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fix GPU solver (need to clear .w component because "m_linear" contains friction coefficient

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added a mixed solver to find bugs like that
This commit is contained in:
erwin coumans
2013-04-02 14:53:30 -07:00
parent 1ebcc78280
commit e38c032280
13 changed files with 456 additions and 13 deletions
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2
opencl/gpu_rigidbody/kernels/solveContact.cl
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@@ -237,7 +237,7 @@ void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4
void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
{
*linear = -n;
*linear = mymake_float4(-n.xyz,0.f);
*angular0 = -cross3(r0, n);
*angular1 = cross3(r1, n);
}

2
opencl/gpu_rigidbody/kernels/solveContact.h
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@@ -239,7 +239,7 @@ static const char* solveContactCL= \
"\n"
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
"{\n"
" *linear = -n;\n"
" *linear = mymake_float4(-n.xyz,0.f);\n"
" *angular0 = -cross3(r0, n);\n"
" *angular1 = cross3(r1, n);\n"
"}\n"

2
opencl/gpu_rigidbody/kernels/solveFriction.cl
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@@ -237,7 +237,7 @@ void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4
void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
{
*linear = -n;
*linear = mymake_float4(-n.xyz,0.f);
*angular0 = -cross3(r0, n);
*angular1 = cross3(r1, n);
}

2
opencl/gpu_rigidbody/kernels/solveFriction.h
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@@ -239,7 +239,7 @@ static const char* solveFrictionCL= \
"\n"
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
"{\n"
" *linear = -n;\n"
" *linear = mymake_float4(-n.xyz,0.f);\n"
" *angular0 = -cross3(r0, n);\n"
" *angular1 = cross3(r1, n);\n"
"}\n"

2
opencl/gpu_rigidbody/kernels/solverSetup.cl
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@@ -435,7 +435,7 @@ typedef struct
void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
{
*linear = -n;
*linear = make_float4(-n.xyz,0.f);
*angular0 = -cross3(r0, n);
*angular1 = cross3(r1, n);
}

2
opencl/gpu_rigidbody/kernels/solverSetup.h
View File

@@ -437,7 +437,7 @@ static const char* solverSetupCL= \
"\n"
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
"{\n"
" *linear = -n;\n"
" *linear = make_float4(-n.xyz,0.f);\n"
" *angular0 = -cross3(r0, n);\n"
" *angular1 = cross3(r1, n);\n"
"}\n"

8
opencl/gpu_rigidbody/kernels/solverUtils.cl
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@@ -462,7 +462,7 @@ __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,
void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
{
*linear = -n;
*linear = make_float4(-n.xyz,0.f);
*angular0 = -cross3(r0, n);
*angular1 = cross3(r1, n);
}
@@ -537,10 +537,12 @@ void solveContact(__global Constraint4* cs,
setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );
float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1,
*linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];
rambdaDt *= cs->m_jacCoeffInv[ic];
{
float prevSum = cs->m_appliedRambdaDt[ic];
float updated = prevSum;
@@ -550,12 +552,14 @@ void solveContact(__global Constraint4* cs,
rambdaDt = updated - prevSum;
cs->m_appliedRambdaDt[ic] = updated;
}
float4 linImp0 = invMassA*linear*rambdaDt;
float4 linImp1 = invMassB*(-linear)*rambdaDt;
float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;
float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;
if (invMassA)
{
*dLinVelA += linImp0;

8
opencl/gpu_rigidbody/kernels/solverUtils.h
View File

@@ -464,7 +464,7 @@ static const char* solverUtilsCL= \
"\n"
"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
"{\n"
" *linear = -n;\n"
" *linear = make_float4(-n.xyz,0.f);\n"
" *angular0 = -cross3(r0, n);\n"
" *angular1 = cross3(r1, n);\n"
"}\n"
@@ -539,10 +539,12 @@ static const char* solverUtilsCL= \
" setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n"
" \n"
"\n"
"\n"
" float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n"
" *linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];\n"
" rambdaDt *= cs->m_jacCoeffInv[ic];\n"
"\n"
" \n"
" {\n"
" float prevSum = cs->m_appliedRambdaDt[ic];\n"
" float updated = prevSum;\n"
@@ -552,12 +554,14 @@ static const char* solverUtilsCL= \
" rambdaDt = updated - prevSum;\n"
" cs->m_appliedRambdaDt[ic] = updated;\n"
" }\n"
" \n"
"\n"
" \n"
" float4 linImp0 = invMassA*linear*rambdaDt;\n"
" float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
" float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
" float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
"\n"
" \n"
" if (invMassA)\n"
" {\n"
" *dLinVelA += linImp0;\n"