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)
This commit is contained in:
erwin coumans
@@ -1,3 +1,17 @@
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/*
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Copyright (c) 2013 Advanced Micro Devices, Inc.
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This software is provided 'as-is', without any express or implied warranty.
|
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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||||
subject to the following restrictions:
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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.
|
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//Originally written by Erwin Coumans
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float4 quatMult(float4 q1, float4 q2)
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{
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@@ -1,5 +1,19 @@
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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* integrateKernelCL= \
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"/*\n"
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"Copyright (c) 2013 Advanced Micro Devices, Inc. \n"
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"\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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"\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"
|
||||
"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 Erwin Coumans\n"
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"\n"
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"float4 quatMult(float4 q1, float4 q2)\n"
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"{\n"
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@@ -1,19 +1,84 @@
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/*
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Copyright (c) 2013 Advanced Micro Devices, Inc.
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||||
|
||||
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.
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||||
3. This notice may not be removed or altered from any source distribution.
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*/
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//Originally written by Erwin Coumans
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#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3
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#define B3_INFINITY 1e30f
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#define mymake_float4 (float4)
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__inline float dot3F4(float4 a, float4 b)
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{
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float4 a1 = mymake_float4(a.xyz,0.f);
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float4 b1 = mymake_float4(b.xyz,0.f);
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return dot(a1, b1);
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}
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typedef float4 Quaternion;
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typedef struct
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{
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float4 m_row[3];
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}Matrix3x3;
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__inline
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float4 mtMul1(Matrix3x3 a, float4 b);
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__inline
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float4 mtMul3(float4 a, Matrix3x3 b);
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__inline
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float4 mtMul1(Matrix3x3 a, float4 b)
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{
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float4 ans;
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ans.x = dot3F4( a.m_row[0], b );
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ans.y = dot3F4( a.m_row[1], b );
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ans.z = dot3F4( a.m_row[2], b );
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ans.w = 0.f;
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return ans;
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}
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__inline
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float4 mtMul3(float4 a, Matrix3x3 b)
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{
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float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
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float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
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float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
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float4 ans;
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ans.x = dot3F4( a, colx );
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ans.y = dot3F4( a, coly );
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ans.z = dot3F4( a, colz );
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return ans;
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}
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typedef struct
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{
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Matrix3x3 m_invInertia;
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Matrix3x3 m_invInertiaWorld;
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Matrix3x3 m_initInvInertia;
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} Shape;
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} BodyInertia;
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typedef struct
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{
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@@ -23,7 +88,7 @@ typedef struct
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typedef struct
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{
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b3Transform m_worldTransform;
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// b3Transform m_worldTransformUnused;
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float4 m_deltaLinearVelocity;
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float4 m_deltaAngularVelocity;
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float4 m_angularFactor;
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@@ -41,9 +106,20 @@ typedef struct
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};
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int padding[3];
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} b3SolverBody;
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} b3GpuSolverBody;
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typedef struct
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{
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float4 m_pos;
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Quaternion m_quat;
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float4 m_linVel;
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float4 m_angVel;
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unsigned int m_shapeIdx;
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float m_invMass;
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float m_restituitionCoeff;
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float m_frictionCoeff;
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} b3RigidBodyCL;
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typedef struct
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{
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@@ -92,24 +168,109 @@ typedef struct
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} b3BatchConstraint;
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#define mymake_float4 (float4)
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__inline float dot3F4(float4 a, float4 b)
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typedef struct
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{
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float4 a1 = mymake_float4(a.xyz,0.f);
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float4 b1 = mymake_float4(b.xyz,0.f);
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return dot(a1, b1);
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int m_constraintType;
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int m_rbA;
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int m_rbB;
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float m_breakingImpulseThreshold;
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float4 m_pivotInA;
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float4 m_pivotInB;
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Quaternion m_relTargetAB;
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int m_flags;
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int m_padding[3];
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} b3GpuGenericConstraint;
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/*b3Transform getWorldTransform(b3RigidBodyCL* rb)
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{
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b3Transform newTrans;
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newTrans.setOrigin(rb->m_pos);
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newTrans.setRotation(rb->m_quat);
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return newTrans;
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}*/
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__inline
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float4 cross3(float4 a, float4 b)
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{
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return cross(a,b);
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}
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__inline void internalApplyImpulse(__global b3SolverBody* body, float4 linearComponent, float4 angularComponent,float impulseMagnitude)
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__inline
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float4 fastNormalize4(float4 v)
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{
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v = mymake_float4(v.xyz,0.f);
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return fast_normalize(v);
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}
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b);
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__inline
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Quaternion qtNormalize(Quaternion in);
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__inline
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float4 qtRotate(Quaternion q, float4 vec);
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__inline
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Quaternion qtInvert(Quaternion q);
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__inline
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Quaternion qtMul(Quaternion a, Quaternion b)
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{
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Quaternion ans;
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ans = cross3( a, b );
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ans += a.w*b+b.w*a;
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// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
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ans.w = a.w*b.w - dot3F4(a, b);
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return ans;
