolds);
for (int i=0;i<numManifolds;i++)
{
int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;
@@ -389,10 +467,12 @@ void btGpuJacobiSolver::solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,i
if (!isFixedA)
{
contactConstraintOffsets[i].x = bodyCount[bodyIndexA];
bodyCount[bodyIndexA]++;
}
if (!isFixedB)
{
contactConstraintOffsets[i].y = bodyCount[bodyIndexB];
bodyCount[bodyIndexB]++;
}
}
@@ -401,11 +481,11 @@ void btGpuJacobiSolver::solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,i
offsetSplitBodies.resize(numBodies);
unsigned int totalNumSplitBodies;
m_data->m_scan->executeHost(bodyCount,offsetSplitBodies,numBodies,&totalNumSplitBodies);
int numlastBody = bodyCount[numBodies-1];
totalNumSplitBodies += numlastBody;
btAlignedObjectArray<btRigidBodyCL> splitBodies;
//splitBodies.resize();
*/
btAlignedObjectArray<btGpuConstraint4> contactConstraints;
@@ -416,13 +496,28 @@ void btGpuJacobiSolver::solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,i
ContactToConstraintKernel(&manifoldPtr[0],bodies,inertias,&contactConstraints[0],numManifolds,
solverInfo.m_deltaTime,
solverInfo.m_positionDrift,
solverInfo.m_positionConstraintCoeff,i);
solverInfo.m_positionConstraintCoeff,
i, bodyCount);
}
int maxIter = 4;
int maxIter = 14;
btAlignedObjectArray<btVector3> deltaLinearVelocities;
btAlignedObjectArray<btVector3> deltaAngularVelocities;
deltaLinearVelocities.resize(totalNumSplitBodies);
deltaAngularVelocities.resize(totalNumSplitBodies);
for (int i=0;i<totalNumSplitBodies;i++)
{
deltaLinearVelocities[i].setZero();
deltaAngularVelocities[i].setZero();
}
for (int iter = 0;iter<maxIter;iter++)
{
for(int i=0; i<numManifolds; i++)
int i=0;
for( i=0; i<numManifolds; i++)
{
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
@@ -431,17 +526,76 @@ void btGpuJacobiSolver::solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,i
btRigidBodyCL& bodyA = bodies[aIdx];
btRigidBodyCL& bodyB = bodies[bIdx];
btVector3 zero(0,0,0);
btVector3* dlvAPtr=&zero;
btVector3* davAPtr=&zero;
btVector3* dlvBPtr=&zero;
btVector3* davBPtr=&zero;
if (bodyA.getInvMass())
{
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[i].x;
int splitIndexA = bodyOffsetA+constraintOffsetA;
dlvAPtr = &deltaLinearVelocities[splitIndexA];
davAPtr = &deltaAngularVelocities[splitIndexA];
}
if (bodyB.getInvMass())
{
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[i].y;
int splitIndexB= bodyOffsetB+constraintOffsetB;
dlvBPtr =&deltaLinearVelocities[splitIndexB];
davBPtr = &deltaAngularVelocities[splitIndexB];
}
{
float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
solveContact<false>( contactConstraints[i], (btVector3&)bodyA.m_pos, (btVector3&)bodyA.m_linVel, (btVector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
(btVector3&)bodyB.m_pos, (btVector3&)bodyB.m_linVel, (btVector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
maxRambdaDt, minRambdaDt );
solveContact( contactConstraints[i], (btVector3&)bodyA.m_pos, (btVector3&)bodyA.m_linVel, (btVector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
(btVector3&)bodyB.m_pos, (btVector3&)bodyB.m_linVel, (btVector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr );
}
}
//easy
for (int i=0;i<numBodies;i++)
{
if (bodies[i].getInvMass())
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
float factor = 1.f/float(count);
btVector3 averageLinVel;
averageLinVel.setZero();
btVector3 averageAngVel;
averageAngVel.setZero();
for (int j=0;j<count;j++)
{
averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
}
for (int j=0;j<count;j++)
{
deltaLinearVelocities[bodyOffset+j] = averageLinVel;
deltaAngularVelocities[bodyOffset+j] = averageAngVel;
}
}
}
//solve friction
for(int i=0; i<numManifolds; i++)
{
float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
@@ -458,6 +612,31 @@ void btGpuJacobiSolver::solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,i
btRigidBodyCL& bodyA = bodies[aIdx];
btRigidBodyCL& bodyB = bodies[bIdx];
btVector3 zero(0,0,0);
btVector3* dlvAPtr=&zero;
btVector3* davAPtr=&zero;
btVector3* dlvBPtr=&zero;
btVector3* davBPtr=&zero;
if (bodyA.getInvMass())
{
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[i].x;
int splitIndexA = bodyOffsetA+constraintOffsetA;
dlvAPtr = &deltaLinearVelocities[splitIndexA];
davAPtr = &deltaAngularVelocities[splitIndexA];
}
if (bodyB.getInvMass())
{
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[i].y;
int splitIndexB= bodyOffsetB+constraintOffsetB;
dlvBPtr =&deltaLinearVelocities[splitIndexB];
davBPtr = &deltaAngularVelocities[splitIndexB];
}
for(int j=0; j<4; j++)
{
maxRambdaDt[j] = frictionCoeff*sum;
@@ -465,12 +644,338 @@ void btGpuJacobiSolver::solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,i
}
solveFriction( contactConstraints[i], (btVector3&)bodyA.m_pos, (btVector3&)bodyA.m_linVel, (btVector3&)bodyA.m_angVel, bodyA.m_invMass,inertias[aIdx].m_invInertiaWorld,
(btVector3&)bodyB.m_pos, (btVector3&)bodyB.m_linVel, (btVector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
maxRambdaDt, minRambdaDt );
(btVector3&)bodyB.m_pos, (btVector3&)bodyB.m_linVel, (btVector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr);
}
//easy
for (int i=0;i<numBodies;i++)
{
if (bodies[i].getInvMass())
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
float factor = 1.f/float(count);
btVector3 averageLinVel;
averageLinVel.setZero();
btVector3 averageAngVel;
averageAngVel.setZero();
for (int j=0;j<count;j++)
{
averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
}
for (int j=0;j<count;j++)
{
deltaLinearVelocities[bodyOffset+j] = averageLinVel;
deltaAngularVelocities[bodyOffset+j] = averageAngVel;
}
}
}
}
//easy
for (int i=0;i<numBodies;i++)
{
if (bodies[i].getInvMass())
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
if (count)
{
bodies[i].m_linVel += deltaLinearVelocities[bodyOffset];
bodies[i].m_angVel += deltaAngularVelocities[bodyOffset];
}
}
}
}
