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Several changes to sync Bullet trunk with PlayStation 3 spubullet version

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Still needs some cross-platform fixes
This commit is contained in:
erwin.coumans
2010-07-08 17:02:38 +00:00
parent 76a58e1f4e
commit fbc17731ec
63 changed files with 10363 additions and 522 deletions
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131
Demos/ParticlesOpenCL/btParticlesDemoDynamicsWorld.cpp
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@@ -74,6 +74,7 @@ int btParticlesDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps
}
{
BT_PROFILE("CollideParticles");
// printf("\ncollide particles\n\n");
runCollideParticlesKernel();
}
gStepNum++;
@@ -212,8 +213,8 @@ void btParticlesDynamicsWorld::adjustGrid()
m_worldMin -= wsize;
m_worldMax += wsize;
*/
m_worldMin.setValue(-1.f, -1.f, -1.f);
m_worldMax.setValue( 1.f, 1.f, 1.f);
m_worldMin.setValue(-WORLD_SIZE, -WORLD_SIZE, -WORLD_SIZE);
m_worldMax.setValue( WORLD_SIZE, WORLD_SIZE, WORLD_SIZE);
wsize = m_worldMax - m_worldMin;
m_cellSize[0] = m_cellSize[1] = m_cellSize[2] = m_particleRad * btScalar(2.f);
@@ -246,7 +247,12 @@ void btParticlesDynamicsWorld::adjustGrid()
void btParticlesDynamicsWorld::grabSimulationData()
{
// const btVector3& gravity = getGravity();
btVector3 gravity(0., -0.06, 0.);
//btVector3 gravity(0., -0.06, 0.);
//btVector3 gravity(0., -0.0003f, 0.);
btVector3 gravity(0,-0.0003,0);
m_simParams.m_gravity[0] = gravity[0];
m_simParams.m_gravity[1] = gravity[1];
m_simParams.m_gravity[2] = gravity[2];
@@ -258,7 +264,7 @@ void btParticlesDynamicsWorld::grabSimulationData()
// m_simParams.m_spring = 0.5f;
// m_simParams.m_shear = 0.1f;
// m_simParams.m_attraction = 0.0f;
m_simParams.m_collisionDamping = 0.02f;
m_simParams.m_collisionDamping = 0.025f;//0.02f;
m_simParams.m_spring = 0.5f;
m_simParams.m_shear = 0.1f;
m_simParams.m_attraction = 0.0f;
@@ -427,6 +433,7 @@ void btParticlesDynamicsWorld::initCLKernels(int argc, char** argv)
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_CLEAR_CELL_START].m_kernel, 1, sizeof(cl_mem), (void*) &m_dCellStart);
initKernel(PARTICLES_KERNEL_FIND_CELL_START, "kFindCellStart");
// ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_FIND_CELL_START].m_kernel, 0, sizeof(int), (void*) &m_numParticles);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_FIND_CELL_START].m_kernel, 1, sizeof(cl_mem), (void*) &m_dPosHash);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_FIND_CELL_START].m_kernel, 2, sizeof(cl_mem), (void*) &m_dCellStart);
ciErrNum |= clSetKernelArg(m_kernels[PARTICLES_KERNEL_FIND_CELL_START].m_kernel, 3, sizeof(cl_mem), (void*) &m_dPos);
@@ -560,15 +567,28 @@ static btVector3 cpu_collideTwoParticles(
float relVelDotNorm = relVel.dot(norm);
btVector3 tanVel = relVel - relVelDotNorm * norm;
//Spring force (potential)
float springFactor = -spring * (collideDist - dist);
force = springFactor * norm + damping * relVel + shear * tanVel + attraction * relPos;
//float springFactor = -spring * (collideDist - dist);
float springFactor = -0.4 * (collideDist - dist);
force = springFactor * norm + damping * relVel;// + shear * tanVel + attraction * relPos;
}
return force;
}
struct btPair
{
union
{
int value;