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}
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__inline
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Quaternion qtNormalize(Quaternion in)
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{
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return fastNormalize4(in);
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// in /= length( in );
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// return in;
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}
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__inline
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float4 qtRotate(Quaternion q, float4 vec)
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{
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Quaternion qInv = qtInvert( q );
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float4 vcpy = vec;
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vcpy.w = 0.f;
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float4 out = qtMul(qtMul(q,vcpy),qInv);
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return out;
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}
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__inline
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Quaternion qtInvert(Quaternion q)
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{
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return (Quaternion)(-q.xyz, q.w);
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}
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__inline void internalApplyImpulse(__global b3GpuSolverBody* body, float4 linearComponent, float4 angularComponent,float impulseMagnitude)
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{
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body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;
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body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);
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}
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void resolveSingleConstraintRowGeneric(__global b3SolverBody* body1, __global b3SolverBody* body2, __global b3SolverConstraint* c)
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void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)
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{
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float deltaImpulse = c->m_rhs-c->m_appliedImpulse.x*c->m_cfm;
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float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);
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@@ -140,7 +301,7 @@ void resolveSingleConstraintRowGeneric(__global b3SolverBody* body1, __global b3
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}
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__kernel
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void solveJointConstraintRows(__global b3SolverBody* solverBodies,
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void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,
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__global b3BatchConstraint* batchConstraints,
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__global b3SolverConstraint* rows,
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int batchOffset,
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@@ -158,4 +319,415 @@ void solveJointConstraintRows(__global b3SolverBody* solverBodies,
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__global b3SolverConstraint* constraint = &rows[c->m_constraintRowOffset+jj];
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resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);
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}
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};
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};
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__kernel void initSolverBodies(__global b3GpuSolverBody* solverBodies,__global b3RigidBodyCL* bodiesCL, int numBodies)
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{
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int i = get_global_id(0);
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if (i>=numBodies)
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return;
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__global b3GpuSolverBody* solverBody = &solverBodies[i];
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__global b3RigidBodyCL* bodyCL = &bodiesCL[i];
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solverBody->m_deltaLinearVelocity = (float4)(0.f,0.f,0.f,0.f);
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solverBody->m_deltaAngularVelocity = (float4)(0.f,0.f,0.f,0.f);
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solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);
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solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);
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solverBody->m_invMass = (float4)(bodyCL->m_invMass,bodyCL->m_invMass,bodyCL->m_invMass,0.f);
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solverBody->m_originalBodyIndex = i;
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solverBody->m_angularFactor = (float4)(1,1,1,0);
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solverBody->m_linearFactor = (float4) (1,1,1,0);
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solverBody->m_linearVelocity = bodyCL->m_linVel;
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solverBody->m_angularVelocity = bodyCL->m_angVel;
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}
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__kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGenericConstraint* constraints, __global b3BatchConstraint* batchConstraints, int numConstraints)
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{
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int i = get_global_id(0);
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if (i>=numConstraints)
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return;
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__global b3GpuGenericConstraint* constraint = &constraints[i];
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switch (constraint->m_constraintType)
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{
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case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
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{
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infos[i] = 3;
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batchConstraints[i].m_numConstraintRows = 3;
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break;
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}
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default:
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{
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}
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}
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}
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__kernel void initBatchConstraintsKernel(__global unsigned int* rowOffsets, __global b3BatchConstraint* batchConstraints, int numConstraints)
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{
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int i = get_global_id(0);
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if (i>=numConstraints)
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return;
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batchConstraints[i].m_constraintRowOffset = rowOffsets[i];
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}
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typedef struct
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{
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// integrator parameters: frames per second (1/stepsize), default error
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// reduction parameter (0..1).
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float fps,erp;
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// for the first and second body, pointers to two (linear and angular)
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// n*3 jacobian sub matrices, stored by rows. these matrices will have
|
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// been initialized to 0 on entry. if the second body is zero then the
|
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// J2xx pointers may be 0.
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union
|
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{
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__global float4* m_J1linearAxisFloat4;
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__global float* m_J1linearAxis;
|
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};
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union
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{
|
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__global float4* m_J1angularAxisFloat4;
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__global float* m_J1angularAxis;
|
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|
||||
};
|
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union
|
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{
|
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__global float4* m_J2linearAxisFloat4;
|
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__global float* m_J2linearAxis;
|
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};
|
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union
|
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{
|
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__global float4* m_J2angularAxisFloat4;
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__global float* m_J2angularAxis;
|
||||
};
|
||||
// elements to jump from one row to the next in J's
|
||||
int rowskip;
|
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|
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// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
|
||||
// "constraint force mixing" vector. c is set to zero on entry, cfm is
|
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// set to a constant value (typically very small or zero) value on entry.
|
||||
__global float* m_constraintError;
|
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__global float* cfm;
|
||||
|
||||
// lo and hi limits for variables (set to -/+ infinity on entry).
|
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__global float* m_lowerLimit;
|
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__global float* m_upperLimit;
|
||||
|
||||
// findex vector for variables. see the LCP solver interface for a
|
||||
// description of what this does. this is set to -1 on entry.
|
||||
// note that the returned indexes are relative to the first index of
|
||||
// the constraint.
|
||||
__global int *findex;
|
||||
// number of solver iterations
|
||||
int m_numIterations;
|
||||
|
||||
//damping of the velocity
|
||||
float m_damping;
|
||||
} b3GpuConstraintInfo2;
|
||||
|
||||
|
||||
void getSkewSymmetricMatrix(float4 vecIn, __global float4* v0,__global float4* v1,__global float4* v2)
|
||||
{
|
||||
*v0 = (float4)(0. ,-vecIn.z ,vecIn.y,0.f);
|
||||
*v1 = (float4)(vecIn.z ,0. ,-vecIn.x,0.f);
|
||||
*v2 = (float4)(-vecIn.y ,vecIn.x ,0.f,0.f);
|
||||
}
|
||||
|
||||
|
||||
void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies)
|
||||
{
|
||||
float4 posA = bodies[constraint->m_rbA].m_pos;
|
||||
Quaternion rotA = bodies[constraint->m_rbA].m_quat;
|
||||
|
||||
float4 posB = bodies[constraint->m_rbB].m_pos;
|
||||
Quaternion rotB = bodies[constraint->m_rbB].m_quat;
|
||||
|
||||
|
||||
|
||||
// anchor points in global coordinates with respect to body PORs.