void btGpuJacobiSolver::solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo)
{
BT_PROFILE("btGpuJacobiSolver::solveGroup");
int numBodies = bodies->size();
int numManifolds = manifoldPtr->size();
m_data->m_bodyCount->resize(numBodies);
unsigned int val=0;
btInt2 val2;
val2.x=0;
val2.y=0;
{
BT_PROFILE("m_filler");
m_data->m_contactConstraintOffsets->resize(numManifolds);
m_data->m_filler->execute(*m_data->m_bodyCount,val,numBodies);
m_data->m_filler->execute(*m_data->m_contactConstraintOffsets,val2,numManifolds);
}
{
BT_PROFILE("m_countBodiesKernel");
btLauncherCL launcher(this->m_queue,m_data->m_countBodiesKernel);
launcher.setBuffer(manifoldPtr->getBufferCL());
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
launcher.setConst(numManifolds);
launcher.setConst(solverInfo.m_fixedBodyIndex);
launcher.launch1D(numManifolds);
}
unsigned int totalNumSplitBodies=0;
m_data->m_offsetSplitBodies->resize(numBodies);
m_data->m_scan->execute(*m_data->m_bodyCount,*m_data->m_offsetSplitBodies,numBodies,&totalNumSplitBodies);
totalNumSplitBodies+=m_data->m_bodyCount->at(numBodies-1);
int numContacts = manifoldPtr->size();
m_data->m_contactConstraints->resize(numContacts);
{
BT_PROFILE("contactToConstraintSplitKernel");
btLauncherCL launcher( m_queue, m_data->m_contactToConstraintSplitKernel);
launcher.setBuffer(manifoldPtr->getBufferCL());
launcher.setBuffer(bodies->getBufferCL());
launcher.setBuffer(inertias->getBufferCL());
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
launcher.setConst(numContacts);
launcher.setConst(solverInfo.m_deltaTime);
launcher.setConst(solverInfo.m_positionDrift);
launcher.setConst(solverInfo.m_positionConstraintCoeff);
launcher.launch1D( numContacts, 64 );
clFinish(m_queue);
}
m_data->m_deltaLinearVelocities->resize(totalNumSplitBodies);
m_data->m_deltaAngularVelocities->resize(totalNumSplitBodies);
{
BT_PROFILE("m_clearVelocitiesKernel");
btLauncherCL launch(m_queue,m_data->m_clearVelocitiesKernel);
launch.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
launch.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
launch.setConst(totalNumSplitBodies);
launch.launch1D(totalNumSplitBodies);
}
int maxIter = 4;
for (int iter = 0;iter<maxIter;iter++)
{
{
BT_PROFILE("m_solveContactKernel");
btLauncherCL launcher( m_queue, m_data->m_solveContactKernel );
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
launcher.setBuffer(bodies->getBufferCL());
launcher.setBuffer(inertias->getBufferCL());
launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
launcher.setConst(solverInfo.m_deltaTime);
launcher.setConst(solverInfo.m_positionDrift);
launcher.setConst(solverInfo.m_positionConstraintCoeff);
launcher.setConst(solverInfo.m_fixedBodyIndex);
launcher.setConst(numManifolds);
launcher.launch1D(numManifolds);
clFinish(m_queue);
}
/*
for(int i=0; i<numManifolds; i++)
{
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
int aIdx = (int)contactConstraints[i].m_bodyA;
int bIdx = (int)contactConstraints[i].m_bodyB;
btRigidBodyCL& bodyA = bodies[aIdx];
btRigidBodyCL& bodyB = bodies[bIdx];
btVector3 zero(0,0,0);
btVector3* dlvAPtr=&zero;
btVector3* davAPtr=&zero;
btVector3* dlvBPtr=&zero;
btVector3* davBPtr=&zero;
if (bodyA.getInvMass())
{
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[i].x;
int splitIndexA = bodyOffsetA+constraintOffsetA;
dlvAPtr = &deltaLinearVelocities[splitIndexA];
davAPtr = &deltaAngularVelocities[splitIndexA];
}
if (bodyB.getInvMass())
{
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[i].y;
int splitIndexB= bodyOffsetB+constraintOffsetB;
dlvBPtr =&deltaLinearVelocities[splitIndexB];
davBPtr = &deltaAngularVelocities[splitIndexB];
}
{
float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
solveContact( contactConstraints[i], (btVector3&)bodyA.m_pos, (btVector3&)bodyA.m_linVel, (btVector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
(btVector3&)bodyB.m_pos, (btVector3&)bodyB.m_linVel, (btVector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr );
}
}
//easy
for (int i=0;i<numBodies;i++)
{
if (bodies[i].getInvMass())
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
float factor = 1.f/float(count);
btVector3 averageLinVel;
averageLinVel.setZero();
btVector3 averageAngVel;
averageAngVel.setZero();
for (int j=0;j<count;j++)
{
averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
}
for (int j=0;j<count;j++)
{
deltaLinearVelocities[bodyOffset+j] = averageLinVel;
deltaAngularVelocities[bodyOffset+j] = averageAngVel;
}
}
}
//solve friction
for(int i=0; i<numManifolds; i++)
{
float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
float sum = 0;
for(int j=0; j<4; j++)
{
sum +=contactConstraints[i].m_appliedRambdaDt[j];
}
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
int aIdx = (int)contactConstraints[i].m_bodyA;
int bIdx = (int)contactConstraints[i].m_bodyB;
btRigidBodyCL& bodyA = bodies[aIdx];
btRigidBodyCL& bodyB = bodies[bIdx];
btVector3 zero(0,0,0);
btVector3* dlvAPtr=&zero;
btVector3* davAPtr=&zero;
btVector3* dlvBPtr=&zero;
btVector3* davBPtr=&zero;
if (bodyA.getInvMass())
{
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[i].x;
int splitIndexA = bodyOffsetA+constraintOffsetA;
dlvAPtr = &deltaLinearVelocities[splitIndexA];
davAPtr = &deltaAngularVelocities[splitIndexA];
}
if (bodyB.getInvMass())
{
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[i].y;
int splitIndexB= bodyOffsetB+constraintOffsetB;
dlvBPtr =&deltaLinearVelocities[splitIndexB];
davBPtr = &deltaAngularVelocities[splitIndexB];
}
for(int j=0; j<4; j++)
{
maxRambdaDt[j] = frictionCoeff*sum;
minRambdaDt[j] = -maxRambdaDt[j];
}
solveFriction( contactConstraints[i], (btVector3&)bodyA.m_pos, (btVector3&)bodyA.m_linVel, (btVector3&)bodyA.m_angVel, bodyA.m_invMass,inertias[aIdx].m_invInertiaWorld,
(btVector3&)bodyB.m_pos, (btVector3&)bodyB.m_linVel, (btVector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr);
}
//easy
for (int i=0;i<numBodies;i++)
{
if (bodies[i].getInvMass())
