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added GPU joint solver for non-contact constraints. Only point 2 point version for now, will add some other constraints soon (changes are very local)

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This commit is contained in:
erwin coumans
2013-07-09 10:46:47 -07:00
parent b8d5cecfe3
commit c4375a09e4
18 changed files with 2502 additions and 364 deletions
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66
src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp
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@@ -1,3 +1,18 @@
/*
Copyright (c) 2013 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.
*/
//Originally written by Erwin Coumans
#include "b3GpuRigidBodyPipeline.h"
#include "b3GpuRigidBodyPipelineInternalData.h"
#include "kernels/integrateKernel.h"
@@ -46,11 +61,13 @@ b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id devic
m_data->m_device = device;
m_data->m_queue = q;
m_data->m_solver = new b3GpuPgsJacobiSolver(ctx,device,q,true);//new b3PgsJacobiSolver(true);
m_data->m_solver = new b3PgsJacobiSolver(true);//new b3PgsJacobiSolver(true);
m_data->m_gpuSolver = new b3GpuPgsJacobiSolver(ctx,device,q,true);//new b3PgsJacobiSolver(true);
m_data->m_allAabbsGPU = new b3OpenCLArray<b3SapAabb>(ctx,q,config.m_maxConvexBodies);
m_data->m_overlappingPairsGPU = new b3OpenCLArray<b3BroadphasePair>(ctx,q,config.m_maxBroadphasePairs);
m_data->m_gpuConstraints = new b3OpenCLArray<b3GpuGenericConstraint>(ctx,q);
#ifdef TEST_OTHER_GPU_SOLVER
m_data->m_solver3 = new b3GpuJacobiSolver(ctx,device,q,config.m_maxBroadphasePairs);
#endif // TEST_OTHER_GPU_SOLVER
@@ -92,6 +109,7 @@ b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
delete m_data->m_raycaster;
delete m_data->m_solver;
delete m_data->m_allAabbsGPU;
delete m_data->m_gpuConstraints;
delete m_data->m_overlappingPairsGPU;
#ifdef TEST_OTHER_GPU_SOLVER
@@ -106,9 +124,10 @@ b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline()
void b3GpuRigidBodyPipeline::reset()
{
m_data->m_gpuConstraints->resize(0);
m_data->m_cpuConstraints.resize(0);
m_data->m_allAabbsGPU->resize(0);
m_data->m_allAabbsCPU.resize(0);
m_data->m_joints.resize(0);
}
void b3GpuRigidBodyPipeline::addConstraint(b3TypedConstraint* constraint)
@@ -121,6 +140,23 @@ void b3GpuRigidBodyPipeline::removeConstraint(b3TypedConstraint* constraint)
m_data->m_joints.remove(constraint);
}
int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB)
{
b3GpuGenericConstraint c;
c.m_flags = B3_CONSTRAINT_FLAG_ENABLED;
c.m_rbA = bodyA;
c.m_rbB = bodyB;
c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]);
c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]);
c.m_breakingImpulseThreshold = 1e30f;
c.m_constraintType = B3_GPU_POINT2POINT_CONSTRAINT_TYPE;
m_data->m_cpuConstraints.push_back(c);
return 0;
}
int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* frameOrnA, const float* frameOrnB)
{
return 0;
}
void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
@@ -220,25 +256,32 @@ void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime)
b3OpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true);
gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu());
int numJoints = m_data->m_joints.size();
int numJoints = m_data->m_cpuConstraints.size();
if (useBullet2CpuSolver && numJoints)
{
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
b3AlignedObjectArray<b3InertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
// b3AlignedObjectArray<b3Contact4> hostContacts;
//gpuContacts.copyToHost(hostContacts);
{
b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0;
bool useGpu = m_data->m_joints.size()==0;
// b3Contact4* contacts = numContacts? &hostContacts[0]: 0;
//m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints);
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints);
if (useGpu)
{
m_data->m_gpuSolver->solveJoints(m_data->m_narrowphase->getNumRigidBodies(),&gpuBodies,&gpuInertias,numJoints, m_data->m_gpuConstraints);
} else
{
b3AlignedObjectArray<b3RigidBodyCL> hostBodies;
gpuBodies.copyToHost(hostBodies);
b3AlignedObjectArray<b3InertiaCL> hostInertias;
gpuInertias.copyToHost(hostInertias);
b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0;
m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints);
gpuBodies.copyFromHost(hostBodies);
}
}
gpuBodies.copyFromHost(hostBodies);
}
if (numContacts)
@@ -387,6 +430,7 @@ void b3GpuRigidBodyPipeline::setGravity(const float* grav)
void b3GpuRigidBodyPipeline::writeAllInstancesToGpu()
{
m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU);
m_data->m_gpuConstraints->copyFromHost(m_data->m_cpuConstraints);
}