|
||||
|
||||
// set jacobian
|
||||
info->m_J1linearAxis[0] = 1;
|
||||
info->m_J1linearAxis[info->rowskip+1] = 1;
|
||||
info->m_J1linearAxis[2*info->rowskip+2] = 1;
|
||||
|
||||
float4 a1 = qtRotate(rotA,constraint->m_pivotInA);
|
||||
|
||||
{
|
||||
__global float4* angular0 = (__global float4*)(info->m_J1angularAxis);
|
||||
__global float4* angular1 = (__global float4*)(info->m_J1angularAxis+info->rowskip);
|
||||
__global float4* angular2 = (__global float4*)(info->m_J1angularAxis+2*info->rowskip);
|
||||
float4 a1neg = -a1;
|
||||
getSkewSymmetricMatrix(a1neg,angular0,angular1,angular2);
|
||||
}
|
||||
if (info->m_J2linearAxis)
|
||||
{
|
||||
info->m_J2linearAxis[0] = -1;
|
||||
info->m_J2linearAxis[info->rowskip+1] = -1;
|
||||
info->m_J2linearAxis[2*info->rowskip+2] = -1;
|
||||
}
|
||||
|
||||
float4 a2 = qtRotate(rotB,constraint->m_pivotInB);
|
||||
|
||||
{
|
||||
// float4 a2n = -a2;
|
||||
__global float4* angular0 = (__global float4*)(info->m_J2angularAxis);
|
||||
__global float4* angular1 = (__global float4*)(info->m_J2angularAxis+info->rowskip);
|
||||
__global float4* angular2 = (__global float4*)(info->m_J2angularAxis+2*info->rowskip);
|
||||
getSkewSymmetricMatrix(a2,angular0,angular1,angular2);
|
||||
}
|
||||
|
||||
// set right hand side
|
||||
// float currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;
|
||||
float currERP = info->erp;
|
||||
|
||||
float k = info->fps * currERP;
|
||||
int j;
|
||||
float4 result = a2 + posB - a1 - posA;
|
||||
float* resultPtr = &result;
|
||||
|
||||
for (j=0; j<3; j++)
|
||||
{
|
||||
info->m_constraintError[j*info->rowskip] = k * (resultPtr[j]);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)
|
||||
{
|
||||
int i = get_global_id(0);
|
||||
if (i>=numBodies)
|
||||
return;
|
||||
|
||||
if (bodies[i].m_invMass)
|
||||
{
|
||||
// solverBodies[i].m_linearVelocity += solverBodies[i].m_deltaLinearVelocity;
|
||||
// solverBodies[i].m_angularVelocity += solverBodies[i].m_deltaAngularVelocity;
|
||||
bodies[i].m_linVel += solverBodies[i].m_deltaLinearVelocity;
|
||||
bodies[i].m_angVel += solverBodies[i].m_deltaAngularVelocity;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
__kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows,
|
||||
__global unsigned int* infos,
|
||||
__global b3GpuGenericConstraint* constraints,
|
||||
__global b3BatchConstraint* batchConstraints,
|
||||
__global b3RigidBodyCL* bodies,
|
||||
__global BodyInertia* inertias,
|
||||
__global b3GpuSolverBody* solverBodies,
|
||||
float timeStep,
|
||||
float globalErp,
|
||||
float globalCfm,
|
||||
float globalDamping,
|
||||
int globalNumIterations,
|
||||
int numConstraints)
|
||||
{
|
||||
|
||||
int i = get_global_id(0);
|
||||
if (i>=numConstraints)
|
||||
return;
|
||||
|
||||
int info1 = infos[i];
|
||||
|
||||
if (info1)
|
||||
{
|
||||
__global b3SolverConstraint* currentConstraintRow = &solverConstraintRows[batchConstraints[i].m_constraintRowOffset];
|
||||
__global b3GpuGenericConstraint* constraint = &constraints[i];
|
||||
|
||||
__global b3RigidBodyCL* rbA = &bodies[ constraint->m_rbA];
|
||||
__global b3RigidBodyCL* rbB = &bodies[ constraint->m_rbB];
|
||||
|
||||
int solverBodyIdA = constraint->m_rbA;
|
||||
int solverBodyIdB = constraint->m_rbB;
|
||||
|
||||
__global b3GpuSolverBody* bodyAPtr = &solverBodies[solverBodyIdA];
|
||||
__global b3GpuSolverBody* bodyBPtr = &solverBodies[solverBodyIdB];
|
||||
|
||||
if (rbA->m_invMass)
|
||||
{
|
||||
batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;
|
||||
} else
|
||||
{
|
||||
// if (!solverBodyIdA)
|
||||
// m_staticIdx = 0;
|
||||
batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;
|
||||
}
|
||||
|
||||
if (rbB->m_invMass)
|
||||
{
|
||||
batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;
|
||||
} else
|
||||
{
|
||||
// if (!solverBodyIdB)
|
||||
// m_staticIdx = 0;
|
||||
batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;
|
||||
}
|
||||
|
||||
int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
|
||||
// if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)
|
||||
// m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
|
||||
|
||||
|
||||
int j;
|
||||
for ( j=0;j<info1;j++)
|
||||
{
|
||||
// memset(¤tConstraintRow[j],0,sizeof(b3SolverConstraint));
|
||||
currentConstraintRow[j].m_angularComponentA = (float4)(0,0,0,0);
|
||||
currentConstraintRow[j].m_angularComponentB = (float4)(0,0,0,0);
|
||||
currentConstraintRow[j].m_appliedImpulse = 0.f;
|
||||
currentConstraintRow[j].m_appliedPushImpulse = 0.f;
|
||||
currentConstraintRow[j].m_cfm = 0.f;
|
||||
currentConstraintRow[j].m_contactNormal = (float4)(0,0,0,0);
|
||||
currentConstraintRow[j].m_friction = 0.f;
|
||||
currentConstraintRow[j].m_frictionIndex = 0;
|
||||
currentConstraintRow[j].m_jacDiagABInv = 0.f;
|
||||
currentConstraintRow[j].m_lowerLimit = 0.f;
|
||||
currentConstraintRow[j].m_upperLimit = 0.f;
|
||||
|
||||
currentConstraintRow[j].m_originalContactPoint = 0;
|
||||
currentConstraintRow[j].m_overrideNumSolverIterations = 0;
|
||||
currentConstraintRow[j].m_relpos1CrossNormal = (float4)(0,0,0,0);
|
||||
currentConstraintRow[j].m_relpos2CrossNormal = (float4)(0,0,0,0);
|
||||
currentConstraintRow[j].m_rhs = 0.f;
|
||||
currentConstraintRow[j].m_rhsPenetration = 0.f;
|
||||
currentConstraintRow[j].m_solverBodyIdA = 0;
|
||||
currentConstraintRow[j].m_solverBodyIdB = 0;
|
||||
|
||||
currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;
|
||||
currentConstraintRow[j].m_upperLimit = B3_INFINITY;
|
||||
currentConstraintRow[j].m_appliedImpulse = 0.f;
|
||||
currentConstraintRow[j].m_appliedPushImpulse = 0.f;
|
||||
currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