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
float factor = 1.f/float(count);
btVector3 averageLinVel;
averageLinVel.setZero();
btVector3 averageAngVel;
averageAngVel.setZero();
for (int j=0;j<count;j++)
{
averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
}
for (int j=0;j<count;j++)
{
deltaLinearVelocities[bodyOffset+j] = averageLinVel;
deltaAngularVelocities[bodyOffset+j] = averageAngVel;
}
}
}
*/
}
/*
//easy
for (int i=0;i<numBodies;i++)
{
if (bodies[i].getInvMass())
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
if (count)
{
bodies[i].m_linVel += deltaLinearVelocities[bodyOffset];
bodies[i].m_angVel += deltaAngularVelocities[bodyOffset];
}
}
}
*/
}

7
opencl/gpu_rigidbody/host/btGpuJacobiSolver.h
View File

@@ -5,6 +5,8 @@
#include "../../gpu_sat/host/btRigidBodyCL.h"
#include "../../gpu_sat/host/btContact4.h"
#include "../../parallel_primitives/host/btOpenCLArray.h"
class btTypedConstraint;
struct btJacobiSolverInfo
@@ -20,7 +22,7 @@ struct btJacobiSolverInfo
:m_fixedBodyIndex(0),
m_deltaTime(1./60.f),
m_positionDrift( 0.005f ),
m_positionConstraintCoeff( 0.2f )
m_positionConstraintCoeff( 0.99f )
{
}
};
@@ -41,7 +43,8 @@ public:
void solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
void solveGroupHost(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
void solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo);
};
#endif //BT_GPU_JACOBI_SOLVER_H

36
opencl/gpu_rigidbody/host/btGpuRigidBodyPipeline.cpp
View File

@@ -15,7 +15,7 @@
#include "btGpuBatchingPgsSolver.h"
#include "Solver.h"
#include "btGpuJacobiSolver.h"
#include "BulletCommon/btQuickprof.h"
#include "btConfig.h"
btGpuRigidBodyPipeline::btGpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class btGpuNarrowPhase* narrowphase, class btGpuSapBroadphase* broadphaseSap )
@@ -111,23 +111,39 @@ void btGpuRigidBodyPipeline::stepSimulation(float deltaTime)
btOpenCLArray<btContact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
bool useJacobi = false;//true;
bool useJacobi = true;
if (useJacobi)
{
bool useGpu = true;
if (useGpu)
{
btAlignedObjectArray<btRigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
btAlignedObjectArray<btInertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
btAlignedObjectArray<btContact4> hostContacts;
gpuContacts.copyToHost(hostContacts);
bool forceHost = false;
if (forceHost)
{
btAlignedObjectArray<btRigidBodyCL> hostBodies;
btAlignedObjectArray<btInertiaCL> hostInertias;
btAlignedObjectArray<btContact4> hostContacts;
{
BT_PROFILE("copyToHost");
gpuBodies.copyToHost(hostBodies);
gpuInertias.copyToHost(hostInertias);
gpuContacts.copyToHost(hostContacts);
}
{
btJacobiSolverInfo solverInfo;
m_data->m_solver3->solveGroupHost(&hostBodies[0], &hostInertias[0], hostBodies.size(),&hostContacts[0],hostContacts.size(),0,0,solverInfo);
}
{
BT_PROFILE("copyFromHost");
gpuBodies.copyFromHost(hostBodies);
}
} else
{
btJacobiSolverInfo solverInfo;
m_data->m_solver3->solveGroup(&hostBodies[0], &hostInertias[0], hostBodies.size(),&hostContacts[0],hostContacts.size(),0,0,solverInfo);
m_data->m_solver3->solveGroup(&gpuBodies, &gpuInertias, &gpuContacts,solverInfo);
}
gpuBodies.copyFromHost(hostBodies);
} else
{
btAlignedObjectArray<btRigidBodyCL> hostBodies;

10
opencl/gpu_rigidbody/host/btPgsJacobiSolver.cpp
View File

@@ -33,7 +33,7 @@ subject to the following restrictions:
//#include "../../dynamics/basic_demo/Stubs/AdlContact4.h"
#include "../../gpu_sat/host/btContact4.h"
bool usePgs = true;
bool usePgs = false;//true;
int gNumSplitImpulseRecoveries2 = 0;
#include "btRigidBody.h"
@@ -42,11 +42,9 @@ int gNumSplitImpulseRecoveries2 = 0;
btTransform getWorldTransform(btRigidBodyCL* rb)
{
btVector3 pos(rb->m_pos[0],rb->m_pos[1],rb->m_pos[2]);
btQuaternion orn(rb->m_quat[0],rb->m_quat[1],rb->m_quat[2],rb->m_quat[3]);
btTransform newTrans;
newTrans.setOrigin(pos);
newTrans.setRotation(orn);
newTrans.setOrigin(rb->m_pos);
newTrans.setRotation(rb->m_quat);
return newTrans;
}
@@ -163,7 +161,7 @@ void btPgsJacobiSolver::solveContacts(int numBodies, btRigidBodyCL* bodies, btIn
btContactSolverInfo infoGlobal;
infoGlobal.m_splitImpulse = false;
infoGlobal.m_timeStep = 1.f/60.f;
infoGlobal.m_numIterations = 10;//4;
infoGlobal.m_numIterations = 4;//4;
// infoGlobal.m_solverMode|=SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS|SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
//infoGlobal.m_solverMode|=SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS;
infoGlobal.m_solverMode|=SOLVER_USE_2_FRICTION_DIRECTIONS;

745
opencl/gpu_rigidbody/kernels/solverUtils.cl Normal file
View File

@@ -0,0 +1,745 @@
/*
Copyright (c) 2012 Advanced Micro Devices, Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#pragma OPENCL EXTENSION cl_amd_printf : enable
#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
#ifdef cl_ext_atomic_counters_32
#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
#else
#define counter32_t volatile global int*
#endif
typedef unsigned int u32;
typedef unsigned short u16;
typedef unsigned char u8;
#define GET_GROUP_IDX get_group_id(0)
#define GET_LOCAL_IDX get_local_id(0)
#define GET_GLOBAL_IDX get_global_id(0)
#define GET_GROUP_SIZE get_local_size(0)
#define GET_NUM_GROUPS get_num_groups(0)
#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
#define AtomInc(x) atom_inc(&(x))
#define AtomInc1(x, out) out = atom_inc(&(x))
#define AppendInc(x, out) out = atomic_inc(x)
#define AtomAdd(x, value) atom_add(&(x), value)
#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
#define AtomXhg(x, value) atom_xchg ( &(x), value )
#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
#define make_float4 (float4)
#define make_float2 (float2)
#define make_uint4 (uint4)
#define make_int4 (int4)
#define make_uint2 (uint2)
#define make_int2 (int2)
#define max2 max
#define min2 min
///////////////////////////////////////
// Vector
///////////////////////////////////////
