add Takahiro's batching pgs solver
This commit is contained in:
erwin coumans
168
opencl/gpu_rigidbody/host/Solver.h
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168
opencl/gpu_rigidbody/host/Solver.h
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/*
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Copyright (c) 2012 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 Takahiro Harada
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#ifndef __ADL_SOLVER_H
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#define __ADL_SOLVER_H
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#include "../../parallel_primitives/host/btOpenCLArray.h"
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#include "../host/btGpuConstraint4.h"
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//#include <AdlPhysics/TypeDefinition.h>
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//#include "AdlRigidBody.h"
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#include "../../gpu_sat/host/btRigidBodyCL.h"
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#include "../../gpu_sat/host/btContact4.h"
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#include "../Stubs/AdlMath.h"
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#include "../Stubs/AdlMatrix3x3.h"
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//#include "AdlPhysics/Batching/Batching.h>
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#define MYF4 float4
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#define MAKE_MYF4 make_float4
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//#define MYF4 float4sse
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//#define MAKE_MYF4 make_float4sse
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#include "../host/btGpuConstraint4.h"
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#include "../../parallel_primitives/host/btPrefixScanCL.h"
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#include "../../parallel_primitives/host/btRadixSort32CL.h"
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#include "../../parallel_primitives/host/btBoundSearchCL.h"
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#include "../../basic_initialize/btOpenCLUtils.h"
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class SolverBase
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{
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public:
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struct ConstraintData
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{
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ConstraintData(): m_b(0.f), m_appliedRambdaDt(0.f) {}
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float4 m_linear; // have to be normalized
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float4 m_angular0;
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float4 m_angular1;
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float m_jacCoeffInv;
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float m_b;
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float m_appliedRambdaDt;
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unsigned int m_bodyAPtr;
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unsigned int m_bodyBPtr;
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bool isInvalid() const { return ((unsigned int)m_bodyAPtr+(unsigned int)m_bodyBPtr) == 0; }
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float getFrictionCoeff() const { return m_linear.w; }
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void setFrictionCoeff(float coeff) { m_linear.w = coeff; }
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};
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struct ConstraintCfg
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{
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ConstraintCfg( float dt = 0.f ): m_positionDrift( 0.005f ), m_positionConstraintCoeff( 0.2f ), m_dt(dt), m_staticIdx(-1) {}
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float m_positionDrift;
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float m_positionConstraintCoeff;
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float m_dt;
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bool m_enableParallelSolve;
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float m_averageExtent;
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int m_staticIdx;
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};
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enum
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{
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N_SPLIT = 16,
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N_BATCHES = 4,
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N_OBJ_PER_SPLIT = 10,
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N_TASKS_PER_BATCH = N_SPLIT*N_SPLIT,
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};
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};
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class Solver : public SolverBase
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{
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public:
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cl_context m_context;
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cl_device_id m_device;
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cl_command_queue m_queue;
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btOpenCLArray<unsigned int>* m_numConstraints;
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btOpenCLArray<unsigned int>* m_offsets;
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int m_nIterations;
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cl_kernel m_batchingKernel;
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cl_kernel m_solveContactKernel;
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cl_kernel m_solveFrictionKernel;
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cl_kernel m_contactToConstraintKernel;
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cl_kernel m_setSortDataKernel;
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cl_kernel m_reorderContactKernel;
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cl_kernel m_copyConstraintKernel;
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class btRadixSort32CL* m_sort32;
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class btBoundSearchCL* m_search;
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class btPrefixScanCL* m_scan;
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btOpenCLArray<btSortData>* m_sortDataBuffer;
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btOpenCLArray<btContact4>* m_contactBuffer;
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enum
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{
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DYNAMIC_CONTACT_ALLOCATION_THRESHOLD = 2000000,
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};
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Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
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virtual ~Solver();
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/* void reorderConvertToConstraints( const btOpenCLArray<btRigidBodyCL>* bodyBuf,
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const btOpenCLArray<btInertiaCL>* shapeBuf,
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btOpenCLArray<btContact4>* contactsIn, btOpenCLArray<btGpuConstraint4>* contactCOut, void* additionalData,
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int nContacts, const ConstraintCfg& cfg );
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*/
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void solveContactConstraint( const btOpenCLArray<btRigidBodyCL>* bodyBuf, const btOpenCLArray<btInertiaCL>* inertiaBuf,
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btOpenCLArray<btGpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches);
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void solveContactConstraintHost( btOpenCLArray<btRigidBodyCL>* bodyBuf, btOpenCLArray<btInertiaCL>* shapeBuf,
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btOpenCLArray<btGpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches);
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void convertToConstraints( const btOpenCLArray<btRigidBodyCL>* bodyBuf,
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const btOpenCLArray<btInertiaCL>* shapeBuf,
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btOpenCLArray<btContact4>* contactsIn, btOpenCLArray<btGpuConstraint4>* contactCOut, void* additionalData,
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int nContacts, const ConstraintCfg& cfg );
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/* void sortContacts( const btOpenCLArray<btRigidBodyCL>* bodyBuf,
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btOpenCLArray<btContact4>* contactsIn, void* additionalData,
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int nContacts, const ConstraintCfg& cfg );
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*/
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void batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts, btOpenCLArray<unsigned int>* n, btOpenCLArray<unsigned int>* offsets, int staticIdx );
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};
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#undef MYF4
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#undef MAKE_MYF4
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#endif //__ADL_SOLVER_H
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