|
||||
currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
|
||||
currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
|
||||
}
|
||||
|
||||
bodyAPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);
|
||||
bodyAPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);
|
||||
bodyAPtr->m_pushVelocity = (float4)(0,0,0,0);
|
||||
bodyAPtr->m_turnVelocity = (float4)(0,0,0,0);
|
||||
bodyBPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);
|
||||
bodyBPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);
|
||||
bodyBPtr->m_pushVelocity = (float4)(0,0,0,0);
|
||||
bodyBPtr->m_turnVelocity = (float4)(0,0,0,0);
|
||||
|
||||
int rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this
|
||||
|
||||
|
||||
|
||||
|
||||
b3GpuConstraintInfo2 info2;
|
||||
info2.fps = 1.f/timeStep;
|
||||
info2.erp = globalErp;
|
||||
info2.m_J1linearAxisFloat4 = ¤tConstraintRow->m_contactNormal;
|
||||
info2.m_J1angularAxisFloat4 = ¤tConstraintRow->m_relpos1CrossNormal;
|
||||
info2.m_J2linearAxisFloat4 = 0;
|
||||
info2.m_J2angularAxisFloat4 = ¤tConstraintRow->m_relpos2CrossNormal;
|
||||
info2.rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this
|
||||
|
||||
///the size of b3SolverConstraint needs be a multiple of float
|
||||
// b3Assert(info2.rowskip*sizeof(float)== sizeof(b3SolverConstraint));
|
||||
info2.m_constraintError = ¤tConstraintRow->m_rhs;
|
||||
currentConstraintRow->m_cfm = globalCfm;
|
||||
info2.m_damping = globalDamping;
|
||||
info2.cfm = ¤tConstraintRow->m_cfm;
|
||||
info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit;
|
||||
info2.m_upperLimit = ¤tConstraintRow->m_upperLimit;
|
||||
info2.m_numIterations = globalNumIterations;
|
||||
|
||||
switch (constraint->m_constraintType)
|
||||
{
|
||||
case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:
|
||||
{
|
||||
getInfo2Point2Point(constraint,&info2,bodies);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
///finalize the constraint setup
|
||||
for ( j=0;j<info1;j++)
|
||||
{
|
||||
__global b3SolverConstraint* solverConstraint = ¤tConstraintRow[j];
|
||||
|
||||
if (solverConstraint->m_upperLimit>=constraint->m_breakingImpulseThreshold)
|
||||
{
|
||||
solverConstraint->m_upperLimit = constraint->m_breakingImpulseThreshold;
|
||||
}
|
||||
|
||||
if (solverConstraint->m_lowerLimit<=-constraint->m_breakingImpulseThreshold)
|
||||
{
|
||||
solverConstraint->m_lowerLimit = -constraint->m_breakingImpulseThreshold;
|
||||
}
|
||||
|
||||
// solverConstraint->m_originalContactPoint = constraint;
|
||||
|
||||
Matrix3x3 invInertiaWorldA= inertias[constraint->m_rbA].m_invInertiaWorld;
|
||||
{
|
||||
|
||||
//float4 angularFactorA(1,1,1);
|
||||
float4 ftorqueAxis1 = solverConstraint->m_relpos1CrossNormal;
|
||||
solverConstraint->m_angularComponentA = mtMul1(invInertiaWorldA,ftorqueAxis1);//*angularFactorA;
|
||||
}
|
||||
|
||||
Matrix3x3 invInertiaWorldB= inertias[constraint->m_rbB].m_invInertiaWorld;
|
||||
{
|
||||
|
||||
float4 ftorqueAxis2 = solverConstraint->m_relpos2CrossNormal;
|
||||
solverConstraint->m_angularComponentB = mtMul1(invInertiaWorldB,ftorqueAxis2);//*constraint->m_rbB.getAngularFactor();
|
||||
}
|
||||
|
||||
{
|
||||
//it is ok to use solverConstraint->m_contactNormal instead of -solverConstraint->m_contactNormal
|
||||
//because it gets multiplied iMJlB
|
||||
float4 iMJlA = solverConstraint->m_contactNormal*rbA->m_invMass;
|
||||
float4 iMJaA = mtMul3(solverConstraint->m_relpos1CrossNormal,invInertiaWorldA);
|
||||
float4 iMJlB = solverConstraint->m_contactNormal*rbB->m_invMass;//sign of normal?
|
||||
float4 iMJaB = mtMul3(solverConstraint->m_relpos2CrossNormal,invInertiaWorldB);
|
||||
|
||||
float sum = dot3F4(iMJlA,solverConstraint->m_contactNormal);
|
||||
sum += dot3F4(iMJaA,solverConstraint->m_relpos1CrossNormal);
|
||||
sum += dot3F4(iMJlB,solverConstraint->m_contactNormal);
|
||||
sum += dot3F4(iMJaB,solverConstraint->m_relpos2CrossNormal);
|
||||
float fsum = fabs(sum);
|
||||
if (fsum>FLT_EPSILON)
|
||||
{
|
||||
solverConstraint->m_jacDiagABInv = 1.f/sum;
|
||||
} else
|
||||
{
|
||||
solverConstraint->m_jacDiagABInv = 0.f;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
///fix rhs
|
||||
///todo: add force/torque accelerators
|
||||
{
|
||||
float rel_vel;
|
||||
float vel1Dotn = dot3F4(solverConstraint->m_contactNormal,rbA->m_linVel) + dot3F4(solverConstraint->m_relpos1CrossNormal,rbA->m_angVel);
|
||||
float vel2Dotn = -dot3F4(solverConstraint->m_contactNormal,rbB->m_linVel) + dot3F4(solverConstraint->m_relpos2CrossNormal,rbB->m_angVel);
|
||||
|
||||
rel_vel = vel1Dotn+vel2Dotn;
|
||||
|
||||
float restitution = 0.f;
|
||||
float positionalError = solverConstraint->m_rhs;//already filled in by getConstraintInfo2
|
||||
float velocityError = restitution - rel_vel * info2.m_damping;
|
||||
float penetrationImpulse = positionalError*solverConstraint->m_jacDiagABInv;
|
||||
float velocityImpulse = velocityError *solverConstraint->m_jacDiagABInv;
|
||||
solverConstraint->m_rhs = penetrationImpulse+velocityImpulse;
|
||||
solverConstraint->m_appliedImpulse = 0.f;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,21 +1,86 @@
|
||||
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
|
||||
static const char* solveConstraintRowsCL= \
|
||||
"/*\n"
|
||||
"Copyright (c) 2013 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"
|
||||
"//Originally written by Erwin Coumans\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3\n"
|
||||
"#define B3_INFINITY 1e30f\n"
|
||||
"\n"
|
||||
"#define mymake_float4 (float4)\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__inline 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"
|
||||
"\n"
|
||||
"\n"