__inline
float fastDiv(float numerator, float denominator)
{
return native_divide(numerator, denominator);
// return numerator/denominator;
}
__inline
float4 fastDiv4(float4 numerator, float4 denominator)
{
return native_divide(numerator, denominator);
}
__inline
float fastSqrtf(float f2)
{
return native_sqrt(f2);
// return sqrt(f2);
}
__inline
float fastRSqrt(float f2)
{
return native_rsqrt(f2);
}
__inline
float fastLength4(float4 v)
{
return fast_length(v);
}
__inline
float4 fastNormalize4(float4 v)
{
return fast_normalize(v);
}
__inline
float sqrtf(float a)
{
// return sqrt(a);
return native_sqrt(a);
}
__inline
float4 cross3(float4 a, float4 b)
{
return cross(a,b);
}
__inline
float dot3F4(float4 a, float4 b)
{
float4 a1 = make_float4(a.xyz,0.f);
float4 b1 = make_float4(b.xyz,0.f);
return dot(a1, b1);
}
__inline
float length3(const float4 a)
{
return sqrtf(dot3F4(a,a));
}
__inline
float dot4(const float4 a, const float4 b)
{
return dot( a, b );
}
// for height
__inline
float dot3w1(const float4 point, const float4 eqn)
{
return dot3F4(point,eqn) + eqn.w;
}
__inline
float4 normalize3(const float4 a)
{
float4 n = make_float4(a.x, a.y, a.z, 0.f);
return fastNormalize4( n );
// float length = sqrtf(dot3F4(a, a));
// return 1.f/length * a;
}
__inline
float4 normalize4(const float4 a)
{
float length = sqrtf(dot4(a, a));
return 1.f/length * a;
}
__inline
float4 createEquation(const float4 a, const float4 b, const float4 c)
{
float4 eqn;
float4 ab = b-a;
float4 ac = c-a;
eqn = normalize3( cross3(ab, ac) );
eqn.w = -dot3F4(eqn,a);
return eqn;
}
///////////////////////////////////////
// Matrix3x3
///////////////////////////////////////
typedef struct
{
float4 m_row[3];
}Matrix3x3;
__inline
Matrix3x3 mtZero();
__inline
Matrix3x3 mtIdentity();
__inline
Matrix3x3 mtTranspose(Matrix3x3 m);
__inline
Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);
__inline
float4 mtMul1(Matrix3x3 a, float4 b);
__inline
float4 mtMul3(float4 a, Matrix3x3 b);
__inline
Matrix3x3 mtZero()
{
Matrix3x3 m;
m.m_row[0] = (float4)(0.f);
m.m_row[1] = (float4)(0.f);
m.m_row[2] = (float4)(0.f);
return m;
}
__inline
Matrix3x3 mtIdentity()
{
Matrix3x3 m;
m.m_row[0] = (float4)(1,0,0,0);
m.m_row[1] = (float4)(0,1,0,0);
m.m_row[2] = (float4)(0,0,1,0);
return m;
}
__inline
Matrix3x3 mtTranspose(Matrix3x3 m)
{
Matrix3x3 out;
out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
return out;
}
__inline
Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)
{
Matrix3x3 transB;
transB = mtTranspose( b );
Matrix3x3 ans;
// why this doesn't run when 0ing in the for{}
a.m_row[0].w = 0.f;
a.m_row[1].w = 0.f;
a.m_row[2].w = 0.f;
for(int i=0; i<3; i++)
{
// a.m_row[i].w = 0.f;
ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);
ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);
ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);
ans.m_row[i].w = 0.f;
}
return ans;
}
__inline
float4 mtMul1(Matrix3x3 a, float4 b)
{
float4 ans;
ans.x = dot3F4( a.m_row[0], b );
ans.y = dot3F4( a.m_row[1], b );
ans.z = dot3F4( a.m_row[2], b );
ans.w = 0.f;
return ans;
}
__inline
float4 mtMul3(float4 a, Matrix3x3 b)
{
float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
float4 ans;
ans.x = dot3F4( a, colx );
ans.y = dot3F4( a, coly );
ans.z = dot3F4( a, colz );
return ans;
}
///////////////////////////////////////
// Quaternion
///////////////////////////////////////
typedef float4 Quaternion;
__inline
Quaternion qtMul(Quaternion a, Quaternion b);
__inline
Quaternion qtNormalize(Quaternion in);
__inline
float4 qtRotate(Quaternion q, float4 vec);
__inline
Quaternion qtInvert(Quaternion q);
__inline
Quaternion qtMul(Quaternion a, Quaternion b)
{
Quaternion ans;
ans = cross3( a, b );
ans += a.w*b+b.w*a;
// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
ans.w = a.w*b.w - dot3F4(a, b);
return ans;
}
__inline
Quaternion qtNormalize(Quaternion in)
{
return fastNormalize4(in);
// in /= length( in );
// return in;
}
__inline
float4 qtRotate(Quaternion q, float4 vec)
{
Quaternion qInv = qtInvert( q );
float4 vcpy = vec;
vcpy.w = 0.f;
float4 out = qtMul(qtMul(q,vcpy),qInv);
return out;
}
__inline
Quaternion qtInvert(Quaternion q)
{
return (Quaternion)(-q.xyz, q.w);
}
__inline
float4 qtInvRotate(const Quaternion q, float4 vec)
{
return qtRotate( qtInvert( q ), vec );
}
#define WG_SIZE 64
typedef struct
{
float4 m_pos;
Quaternion m_quat;
float4 m_linVel;
float4 m_angVel;
u32 m_shapeIdx;
float m_invMass;
float m_restituitionCoeff;
float m_frictionCoeff;
} Body;
typedef struct
{
Matrix3x3 m_invInertia;
Matrix3x3 m_initInvInertia;
} Shape;
typedef struct
{
float4 m_linear;
float4 m_worldPos[4];
float4 m_center;
float m_jacCoeffInv[4];
float m_b[4];
float m_appliedRambdaDt[4];
float m_fJacCoeffInv[2];
float m_fAppliedRambdaDt[2];
u32 m_bodyA;
u32 m_bodyB;
int m_batchIdx;
u32 m_paddings[1];
} Constraint4;
typedef struct
{
float4 m_worldPos[4];
float4 m_worldNormal;
u32 m_coeffs;
int m_batchIdx;
int m_bodyAPtrAndSignBit;
int m_bodyBPtrAndSignBit;
} Contact4;
__kernel void CountBodiesKernel(__global Contact4* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)
{
int i = GET_GLOBAL_IDX;
if( i < numContactManifolds)
{
int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;
bool isFixedA = (pa <0) || (pa == fixedBodyIndex);
int bodyIndexA = abs(pa);
if (!isFixedA)
{
AtomInc1(bodyCount[bodyIndexA],contactConstraintOffsets[i].x);
}
barrier(CLK_GLOBAL_MEM_FENCE);
int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;
bool isFixedB = (pb <0) || (pb == fixedBodyIndex);
int bodyIndexB = abs(pb);
if (!isFixedB)
{
AtomInc1(bodyCount[bodyIndexB],contactConstraintOffsets[i].y);
}
}
}
__kernel void ClearVelocitiesKernel(__global float4* linearVelocities,__global float4* angularVelocities, int numSplitBodies)
{
int i = GET_GLOBAL_IDX;
if( i < numSplitBodies)
{
linearVelocities[i] = make_float4(0);
angularVelocities[i] = make_float4(0);
}
}
