add Takahiro's batching pgs solver
This commit is contained in:
erwin coumans
660
opencl/gpu_rigidbody/kernels/solverSetup.cl
Normal file
660
opencl/gpu_rigidbody/kernels/solverSetup.cl
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@@ -0,0 +1,660 @@
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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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#pragma OPENCL EXTENSION cl_amd_printf : enable
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#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable
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#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable
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#ifdef cl_ext_atomic_counters_32
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#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable
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#else
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#define counter32_t volatile global int*
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#endif
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typedef unsigned int u32;
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typedef unsigned short u16;
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typedef unsigned char u8;
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#define GET_GROUP_IDX get_group_id(0)
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#define GET_LOCAL_IDX get_local_id(0)
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#define GET_GLOBAL_IDX get_global_id(0)
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#define GET_GROUP_SIZE get_local_size(0)
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#define GET_NUM_GROUPS get_num_groups(0)
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#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)
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#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)
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#define AtomInc(x) atom_inc(&(x))
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#define AtomInc1(x, out) out = atom_inc(&(x))
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#define AppendInc(x, out) out = atomic_inc(x)
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#define AtomAdd(x, value) atom_add(&(x), value)
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#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )
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#define AtomXhg(x, value) atom_xchg ( &(x), value )
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#define SELECT_UINT4( b, a, condition ) select( b,a,condition )
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#define make_float4 (float4)
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#define make_float2 (float2)
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#define make_uint4 (uint4)
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#define make_int4 (int4)
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#define make_uint2 (uint2)
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#define make_int2 (int2)
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#define max2 max
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#define min2 min
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///////////////////////////////////////
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// Vector
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///////////////////////////////////////
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__inline
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float fastDiv(float numerator, float denominator)
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{
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return native_divide(numerator, denominator);
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// return numerator/denominator;
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}
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__inline
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float4 fastDiv4(float4 numerator, float4 denominator)
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{
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return native_divide(numerator, denominator);
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}
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__inline
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float fastSqrtf(float f2)
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{
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return native_sqrt(f2);
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// return sqrt(f2);
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}
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__inline
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float fastRSqrt(float f2)
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{
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return native_rsqrt(f2);
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}
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__inline
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float fastLength4(float4 v)
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{
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return fast_length(v);
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}
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__inline
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float4 fastNormalize4(float4 v)
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{
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return fast_normalize(v);
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}
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__inline
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float sqrtf(float a)
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{
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// return sqrt(a);
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return native_sqrt(a);
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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
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float dot3F4(float4 a, float4 b)
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{
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float4 a1 = make_float4(a.xyz,0.f);
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float4 b1 = make_float4(b.xyz,0.f);
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return dot(a1, b1);
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}
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__inline
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float length3(const float4 a)
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{
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return sqrtf(dot3F4(a,a));
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}
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__inline
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float dot4(const float4 a, const float4 b)
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{
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return dot( a, b );
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}
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// for height
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__inline
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float dot3w1(const float4 point, const float4 eqn)
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{
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return dot3F4(point,eqn) + eqn.w;
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}
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__inline
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float4 normalize3(const float4 a)
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{
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float4 n = make_float4(a.x, a.y, a.z, 0.f);
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return fastNormalize4( n );
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// float length = sqrtf(dot3F4(a, a));
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// return 1.f/length * a;
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}
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__inline
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float4 normalize4(const float4 a)
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{
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float length = sqrtf(dot4(a, a));
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return 1.f/length * a;
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}
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__inline
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float4 createEquation(const float4 a, const float4 b, const float4 c)
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{
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float4 eqn;
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float4 ab = b-a;
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float4 ac = c-a;
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eqn = normalize3( cross3(ab, ac) );
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eqn.w = -dot3F4(eqn,a);
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return eqn;
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}
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///////////////////////////////////////
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// Matrix3x3
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///////////////////////////////////////
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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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Matrix3x3 mtZero();
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__inline
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Matrix3x3 mtIdentity();
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__inline
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Matrix3x3 mtTranspose(Matrix3x3 m);
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__inline
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Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);
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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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Matrix3x3 mtZero()
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{
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Matrix3x3 m;
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m.m_row[0] = (float4)(0.f);
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m.m_row[1] = (float4)(0.f);
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m.m_row[2] = (float4)(0.f);
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return m;
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}
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__inline
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Matrix3x3 mtIdentity()
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{
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Matrix3x3 m;
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m.m_row[0] = (float4)(1,0,0,0);
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m.m_row[1] = (float4)(0,1,0,0);
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m.m_row[2] = (float4)(0,0,1,0);
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return m;
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}