|
||||
"typedef float4 Quaternion;\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_row[3];\n"
|
||||
"}Matrix3x3;\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul1(Matrix3x3 a, float4 b);\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float4 mtMul3(float4 a, Matrix3x3 b);\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\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 = 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"
|
||||
"\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"
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" Matrix3x3 m_invInertia;\n"
|
||||
" Matrix3x3 m_invInertiaWorld;\n"
|
||||
" Matrix3x3 m_initInvInertia;\n"
|
||||
"} Shape;\n"
|
||||
"} BodyInertia;\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
@@ -25,7 +90,7 @@ static const char* solveConstraintRowsCL= \
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" b3Transform m_worldTransform;\n"
|
||||
"// b3Transform m_worldTransformUnused;\n"
|
||||
" float4 m_deltaLinearVelocity;\n"
|
||||
" float4 m_deltaAngularVelocity;\n"
|
||||
" float4 m_angularFactor;\n"
|
||||
@@ -43,9 +108,20 @@ static const char* solveConstraintRowsCL= \
|
||||
" };\n"
|
||||
" int padding[3];\n"
|
||||
"\n"
|
||||
"} b3SolverBody;\n"
|
||||
"} b3GpuSolverBody;\n"
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" float4 m_pos;\n"
|
||||
" Quaternion m_quat;\n"
|
||||
" float4 m_linVel;\n"
|
||||
" float4 m_angVel;\n"
|
||||
"\n"
|
||||
" unsigned int m_shapeIdx;\n"
|
||||
" float m_invMass;\n"
|
||||
" float m_restituitionCoeff;\n"
|
||||
" float m_frictionCoeff;\n"
|
||||
"} b3RigidBodyCL;\n"
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
@@ -94,24 +170,109 @@ static const char* solveConstraintRowsCL= \
|
||||
"\n"
|
||||
"} b3BatchConstraint;\n"
|
||||
"\n"
|
||||
"#define mymake_float4 (float4)\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__inline float dot3F4(float4 a, float4 b)\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"typedef struct \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"
|
||||
" int m_constraintType;\n"
|
||||
" int m_rbA;\n"
|
||||
" int m_rbB;\n"
|
||||
" float m_breakingImpulseThreshold;\n"
|
||||
"\n"
|
||||
" float4 m_pivotInA;\n"
|
||||
" float4 m_pivotInB;\n"
|
||||
" Quaternion m_relTargetAB;\n"
|
||||
"\n"
|
||||
" int m_flags;\n"
|
||||
" int m_padding[3];\n"
|
||||
"} b3GpuGenericConstraint;\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"/*b3Transform getWorldTransform(b3RigidBodyCL* rb)\n"
|
||||
"{\n"
|
||||
" b3Transform newTrans;\n"
|
||||
" newTrans.setOrigin(rb->m_pos);\n"
|
||||
" newTrans.setRotation(rb->m_quat);\n"
|
||||
" return newTrans;\n"
|
||||
"}*/\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__inline\n"
|
||||
"float4 cross3(float4 a, float4 b)\n"
|
||||
"{\n"
|
||||
" return cross(a,b);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"__inline void internalApplyImpulse(__global b3SolverBody* body, float4 linearComponent, float4 angularComponent,float impulseMagnitude)\n"
|
||||
"__inline\n"
|
||||
"float4 fastNormalize4(float4 v)\n"
|
||||
"{\n"
|
||||
" v = mymake_float4(v.xyz,0.f);\n"
|
||||
" return fast_normalize(v);\n"
|
||||
"}\n"
|
||||
"\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"
|
||||
"__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"
|
||||
"\n"
|
||||
"__inline void internalApplyImpulse(__global b3GpuSolverBody* body, float4 linearComponent, float4 angularComponent,float impulseMagnitude)\n"
|
||||
"{\n"
|
||||
" body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;\n"
|
||||
" body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"void resolveSingleConstraintRowGeneric(__global b3SolverBody* body1, __global b3SolverBody* body2, __global b3SolverConstraint* c)\n"
|
||||
"void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)\n"
|
||||
"{\n"
|
||||
" float deltaImpulse = c->m_rhs-c->m_appliedImpulse.x*c->m_cfm;\n"
|
||||
" float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n"
|
||||
@@ -142,7 +303,7 @@ static const char* solveConstraintRowsCL= \
|
||||
"}\n"
|
||||
"\n"
|
||||
"__kernel\n"
|
||||
"void solveJointConstraintRows(__global b3SolverBody* solverBodies,\n"
|
||||
"void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,\n"
|
||||
" __global b3BatchConstraint* batchConstraints,\n"
|
||||
" __global b3SolverConstraint* rows,\n"
|
||||
" int batchOffset,\n"
|
||||
@@ -161,4 +322,415 @@ static const char* solveConstraintRowsCL= \
|
||||
" resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);\n"
|
||||
" }\n"
|
||||
"};\n"
|
||||
"\n"
|
||||
"__kernel void initSolverBodies(__global b3GpuSolverBody* solverBodies,__global b3RigidBodyCL* bodiesCL, int numBodies)\n"
|
||||
"{\n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>=numBodies)\n"
|
||||
" return;\n"
|
||||
"\n"
|
||||
" __global b3GpuSolverBody* solverBody = &solverBodies[i];\n"
|
||||
" __global b3RigidBodyCL* bodyCL = &bodiesCL[i];\n"
|
||||
"\n"
|
||||
" solverBody->m_deltaLinearVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
|
||||
" solverBody->m_deltaAngularVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
|
||||
" solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
|
||||
" solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
|
||||
" solverBody->m_invMass = (float4)(bodyCL->m_invMass,bodyCL->m_invMass,bodyCL->m_invMass,0.f);\n"
|
||||
" solverBody->m_originalBodyIndex = i;\n"
|
||||
" solverBody->m_angularFactor = (float4)(1,1,1,0);\n"
|
||||
" solverBody->m_linearFactor = (float4) (1,1,1,0);\n"
|
||||
" solverBody->m_linearVelocity = bodyCL->m_linVel;\n"
|
||||