void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
{
*linear = -n;
*angular0 = -cross3(r0, n);
*angular1 = cross3(r1, n);
}
float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )
{
return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);
}
float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,
float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)
{
// linear0,1 are normlized
float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;
float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);
float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;
float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);
return -1.f/(jmj0+jmj1+jmj2+jmj3);
}
void btPlaneSpace1 (float4 n, float4* p, float4* q);
void btPlaneSpace1 (float4 n, float4* p, float4* q)
{
if (fabs(n.z) > 0.70710678f) {
// choose p in y-z plane
float a = n.y*n.y + n.z*n.z;
float k = 1.f/sqrt(a);
p[0].x = 0;
p[0].y = -n.z*k;
p[0].z = n.y*k;
// set q = n x p
q[0].x = a*k;
q[0].y = -n.x*p[0].z;
q[0].z = n.x*p[0].y;
}
else {
// choose p in x-y plane
float a = n.x*n.x + n.y*n.y;
float k = 1.f/sqrt(a);
p[0].x = -n.y*k;
p[0].y = n.x*k;
p[0].z = 0;
// set q = n x p
q[0].x = -n.z*p[0].y;
q[0].y = n.z*p[0].x;
q[0].z = a*k;
}
}
void solveContact(__global Constraint4* cs,
float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,
float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB,
float4* dLinVelA, float4* dAngVelA, float4* dLinVelB, float4* dAngVelB)
{
float minRambdaDt = 0;
float maxRambdaDt = FLT_MAX;
for(int ic=0; ic<4; ic++)
{
if( cs->m_jacCoeffInv[ic] == 0.f ) continue;
float4 angular0, angular1, linear;
float4 r0 = cs->m_worldPos[ic] - posA;
float4 r1 = cs->m_worldPos[ic] - posB;
setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );
float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1,
*linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];
rambdaDt *= cs->m_jacCoeffInv[ic];
{
float prevSum = cs->m_appliedRambdaDt[ic];
float updated = prevSum;
updated += rambdaDt;
updated = max2( updated, minRambdaDt );
updated = min2( updated, maxRambdaDt );
rambdaDt = updated - prevSum;
cs->m_appliedRambdaDt[ic] = updated;
}
float4 linImp0 = invMassA*linear*rambdaDt;
float4 linImp1 = invMassB*(-linear)*rambdaDt;
float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;
float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;
*linVelA += linImp0;
*angVelA += angImp0;
*linVelB += linImp1;
*angVelB += angImp1;
}
}
void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs,
__global int2* contactConstraintOffsets,__global int* offsetSplitBodies,
__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)
{
//float frictionCoeff = ldsCs[0].m_linear.w;
int aIdx = ldsCs[0].m_bodyA;
int bIdx = ldsCs[0].m_bodyB;
float4 posA = gBodies[aIdx].m_pos;
float4 linVelA = gBodies[aIdx].m_linVel;
float4 angVelA = gBodies[aIdx].m_angVel;
float invMassA = gBodies[aIdx].m_invMass;
Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;
float4 posB = gBodies[bIdx].m_pos;
float4 linVelB = gBodies[bIdx].m_linVel;
float4 angVelB = gBodies[bIdx].m_angVel;
float invMassB = gBodies[bIdx].m_invMass;
Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;
float4 zero = make_float4(0);
float4 dLinVelA = zero;
float4 dAngVelA = zero;
float4 dLinVelB = zero;
float4 dAngVelB = zero;
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[0].x;
int splitIndexA = bodyOffsetA+constraintOffsetA;
if (invMassA)
{
dLinVelA = deltaLinearVelocities[splitIndexA];
dAngVelA = deltaAngularVelocities[splitIndexA];
}
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[0].y;
int splitIndexB= bodyOffsetB+constraintOffsetB;
if (invMassB)
{
dLinVelB = deltaLinearVelocities[splitIndexB];
dAngVelB = deltaAngularVelocities[splitIndexB];
}
solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,
posB, &linVelB, &angVelB, invMassB, invInertiaB ,&dLinVelA, &dAngVelA, &dLinVelB, &dAngVelB);
if (invMassA)
{
deltaLinearVelocities[splitIndexA] = dLinVelA;
deltaAngularVelocities[splitIndexA] = dAngVelA;
}
if (gBodies[bIdx].m_invMass)
{
deltaLinearVelocities[splitIndexB] = dLinVelB;
deltaAngularVelocities[splitIndexB] = dAngVelB;
}
}
__kernel void SolveContactJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,
__global int2* contactConstraintOffsets,__global int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,
float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds
)
{
int i = GET_GLOBAL_IDX;
if (i<numManifolds)
{
solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);
}
}
__kernel void SolveFrictionJacobiKernel()
{
}
void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,
const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB,
__global Contact4* src, float dt, float positionDrift, float positionConstraintCoeff,
Constraint4* dstC )
{
dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
float dtInv = 1.f/dt;
for(int ic=0; ic<4; ic++)
{
dstC->m_appliedRambdaDt[ic] = 0.f;
}
dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
dstC->m_linear = -src->m_worldNormal;
dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );
for(int ic=0; ic<4; ic++)
{
float4 r0 = src->m_worldPos[ic] - posA;
float4 r1 = src->m_worldPos[ic] - posB;
if( ic >= src->m_worldNormal.w )//npoints
{
dstC->m_jacCoeffInv[ic] = 0.f;
continue;
}
float relVelN;
{
float4 linear, angular0, angular1;
setLinearAndAngular(src->m_worldNormal, r0, r1, &linear, &angular0, &angular1);
dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
invMassA, &invInertiaA, invMassB, &invInertiaB );
relVelN = calcRelVel(linear, -linear, angular0, angular1,
linVelA, angVelA, linVelB, angVelB);
float e = 0.f;//src->getRestituitionCoeff();
if( relVelN*relVelN < 0.004f ) e = 0.f;
dstC->m_b[ic] = e*relVelN;
//float penetration = src->m_worldPos[ic].w;
dstC->m_b[ic] += (src->m_worldPos[ic].w + positionDrift)*positionConstraintCoeff*dtInv;
dstC->m_appliedRambdaDt[ic] = 0.f;
}
}
if( src->m_worldNormal.w > 0 )//npoints
{ // prepare friction