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__inline
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Matrix3x3 mtTranspose(Matrix3x3 m)
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{
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Matrix3x3 out;
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out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
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out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
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out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
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return out;
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}
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__inline
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Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)
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{
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Matrix3x3 transB;
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transB = mtTranspose( b );
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Matrix3x3 ans;
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// why this doesn't run when 0ing in the for{}
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a.m_row[0].w = 0.f;
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a.m_row[1].w = 0.f;
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a.m_row[2].w = 0.f;
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for(int i=0; i<3; i++)
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{
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// a.m_row[i].w = 0.f;
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ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);
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ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);
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ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);
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ans.m_row[i].w = 0.f;
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}
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return ans;
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}
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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 = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
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float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
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float4 colz = make_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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///////////////////////////////////////
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// Quaternion
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///////////////////////////////////////
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typedef float4 Quaternion;
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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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Matrix3x3 qtGetRotationMatrix(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
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float4 qtInvRotate(const Quaternion q, float4 vec)
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{
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return qtRotate( qtInvert( q ), vec );
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}
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__inline
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Matrix3x3 qtGetRotationMatrix(Quaternion quat)
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{
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float4 quat2 = (float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);
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Matrix3x3 out;
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out.m_row[0].x=1-2*quat2.y-2*quat2.z;
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out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;
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out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;
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out.m_row[0].w = 0.f;
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out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;
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out.m_row[1].y=1-2*quat2.x-2*quat2.z;
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out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;
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out.m_row[1].w = 0.f;
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out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;
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out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;
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out.m_row[2].z=1-2*quat2.x-2*quat2.y;
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out.m_row[2].w = 0.f;
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return out;
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}
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#define WG_SIZE 64
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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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u32 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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} Body;
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typedef struct
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{
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Matrix3x3 m_invInertia;
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Matrix3x3 m_initInvInertia;
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} Shape;
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typedef struct
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{
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float4 m_linear;
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float4 m_worldPos[4];
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float4 m_center;
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float m_jacCoeffInv[4];
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float m_b[4];
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float m_appliedRambdaDt[4];
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float m_fJacCoeffInv[2];
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float m_fAppliedRambdaDt[2];
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u32 m_bodyA;
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u32 m_bodyB;
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int m_batchIdx;
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u32 m_paddings[1];
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} Constraint4;
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typedef struct
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{
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float4 m_worldPos[4];
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float4 m_worldNormal;
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u32 m_coeffs;
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int m_batchIdx;
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int m_bodyAPtrAndSignBit;
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int m_bodyBPtrAndSignBit;
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} Contact4;
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typedef struct
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{
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int m_nConstraints;
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int m_start;
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int m_batchIdx;
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int m_nSplit;
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// int m_paddings[1];
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} ConstBuffer;
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typedef struct
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{
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int m_solveFriction;
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int m_maxBatch; // long batch really kills the performance
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int m_batchIdx;
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int m_nSplit;
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// int m_paddings[1];
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} ConstBufferBatchSolve;
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void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
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{
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*linear = -n;
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*angular0 = -cross3(r0, n);
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*angular1 = cross3(r1, n);
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}
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float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )
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{
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return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);
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}
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float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,
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float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)
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{
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// linear0,1 are normlized
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float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;
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float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);
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float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;
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float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);
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return -1.f/(jmj0+jmj1+jmj2+jmj3);
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}
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||||
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||||
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||||
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||||
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
int m_valInt0;
|
||||
int m_valInt1;
|
||||
int m_valInt2;
|
||||
int m_valInt3;
|
||||
|
||||
float m_val0;
|
||||
float m_val1;
|
||||
float m_val2;
|
||||
float m_val3;
|
||||
} SolverDebugInfo;
|
||||
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
int m_nContacts;
|
||||
int m_staticIdx;
|
||||
float m_scale;
|
||||
int m_nSplit;
|
||||
} ConstBufferSSD;
|
||||
|
||||
|
||||
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 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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
typedef struct
|
||||
{
|
||||
int m_nContacts;
|
||||
float m_dt;
|
||||
float m_positionDrift;
|
||||
float m_positionConstraintCoeff;
|
||||
} ConstBufferCTC;
|
||||
|
||||
__kernel
|
||||
__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
|
||||
void ContactToConstraintKernel(__global Contact4* gContact, __global Body* gBodies, __global Shape* gShapes, __global Constraint4* gConstraintOut,
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user