" solverBody->m_angularVelocity = bodyCL->m_angVel;\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"__kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGenericConstraint* constraints, __global b3BatchConstraint* batchConstraints, int numConstraints)\n"
|
||||
"{\n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>=numConstraints)\n"
|
||||
" return;\n"
|
||||
"\n"
|
||||
" __global b3GpuGenericConstraint* constraint = &constraints[i];\n"
|
||||
"\n"
|
||||
" switch (constraint->m_constraintType)\n"
|
||||
" {\n"
|
||||
" case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
|
||||
" {\n"
|
||||
" infos[i] = 3;\n"
|
||||
" batchConstraints[i].m_numConstraintRows = 3;\n"
|
||||
" break;\n"
|
||||
" }\n"
|
||||
" default:\n"
|
||||
" {\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"__kernel void initBatchConstraintsKernel(__global unsigned int* rowOffsets, __global b3BatchConstraint* batchConstraints, int numConstraints)\n"
|
||||
"{\n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>=numConstraints)\n"
|
||||
" return;\n"
|
||||
"\n"
|
||||
" batchConstraints[i].m_constraintRowOffset = rowOffsets[i];\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"typedef struct\n"
|
||||
"{\n"
|
||||
" // integrator parameters: frames per second (1/stepsize), default error\n"
|
||||
" // reduction parameter (0..1).\n"
|
||||
" float fps,erp;\n"
|
||||
"\n"
|
||||
" // for the first and second body, pointers to two (linear and angular)\n"
|
||||
" // n*3 jacobian sub matrices, stored by rows. these matrices will have\n"
|
||||
" // been initialized to 0 on entry. if the second body is zero then the\n"
|
||||
" // J2xx pointers may be 0.\n"
|
||||
" union \n"
|
||||
" {\n"
|
||||
" __global float4* m_J1linearAxisFloat4;\n"
|
||||
" __global float* m_J1linearAxis;\n"
|
||||
" };\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" __global float4* m_J1angularAxisFloat4;\n"
|
||||
" __global float* m_J1angularAxis;\n"
|
||||
"\n"
|
||||
" };\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" __global float4* m_J2linearAxisFloat4;\n"
|
||||
" __global float* m_J2linearAxis;\n"
|
||||
" };\n"
|
||||
" union\n"
|
||||
" {\n"
|
||||
" __global float4* m_J2angularAxisFloat4;\n"
|
||||
" __global float* m_J2angularAxis;\n"
|
||||
" };\n"
|
||||
" // elements to jump from one row to the next in J's\n"
|
||||
" int rowskip;\n"
|
||||
"\n"
|
||||
" // right hand sides of the equation J*v = c + cfm * lambda. cfm is the\n"
|
||||
" // \"constraint force mixing\" vector. c is set to zero on entry, cfm is\n"
|
||||
" // set to a constant value (typically very small or zero) value on entry.\n"
|
||||
" __global float* m_constraintError;\n"
|
||||
" __global float* cfm;\n"
|
||||
"\n"
|
||||
" // lo and hi limits for variables (set to -/+ infinity on entry).\n"
|
||||
" __global float* m_lowerLimit;\n"
|
||||
" __global float* m_upperLimit;\n"
|
||||
"\n"
|
||||
" // findex vector for variables. see the LCP solver interface for a\n"
|
||||
" // description of what this does. this is set to -1 on entry.\n"
|
||||
" // note that the returned indexes are relative to the first index of\n"
|
||||
" // the constraint.\n"
|
||||
" __global int *findex;\n"
|
||||
" // number of solver iterations\n"
|
||||
" int m_numIterations;\n"
|
||||
"\n"
|
||||
" //damping of the velocity\n"
|
||||
" float m_damping;\n"
|
||||
"} b3GpuConstraintInfo2;\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"void getSkewSymmetricMatrix(float4 vecIn, __global float4* v0,__global float4* v1,__global float4* v2)\n"
|
||||
"{\n"
|
||||
" *v0 = (float4)(0. ,-vecIn.z ,vecIn.y,0.f);\n"
|
||||
" *v1 = (float4)(vecIn.z ,0. ,-vecIn.x,0.f);\n"
|
||||
" *v2 = (float4)(-vecIn.y ,vecIn.x ,0.f,0.f);\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies)\n"
|
||||
"{\n"
|
||||
" float4 posA = bodies[constraint->m_rbA].m_pos;\n"
|
||||
" Quaternion rotA = bodies[constraint->m_rbA].m_quat;\n"
|
||||
"\n"
|
||||
" float4 posB = bodies[constraint->m_rbB].m_pos;\n"
|
||||
" Quaternion rotB = bodies[constraint->m_rbB].m_quat;\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"\n"
|
||||
" // anchor points in global coordinates with respect to body PORs.\n"
|
||||
" \n"
|
||||
" // set jacobian\n"
|
||||
" info->m_J1linearAxis[0] = 1;\n"
|
||||
" info->m_J1linearAxis[info->rowskip+1] = 1;\n"
|
||||
" info->m_J1linearAxis[2*info->rowskip+2] = 1;\n"
|
||||
"\n"
|
||||
" float4 a1 = qtRotate(rotA,constraint->m_pivotInA);\n"
|
||||
"\n"
|
||||
" {\n"
|
||||
" __global float4* angular0 = (__global float4*)(info->m_J1angularAxis);\n"
|
||||
" __global float4* angular1 = (__global float4*)(info->m_J1angularAxis+info->rowskip);\n"
|
||||
" __global float4* angular2 = (__global float4*)(info->m_J1angularAxis+2*info->rowskip);\n"
|
||||
" float4 a1neg = -a1;\n"
|
||||
" getSkewSymmetricMatrix(a1neg,angular0,angular1,angular2);\n"
|
||||
" }\n"
|
||||
" if (info->m_J2linearAxis)\n"
|
||||
" {\n"
|
||||
" info->m_J2linearAxis[0] = -1;\n"
|
||||
" info->m_J2linearAxis[info->rowskip+1] = -1;\n"
|
||||
" info->m_J2linearAxis[2*info->rowskip+2] = -1;\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" float4 a2 = qtRotate(rotB,constraint->m_pivotInB);\n"
|
||||
" \n"
|
||||
" {\n"
|
||||
" // float4 a2n = -a2;\n"
|
||||
" __global float4* angular0 = (__global float4*)(info->m_J2angularAxis);\n"
|
||||
" __global float4* angular1 = (__global float4*)(info->m_J2angularAxis+info->rowskip);\n"
|
||||
" __global float4* angular2 = (__global float4*)(info->m_J2angularAxis+2*info->rowskip);\n"
|
||||
" getSkewSymmetricMatrix(a2,angular0,angular1,angular2);\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" // set right hand side\n"
|
||||
"// float currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;\n"
|
||||