float4 center = make_float4(0.f);
for(int i=0; i<src->m_worldNormal.w; i++)
center += src->m_worldPos[i];
center /= (float)src->m_worldNormal.w;
float4 tangent[2];
btPlaneSpace1(src->m_worldNormal,&tangent[0],&tangent[1]);
float4 r[2];
r[0] = center - posA;
r[1] = center - posB;
for(int i=0; i<2; i++)
{
float4 linear, angular0, angular1;
setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);
dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
invMassA, &invInertiaA, invMassB, &invInertiaB );
dstC->m_fAppliedRambdaDt[i] = 0.f;
}
dstC->m_center = center;
}
for(int i=0; i<4; i++)
{
if( i<src->m_worldNormal.w )
{
dstC->m_worldPos[i] = src->m_worldPos[i];
}
else
{
dstC->m_worldPos[i] = make_float4(0.f);
}
}
}
__kernel
__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
void ContactToConstraintSplitKernel(__global const Contact4* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut,
__global const unsigned int* bodyCount,
int nContacts,
float dt,
float positionDrift,
float positionConstraintCoeff
)
{
int gIdx = GET_GLOBAL_IDX;
if( gIdx < nContacts )
{
int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
float4 posA = gBodies[aIdx].m_pos;
float4 linVelA = gBodies[aIdx].m_linVel;
float4 angVelA = gBodies[aIdx].m_angVel;
float invMassA = gBodies[aIdx].m_invMass;
Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;
float4 posB = gBodies[bIdx].m_pos;
float4 linVelB = gBodies[bIdx].m_linVel;
float4 angVelB = gBodies[bIdx].m_angVel;
float invMassB = gBodies[bIdx].m_invMass;
Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;
Constraint4 cs;
setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,
&cs );
cs.m_batchIdx = gContact[gIdx].m_batchIdx;
gConstraintOut[gIdx] = cs;
}
}

748
opencl/gpu_rigidbody/kernels/solverUtils.h Normal file
View File

@@ -0,0 +1,748 @@
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
static const char* solverUtilsCL= \
"/*\n"
"Copyright (c) 2012 Advanced Micro Devices, Inc. \n"
"\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"
"\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"
"\n"
"\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"
"\n"
"\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"
"\n"
"typedef unsigned int u32;\n"
"typedef unsigned short u16;\n"
"typedef unsigned char u8;\n"
"\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"
"\n"
"\n"
"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
"\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"
"\n"
"\n"
"#define max2 max\n"
"#define min2 min\n"
"\n"
"\n"
"///////////////////////////////////////\n"
"// Vector\n"
"///////////////////////////////////////\n"
"__inline\n"
"float fastDiv(float numerator, float denominator)\n"
"{\n"
" return native_divide(numerator, denominator); \n"
"// return numerator/denominator; \n"
"}\n"
"\n"
"__inline\n"
"float4 fastDiv4(float4 numerator, float4 denominator)\n"
"{\n"
" return native_divide(numerator, denominator); \n"
"}\n"
"\n"
"__inline\n"
"float fastSqrtf(float f2)\n"
"{\n"
" return native_sqrt(f2);\n"
"// return sqrt(f2);\n"
"}\n"
"\n"
"__inline\n"
"float fastRSqrt(float f2)\n"
"{\n"
" return native_rsqrt(f2);\n"
"}\n"
"\n"
"__inline\n"
"float fastLength4(float4 v)\n"
"{\n"
" return fast_length(v);\n"
"}\n"
"\n"
"__inline\n"
"float4 fastNormalize4(float4 v)\n"
"{\n"
" return fast_normalize(v);\n"
"}\n"
"\n"
"\n"
"__inline\n"
"float sqrtf(float a)\n"
"{\n"
"// return sqrt(a);\n"
" return native_sqrt(a);\n"
"}\n"
"\n"
"__inline\n"
"float4 cross3(float4 a, float4 b)\n"
"{\n"
" return cross(a,b);\n"
"}\n"
"\n"
"__inline\n"
"float dot3F4(float4 a, float4 b)\n"
"{\n"
" float4 a1 = make_float4(a.xyz,0.f);\n"
" float4 b1 = make_float4(b.xyz,0.f);\n"
" return dot(a1, b1);\n"
"}\n"
"\n"
"__inline\n"
"float length3(const float4 a)\n"
"{\n"
" return sqrtf(dot3F4(a,a));\n"
"}\n"
"\n"
"__inline\n"
"float dot4(const float4 a, const float4 b)\n"
"{\n"
" return dot( a, b );\n"
"}\n"
"\n"
"// for height\n"
"__inline\n"
"float dot3w1(const float4 point, const float4 eqn)\n"
"{\n"
" return dot3F4(point,eqn) + eqn.w;\n"
"}\n"
"\n"
"__inline\n"
"float4 normalize3(const float4 a)\n"
"{\n"
" float4 n = make_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"
"__inline\n"
"float4 normalize4(const float4 a)\n"
"{\n"
" float length = sqrtf(dot4(a, a));\n"
" return 1.f/length * a;\n"
"}\n"
"\n"
"__inline\n"
"float4 createEquation(const float4 a, const float4 b, const float4 c)\n"
"{\n"
" float4 eqn;\n"
" float4 ab = b-a;\n"
" float4 ac = c-a;\n"
" eqn = normalize3( cross3(ab, ac) );\n"
" eqn.w = -dot3F4(eqn,a);\n"
" return eqn;\n"
"}\n"
"\n"
"///////////////////////////////////////\n"
"// Matrix3x3\n"
"///////////////////////////////////////\n"
"\n"
"typedef struct\n"
"{\n"
" float4 m_row[3];\n"
"}Matrix3x3;\n"
"\n"
"__inline\n"
"Matrix3x3 mtZero();\n"
"\n"
"__inline\n"
"Matrix3x3 mtIdentity();\n"
"\n"
"__inline\n"
"Matrix3x3 mtTranspose(Matrix3x3 m);\n"
"\n"
"__inline\n"
"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n"
"\n"
"__inline\n"
"float4 mtMul1(Matrix3x3 a, float4 b);\n"
"\n"
"__inline\n"
"float4 mtMul3(float4 a, Matrix3x3 b);\n"
"\n"
"__inline\n"
"Matrix3x3 mtZero()\n"
"{\n"
" Matrix3x3 m;\n"
" m.m_row[0] = (float4)(0.f);\n"
" m.m_row[1] = (float4)(0.f);\n"
" m.m_row[2] = (float4)(0.f);\n"
" return m;\n"
"}\n"
"\n"
"__inline\n"
"Matrix3x3 mtIdentity()\n"
"{\n"
" Matrix3x3 m;\n"
" m.m_row[0] = (float4)(1,0,0,0);\n"
" m.m_row[1] = (float4)(0,1,0,0);\n"
" m.m_row[2] = (float4)(0,0,1,0);\n"
" return m;\n"
"}\n"
"\n"
"__inline\n"
"Matrix3x3 mtTranspose(Matrix3x3 m)\n"
"{\n"
" Matrix3x3 out;\n"
" out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
" out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
" out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
" return out;\n"
"}\n"
"\n"
"__inline\n"
"Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n"
"{\n"
" Matrix3x3 transB;\n"
" transB = mtTranspose( b );\n"