" float currERP = info->erp;\n"
|
||||
"\n"
|
||||
" float k = info->fps * currERP;\n"
|
||||
" int j;\n"
|
||||
" float4 result = a2 + posB - a1 - posA;\n"
|
||||
" float* resultPtr = &result;\n"
|
||||
"\n"
|
||||
" for (j=0; j<3; j++)\n"
|
||||
" {\n"
|
||||
" info->m_constraintError[j*info->rowskip] = k * (resultPtr[j]);\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)\n"
|
||||
"{\n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>=numBodies)\n"
|
||||
" return;\n"
|
||||
"\n"
|
||||
" if (bodies[i].m_invMass)\n"
|
||||
" {\n"
|
||||
"// solverBodies[i].m_linearVelocity += solverBodies[i].m_deltaLinearVelocity;\n"
|
||||
"// solverBodies[i].m_angularVelocity += solverBodies[i].m_deltaAngularVelocity;\n"
|
||||
" bodies[i].m_linVel += solverBodies[i].m_deltaLinearVelocity;\n"
|
||||
" bodies[i].m_angVel += solverBodies[i].m_deltaAngularVelocity;\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"\n"
|
||||
"\n"
|
||||
"__kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows, \n"
|
||||
" __global unsigned int* infos, \n"
|
||||
" __global b3GpuGenericConstraint* constraints, \n"
|
||||
" __global b3BatchConstraint* batchConstraints, \n"
|
||||
" __global b3RigidBodyCL* bodies,\n"
|
||||
" __global BodyInertia* inertias,\n"
|
||||
" __global b3GpuSolverBody* solverBodies,\n"
|
||||
" float timeStep,\n"
|
||||
" float globalErp,\n"
|
||||
" float globalCfm,\n"
|
||||
" float globalDamping,\n"
|
||||
" int globalNumIterations,\n"
|
||||
" int numConstraints)\n"
|
||||
"{\n"
|
||||
"\n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>=numConstraints)\n"
|
||||
" return;\n"
|
||||
" \n"
|
||||
" int info1 = infos[i];\n"
|
||||
" \n"
|
||||
" if (info1)\n"
|
||||
" {\n"
|
||||
" __global b3SolverConstraint* currentConstraintRow = &solverConstraintRows[batchConstraints[i].m_constraintRowOffset];\n"
|
||||
" __global b3GpuGenericConstraint* constraint = &constraints[i];\n"
|
||||
"\n"
|
||||
" __global b3RigidBodyCL* rbA = &bodies[ constraint->m_rbA];\n"
|
||||
" __global b3RigidBodyCL* rbB = &bodies[ constraint->m_rbB];\n"
|
||||
"\n"
|
||||
" int solverBodyIdA = constraint->m_rbA;\n"
|
||||
" int solverBodyIdB = constraint->m_rbB;\n"
|
||||
"\n"
|
||||
" __global b3GpuSolverBody* bodyAPtr = &solverBodies[solverBodyIdA];\n"
|
||||
" __global b3GpuSolverBody* bodyBPtr = &solverBodies[solverBodyIdB];\n"
|
||||
"\n"
|
||||
" if (rbA->m_invMass)\n"
|
||||
" {\n"
|
||||
" batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
"// if (!solverBodyIdA)\n"
|
||||
"// m_staticIdx = 0;\n"
|
||||
" batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
" if (rbB->m_invMass)\n"
|
||||
" {\n"
|
||||
" batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
"// if (!solverBodyIdB)\n"
|
||||
"// m_staticIdx = 0;\n"
|
||||
" batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
" int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;\n"
|
||||
"// if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)\n"
|
||||
" // m_maxOverrideNumSolverIterations = overrideNumSolverIterations;\n"
|
||||
"\n"
|
||||
"\n"
|
||||
" int j;\n"
|
||||
" for ( j=0;j<info1;j++)\n"
|
||||
" {\n"
|
||||
"// memset(¤tConstraintRow[j],0,sizeof(b3SolverConstraint));\n"
|
||||
" currentConstraintRow[j].m_angularComponentA = (float4)(0,0,0,0);\n"
|
||||
" currentConstraintRow[j].m_angularComponentB = (float4)(0,0,0,0);\n"
|
||||
" currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
|
||||
" currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
|
||||
" currentConstraintRow[j].m_cfm = 0.f;\n"
|
||||
" currentConstraintRow[j].m_contactNormal = (float4)(0,0,0,0);\n"
|
||||
" currentConstraintRow[j].m_friction = 0.f;\n"
|
||||
" currentConstraintRow[j].m_frictionIndex = 0;\n"
|
||||
" currentConstraintRow[j].m_jacDiagABInv = 0.f;\n"
|
||||
" currentConstraintRow[j].m_lowerLimit = 0.f;\n"
|
||||
" currentConstraintRow[j].m_upperLimit = 0.f;\n"
|
||||
"\n"
|
||||
" currentConstraintRow[j].m_originalContactPoint = 0;\n"
|
||||
" currentConstraintRow[j].m_overrideNumSolverIterations = 0;\n"
|
||||
" currentConstraintRow[j].m_relpos1CrossNormal = (float4)(0,0,0,0);\n"
|
||||
" currentConstraintRow[j].m_relpos2CrossNormal = (float4)(0,0,0,0);\n"
|
||||
" currentConstraintRow[j].m_rhs = 0.f;\n"
|
||||
" currentConstraintRow[j].m_rhsPenetration = 0.f;\n"
|
||||
" currentConstraintRow[j].m_solverBodyIdA = 0;\n"
|
||||
" currentConstraintRow[j].m_solverBodyIdB = 0;\n"
|
||||
" \n"
|
||||
" currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;\n"
|
||||
" currentConstraintRow[j].m_upperLimit = B3_INFINITY;\n"
|
||||
" currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
|
||||
" currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
|
||||
" currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;\n"
|
||||
" currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;\n"
|
||||
" currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations; \n"
|
||||
" }\n"
|
||||
"\n"
|
||||
" bodyAPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
|
||||
" bodyAPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
|
||||
" bodyAPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
|
||||
" bodyAPtr->m_turnVelocity = (float4)(0,0,0,0);\n"
|
||||
" bodyBPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
|
||||
" bodyBPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
|
||||
" bodyBPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
|
||||
" bodyBPtr->m_turnVelocity = (float4)(0,0,0,0);\n"
|
||||
"\n"
|
||||
" int rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
|
||||
"\n"
|
||||
" \n"
|
||||
"\n"
|
||||
"\n"
|
||||
" b3GpuConstraintInfo2 info2;\n"
|
||||
" info2.fps = 1.f/timeStep;\n"
|
||||
" info2.erp = globalErp;\n"
|
||||
" info2.m_J1linearAxisFloat4 = ¤tConstraintRow->m_contactNormal;\n"
|
||||
" info2.m_J1angularAxisFloat4 = ¤tConstraintRow->m_relpos1CrossNormal;\n"
|
||||
" info2.m_J2linearAxisFloat4 = 0;\n"
|
||||
" info2.m_J2angularAxisFloat4 = ¤tConstraintRow->m_relpos2CrossNormal;\n"
|
||||
" info2.rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
|
||||
"\n"
|
||||
" ///the size of b3SolverConstraint needs be a multiple of float\n"
|
||||
"// b3Assert(info2.rowskip*sizeof(float)== sizeof(b3SolverConstraint));\n"
|
||||
" info2.m_constraintError = ¤tConstraintRow->m_rhs;\n"
|
||||
" currentConstraintRow->m_cfm = globalCfm;\n"
|
||||
" info2.m_damping = globalDamping;\n"
|
||||
" info2.cfm = ¤tConstraintRow->m_cfm;\n"
|
||||
" info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit;\n"
|
||||
" info2.m_upperLimit = ¤tConstraintRow->m_upperLimit;\n"
|
||||
" info2.m_numIterations = globalNumIterations;\n"
|
||||
"\n"
|
||||
" switch (constraint->m_constraintType)\n"
|
||||
" {\n"
|
||||
" case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
|
||||
" {\n"
|
||||
" getInfo2Point2Point(constraint,&info2,bodies);\n"
|
||||
" break;\n"
|
||||
" }\n"
|
||||
" default:\n"
|
||||
" {\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
" ///finalize the constraint setup\n"
|
||||
" for ( j=0;j<info1;j++)\n"
|
||||
" {\n"
|
||||
" __global b3SolverConstraint* solverConstraint = ¤tConstraintRow[j];\n"
|
||||
"\n"
|
||||
" if (solverConstraint->m_upperLimit>=constraint->m_breakingImpulseThreshold)\n"
|
||||
" {\n"
|
||||
" solverConstraint->m_upperLimit = constraint->m_breakingImpulseThreshold;\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
" if (solverConstraint->m_lowerLimit<=-constraint->m_breakingImpulseThreshold)\n"
|
||||
" {\n"
|
||||
" solverConstraint->m_lowerLimit = -constraint->m_breakingImpulseThreshold;\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
"// solverConstraint->m_originalContactPoint = constraint;\n"
|
||||
" \n"
|
||||
" Matrix3x3 invInertiaWorldA= inertias[constraint->m_rbA].m_invInertiaWorld;\n"
|
||||
" {\n"
|
||||
"\n"
|
||||
" //float4 angularFactorA(1,1,1);\n"
|
||||
" float4 ftorqueAxis1 = solverConstraint->m_relpos1CrossNormal;\n"
|
||||
" solverConstraint->m_angularComponentA = mtMul1(invInertiaWorldA,ftorqueAxis1);//*angularFactorA;\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" Matrix3x3 invInertiaWorldB= inertias[constraint->m_rbB].m_invInertiaWorld;\n"
|
||||
" {\n"
|
||||
"\n"
|
||||
" float4 ftorqueAxis2 = solverConstraint->m_relpos2CrossNormal;\n"
|
||||
" solverConstraint->m_angularComponentB = mtMul1(invInertiaWorldB,ftorqueAxis2);//*constraint->m_rbB.getAngularFactor();\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
" {\n"
|
||||
" //it is ok to use solverConstraint->m_contactNormal instead of -solverConstraint->m_contactNormal\n"
|
||||
" //because it gets multiplied iMJlB\n"
|
||||
" float4 iMJlA = solverConstraint->m_contactNormal*rbA->m_invMass;\n"
|
||||
" float4 iMJaA = mtMul3(solverConstraint->m_relpos1CrossNormal,invInertiaWorldA);\n"
|
||||
" float4 iMJlB = solverConstraint->m_contactNormal*rbB->m_invMass;//sign of normal?\n"
|
||||
" float4 iMJaB = mtMul3(solverConstraint->m_relpos2CrossNormal,invInertiaWorldB);\n"
|
||||
"\n"
|
||||
" float sum = dot3F4(iMJlA,solverConstraint->m_contactNormal);\n"
|
||||
" sum += dot3F4(iMJaA,solverConstraint->m_relpos1CrossNormal);\n"
|
||||
" sum += dot3F4(iMJlB,solverConstraint->m_contactNormal);\n"
|
||||
" sum += dot3F4(iMJaB,solverConstraint->m_relpos2CrossNormal);\n"
|
||||
" float fsum = fabs(sum);\n"
|
||||
" if (fsum>FLT_EPSILON)\n"
|
||||
" {\n"
|
||||
" solverConstraint->m_jacDiagABInv = 1.f/sum;\n"
|
||||
" } else\n"
|
||||
" {\n"
|
||||
" solverConstraint->m_jacDiagABInv = 0.f;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
"\n"
|
||||
"\n"
|
||||
" ///fix rhs\n"
|
||||
" ///todo: add force/torque accelerators\n"
|
||||
" {\n"
|
||||
" float rel_vel;\n"
|
||||
" float vel1Dotn = dot3F4(solverConstraint->m_contactNormal,rbA->m_linVel) + dot3F4(solverConstraint->m_relpos1CrossNormal,rbA->m_angVel);\n"
|
||||
" float vel2Dotn = -dot3F4(solverConstraint->m_contactNormal,rbB->m_linVel) + dot3F4(solverConstraint->m_relpos2CrossNormal,rbB->m_angVel);\n"
|
||||
"\n"
|
||||
" rel_vel = vel1Dotn+vel2Dotn;\n"
|
||||
"\n"
|
||||
" float restitution = 0.f;\n"
|
||||
" float positionalError = solverConstraint->m_rhs;//already filled in by getConstraintInfo2\n"
|
||||
" float velocityError = restitution - rel_vel * info2.m_damping;\n"
|
||||
" float penetrationImpulse = positionalError*solverConstraint->m_jacDiagABInv;\n"
|
||||
" float velocityImpulse = velocityError *solverConstraint->m_jacDiagABInv;\n"
|
||||
" solverConstraint->m_rhs = penetrationImpulse+velocityImpulse;\n"
|
||||
" solverConstraint->m_appliedImpulse = 0.f;\n"
|
||||
"\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
;
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
/*
|
||||
Copyright (c) 2012 Advanced Micro Devices, Inc.
|
||||
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.
|
||||
@@ -11,7 +11,7 @@ subject to the following restrictions:
|
||||
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
|
||||
|
||||
#pragma OPENCL EXTENSION cl_amd_printf : enable
|
||||
#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
|
||||
|
||||
@@ -13,7 +13,7 @@ static const char* solverUtilsCL= \
|
||||
"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"
|
||||
"//Originally written by Erwin Coumans\n"
|
||||
"\n"
|
||||
"#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
|
||||
"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
|
||||
|
||||
Reference in New Issue
Block a user