" Matrix3x3 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 = dot3F4(a.m_row[i],transB.m_row[0]);\n"
" ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n"
" ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n"
" ans.m_row[i].w = 0.f;\n"
" }\n"
" return ans;\n"
"}\n"
"\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"
"\n"
"__inline\n"
"float4 mtMul3(float4 a, Matrix3x3 b)\n"
"{\n"
" float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
" float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
" float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
"\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"
"///////////////////////////////////////\n"
"// Quaternion\n"
"///////////////////////////////////////\n"
"\n"
"typedef float4 Quaternion;\n"
"\n"
"__inline\n"
"Quaternion qtMul(Quaternion a, Quaternion b);\n"
"\n"
"__inline\n"
"Quaternion qtNormalize(Quaternion in);\n"
"\n"
"__inline\n"
"float4 qtRotate(Quaternion q, float4 vec);\n"
"\n"
"__inline\n"
"Quaternion qtInvert(Quaternion q);\n"
"\n"
"\n"
"\n"
"\n"
"\n"
"__inline\n"
"Quaternion qtMul(Quaternion a, Quaternion b)\n"
"{\n"
" Quaternion ans;\n"
" ans = cross3( 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 - dot3F4(a, b);\n"
" return ans;\n"
"}\n"
"\n"
"__inline\n"
"Quaternion qtNormalize(Quaternion in)\n"
"{\n"
" return fastNormalize4(in);\n"
"// in /= length( in );\n"
"// return in;\n"
"}\n"
"__inline\n"
"float4 qtRotate(Quaternion q, float4 vec)\n"
"{\n"
" Quaternion qInv = qtInvert( q );\n"
" float4 vcpy = vec;\n"
" vcpy.w = 0.f;\n"
" float4 out = qtMul(qtMul(q,vcpy),qInv);\n"
" return out;\n"
"}\n"
"\n"
"__inline\n"
"Quaternion qtInvert(Quaternion q)\n"
"{\n"
" return (Quaternion)(-q.xyz, q.w);\n"
"}\n"
"\n"
"__inline\n"
"float4 qtInvRotate(const Quaternion q, float4 vec)\n"
"{\n"
" return qtRotate( qtInvert( q ), vec );\n"
"}\n"
"\n"
"\n"
"\n"
"\n"
"#define WG_SIZE 64\n"
"\n"
"typedef struct\n"
"{\n"
" float4 m_pos;\n"
" Quaternion m_quat;\n"
" float4 m_linVel;\n"
" float4 m_angVel;\n"
"\n"
" u32 m_shapeIdx;\n"
" float m_invMass;\n"
" float m_restituitionCoeff;\n"
" float m_frictionCoeff;\n"
"} Body;\n"
"\n"
"typedef struct\n"
"{\n"
" Matrix3x3 m_invInertia;\n"
" Matrix3x3 m_initInvInertia;\n"
"} Shape;\n"
"\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"
"\n"
" float m_fJacCoeffInv[2]; \n"
" float m_fAppliedRambdaDt[2]; \n"
"\n"
" u32 m_bodyA;\n"
" u32 m_bodyB;\n"
"\n"
" int m_batchIdx;\n"
" u32 m_paddings[1];\n"
"} Constraint4;\n"
"\n"
"typedef struct\n"
"{\n"
" float4 m_worldPos[4];\n"
" float4 m_worldNormal;\n"
" u32 m_coeffs;\n"
" int m_batchIdx;\n"
"\n"
" int m_bodyAPtrAndSignBit;\n"
" int m_bodyBPtrAndSignBit;\n"
"} Contact4;\n"
"\n"
"\n"
"__kernel void CountBodiesKernel(__global Contact4* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)\n"
"{\n"
" int i = GET_GLOBAL_IDX;\n"
" \n"
" if( i < numContactManifolds)\n"
" {\n"
" int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;\n"
" bool isFixedA = (pa <0) || (pa == fixedBodyIndex);\n"
" int bodyIndexA = abs(pa);\n"
" if (!isFixedA)\n"
" {\n"
" AtomInc1(bodyCount[bodyIndexA],contactConstraintOffsets[i].x);\n"
" }\n"
" barrier(CLK_GLOBAL_MEM_FENCE);\n"
" int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;\n"
" bool isFixedB = (pb <0) || (pb == fixedBodyIndex);\n"
" int bodyIndexB = abs(pb);\n"
" if (!isFixedB)\n"
" {\n"
" AtomInc1(bodyCount[bodyIndexB],contactConstraintOffsets[i].y);\n"
" } \n"
" }\n"
"}\n"
"\n"
"__kernel void ClearVelocitiesKernel(__global float4* linearVelocities,__global float4* angularVelocities, int numSplitBodies)\n"
"{\n"
" int i = GET_GLOBAL_IDX;\n"
" \n"
" if( i < numSplitBodies)\n"
" {\n"
" linearVelocities[i] = make_float4(0);\n"
" angularVelocities[i] = make_float4(0);\n"
" }\n"
"}\n"
"\n"
"\n"
"\n"
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
"{\n"
" *linear = -n;\n"
" *angular0 = -cross3(r0, n);\n"
" *angular1 = cross3(r1, n);\n"
"}\n"
"\n"
"\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"
"\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"
"{\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"
"\n"
"\n"
"void btPlaneSpace1 (float4 n, float4* p, float4* q);\n"
" void btPlaneSpace1 (float4 n, float4* p, float4* q)\n"
"{\n"
" if (fabs(n.z) > 0.70710678f) {\n"
" // choose p in y-z plane\n"
" float a = n.y*n.y + n.z*n.z;\n"
" float k = 1.f/sqrt(a);\n"
" p[0].x = 0;\n"
" p[0].y = -n.z*k;\n"
" p[0].z = n.y*k;\n"
" // set q = n x p\n"
" q[0].x = a*k;\n"
" q[0].y = -n.x*p[0].z;\n"
" q[0].z = n.x*p[0].y;\n"
" }\n"
" else {\n"
" // choose p in x-y plane\n"
" float a = n.x*n.x + n.y*n.y;\n"
" float k = 1.f/sqrt(a);\n"
" p[0].x = -n.y*k;\n"
" p[0].y = n.x*k;\n"
" p[0].z = 0;\n"
" // set q = n x p\n"
" q[0].x = -n.z*p[0].y;\n"
" q[0].y = n.z*p[0].x;\n"
" q[0].z = a*k;\n"
" }\n"
"}\n"
"\n"
"\n"
"\n"
"\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"
" float4* dLinVelA, float4* dAngVelA, float4* dLinVelB, float4* dAngVelB)\n"
"{\n"
" float minRambdaDt = 0;\n"
" float maxRambdaDt = FLT_MAX;\n"
"\n"
" for(int ic=0; ic<4; ic++)\n"
" {\n"
" if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n"
"\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"
"\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"
" {\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"
"\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"
"}\n"
"\n"
"\n"
"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs, \n"
"__global int2* contactConstraintOffsets,__global int* offsetSplitBodies,\n"
"__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n"
"{\n"
"\n"
" //float frictionCoeff = ldsCs[0].m_linear.w;\n"
" int aIdx = ldsCs[0].m_bodyA;\n"
" int bIdx = ldsCs[0].m_bodyB;\n"
"\n"
" float4 posA = gBodies[aIdx].m_pos;\n"
" float4 linVelA = gBodies[aIdx].m_linVel;\n"
" float4 angVelA = gBodies[aIdx].m_angVel;\n"
" float invMassA = gBodies[aIdx].m_invMass;\n"
" Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
"\n"
" float4 posB = gBodies[bIdx].m_pos;\n"
" float4 linVelB = gBodies[bIdx].m_linVel;\n"
" float4 angVelB = gBodies[bIdx].m_angVel;\n"
" float invMassB = gBodies[bIdx].m_invMass;\n"
" Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
"\n"
" float4 zero = make_float4(0);\n"
" \n"
" float4 dLinVelA = zero;\n"
" float4 dAngVelA = zero;\n"
" float4 dLinVelB = zero;\n"
" float4 dAngVelB = zero;\n"
" \n"
" int bodyOffsetA = offsetSplitBodies[aIdx];\n"
" int constraintOffsetA = contactConstraintOffsets[0].x;\n"
" int splitIndexA = bodyOffsetA+constraintOffsetA;\n"
"\n"
" if (invMassA)\n"
" {\n"
" \n"
" dLinVelA = deltaLinearVelocities[splitIndexA];\n"
" dAngVelA = deltaAngularVelocities[splitIndexA];\n"
" }\n"
"\n"
" int bodyOffsetB = offsetSplitBodies[bIdx];\n"
" int constraintOffsetB = contactConstraintOffsets[0].y;\n"
" int splitIndexB= bodyOffsetB+constraintOffsetB;\n"
"\n"
" if (invMassB)\n"
" {\n"
" dLinVelB = deltaLinearVelocities[splitIndexB];\n"
" dAngVelB = deltaAngularVelocities[splitIndexB];\n"
" }\n"
"\n"
" solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
" posB, &linVelB, &angVelB, invMassB, invInertiaB ,&dLinVelA, &dAngVelA, &dLinVelB, &dAngVelB);\n"
"\n"
" if (invMassA)\n"
" {\n"
" deltaLinearVelocities[splitIndexA] = dLinVelA;\n"
" deltaAngularVelocities[splitIndexA] = dAngVelA;\n"
" } \n"
" if (gBodies[bIdx].m_invMass)\n"
" {\n"
" deltaLinearVelocities[splitIndexB] = dLinVelB;\n"
" deltaAngularVelocities[splitIndexB] = dAngVelB;\n"
" }\n"
"\n"
"}\n"
"\n"
"\n"
"__kernel void SolveContactJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n"
"__global int2* contactConstraintOffsets,__global int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n"
"float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n"
")\n"
"{\n"
" int i = GET_GLOBAL_IDX;\n"
" if (i<numManifolds)\n"
" {\n"
" solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n"
" }\n"
"}\n"
"\n"
"__kernel void SolveFrictionJacobiKernel()\n"
"{\n"
"\n"
"}\n"
"\n"
"\n"
"\n"
"void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,\n"
" const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB, \n"
" __global Contact4* src, float dt, float positionDrift, float positionConstraintCoeff,\n"
" Constraint4* dstC )\n"
"{\n"
" dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);\n"
" dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);\n"
"\n"
" float dtInv = 1.f/dt;\n"
" for(int ic=0; ic<4; ic++)\n"
" {\n"
" dstC->m_appliedRambdaDt[ic] = 0.f;\n"
" }\n"
" dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;\n"
"\n"
"\n"
" dstC->m_linear = -src->m_worldNormal;\n"
" dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );\n"
" for(int ic=0; ic<4; ic++)\n"
" {\n"
" float4 r0 = src->m_worldPos[ic] - posA;\n"
" float4 r1 = src->m_worldPos[ic] - posB;\n"
"\n"
" if( ic >= src->m_worldNormal.w )//npoints\n"
" {\n"
" dstC->m_jacCoeffInv[ic] = 0.f;\n"
" continue;\n"
" }\n"
"\n"
" float relVelN;\n"
" {\n"
" float4 linear, angular0, angular1;\n"
" setLinearAndAngular(src->m_worldNormal, r0, r1, &linear, &angular0, &angular1);\n"
"\n"
" dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
" invMassA, &invInertiaA, invMassB, &invInertiaB );\n"
"\n"
" relVelN = calcRelVel(linear, -linear, angular0, angular1,\n"
" linVelA, angVelA, linVelB, angVelB);\n"
"\n"
" float e = 0.f;//src->getRestituitionCoeff();\n"
" if( relVelN*relVelN < 0.004f ) e = 0.f;\n"
"\n"
" dstC->m_b[ic] = e*relVelN;\n"
" //float penetration = src->m_worldPos[ic].w;\n"
" dstC->m_b[ic] += (src->m_worldPos[ic].w + positionDrift)*positionConstraintCoeff*dtInv;\n"
" dstC->m_appliedRambdaDt[ic] = 0.f;\n"
" }\n"
" }\n"
"\n"
" if( src->m_worldNormal.w > 0 )//npoints\n"
" { // prepare friction\n"
" float4 center = make_float4(0.f);\n"
" for(int i=0; i<src->m_worldNormal.w; i++) \n"
" center += src->m_worldPos[i];\n"
" center /= (float)src->m_worldNormal.w;\n"
"\n"
" float4 tangent[2];\n"
" btPlaneSpace1(src->m_worldNormal,&tangent[0],&tangent[1]);\n"
" \n"
" float4 r[2];\n"
" r[0] = center - posA;\n"
" r[1] = center - posB;\n"
"\n"
" for(int i=0; i<2; i++)\n"
" {\n"
" float4 linear, angular0, angular1;\n"
" setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);\n"
"\n"
" dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,\n"
" invMassA, &invInertiaA, invMassB, &invInertiaB );\n"
" dstC->m_fAppliedRambdaDt[i] = 0.f;\n"
" }\n"
" dstC->m_center = center;\n"
" }\n"
"\n"
" for(int i=0; i<4; i++)\n"
" {\n"
" if( i<src->m_worldNormal.w )\n"
" {\n"
" dstC->m_worldPos[i] = src->m_worldPos[i];\n"
" }\n"
" else\n"
" {\n"
" dstC->m_worldPos[i] = make_float4(0.f);\n"
" }\n"
" }\n"
"}\n"
"\n"
"\n"
"__kernel\n"
"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
"void ContactToConstraintSplitKernel(__global const Contact4* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut, \n"
"__global const unsigned int* bodyCount,\n"
"int nContacts,\n"
"float dt,\n"
"float positionDrift,\n"
"float positionConstraintCoeff\n"
")\n"
"{\n"
" int gIdx = GET_GLOBAL_IDX;\n"
" \n"
" if( gIdx < nContacts )\n"
" {\n"
" int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);\n"
" int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);\n"
"\n"
" float4 posA = gBodies[aIdx].m_pos;\n"
" float4 linVelA = gBodies[aIdx].m_linVel;\n"
" float4 angVelA = gBodies[aIdx].m_angVel;\n"
" float invMassA = gBodies[aIdx].m_invMass;\n"
" Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
"\n"
" float4 posB = gBodies[bIdx].m_pos;\n"
" float4 linVelB = gBodies[bIdx].m_linVel;\n"
" float4 angVelB = gBodies[bIdx].m_angVel;\n"
" float invMassB = gBodies[bIdx].m_invMass;\n"
" Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
"\n"
" Constraint4 cs;\n"
"\n"
" setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n"
" &gContact[gIdx], dt, positionDrift, positionConstraintCoeff,\n"
" &cs );\n"
" \n"
" cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n"
"\n"
" gConstraintOut[gIdx] = cs;\n"
" }\n"
"}\n"
;