short v0[2];
};
};
void btParticlesDynamicsWorld::runCollideParticlesKernel()
{
btAlignedObjectArray<int> pairs;
float particleRad = m_simParams.m_particleRad;
float collideDist2 = (particleRad + particleRad)*(particleRad + particleRad);
cl_int ciErrNum;
if(m_useCpuControls[SIMSTAGE_COLLIDE_PARTICLES]->m_active)
{ // CPU version
@@ -585,6 +605,7 @@ void btParticlesDynamicsWorld::runCollideParticlesKernel()
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dCellStart, CL_TRUE, 0, memSize, &(m_hCellStart[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
for(int index = 0; index < m_numParticles; index++)
{
btVector3 posA = m_hSortedPos[index];
@@ -618,7 +639,10 @@ void btParticlesDynamicsWorld::runCollideParticlesKernel()
continue;
}
//Iterate over particles in this cell
int endI = startI + 8;
int endI = startI + 32;
if(endI > m_numParticles)
endI = m_numParticles;
for(int j = startI; j < endI; j++)
{
unsigned int hashC = m_hPosHash[j].x;
@@ -630,6 +654,14 @@ void btParticlesDynamicsWorld::runCollideParticlesKernel()
{
continue;
}
btPair pair;
pair.v0[0] = index;
pair.v0[1] = j;
pairs.push_back(pair.value);
// printf("index=%d, j=%d\n",index,j);
// printf("(index=%d, j=%d) ",index,j);
btVector3 posB = m_hSortedPos[j];
btVector3 velB = m_hSortedVel[j];
//Collide two spheres
@@ -642,6 +674,56 @@ void btParticlesDynamicsWorld::runCollideParticlesKernel()
//Write new velocity back to original unsorted location
m_hVel[unsortedIndex] = velA + force;
}
//#define BRUTE_FORCE_CHECK 1
#ifdef BRUTE_FORCE_CHECK
for(int index = 0; index < m_numParticles; index++)
{
btVector3 posA = m_hSortedPos[index];
btVector3 velA = m_hSortedVel[index];
btVector3 force = btVector3(0, 0, 0);
int unsortedIndex = m_hPosHash[index].y;
float collisionDamping = m_simParams.m_collisionDamping;
float spring = m_simParams.m_spring;
float shear = m_simParams.m_shear;
float attraction = m_simParams.m_attraction;
for(int j = 0 ; j < m_numParticles; j++)
{
if (index!=j)
{
btVector3 posB = m_hSortedPos[j];
btVector3 velB = m_hSortedVel[j];
btVector3 relPos = posB - posA; relPos[3] = 0.f;
float dist2 = (relPos[0] * relPos[0] + relPos[1] * relPos[1] + relPos[2] * relPos[2]);
if(dist2 < collideDist2)
{
//Collide two spheres
// force += cpu_collideTwoParticles( posA, posB, velA, velB, particleRad, particleRad,
// spring, collisionDamping, shear, attraction);
btPair pair;
pair.v0[0] = index;
pair.v0[1] = j;
if (pairs.findLinearSearch(pair.value)==pairs.size())
{
printf("not found index=%d, j=%d\n",index,j);
}
}
}
}
//Write new velocity back to original unsorted location
//m_hVel[unsortedIndex] = velA + force;
}
#endif //BRUTE_FORCE_CHECK
memSize = sizeof(btVector3) * m_numParticles;
ciErrNum = clEnqueueWriteBuffer(m_cqCommandQue, m_dVel, CL_TRUE, 0, memSize, &(m_hVel[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
@@ -675,7 +757,11 @@ void btParticlesDynamicsWorld::runIntegrateMotionKernel()
pos[3] = 1.0f;
vel[3] = 0.0f;
// apply gravity
btVector3 gravity = *((btVector3*)(m_simParams.m_gravity));
btVector3 gravity;
gravity[0] = m_simParams.m_gravity[0];
gravity[1] = m_simParams.m_gravity[1];
gravity[2] = m_simParams.m_gravity[2];
float particleRad = m_simParams.m_particleRad;
float globalDamping = m_simParams.m_globalDamping;
float boundaryDamping = m_simParams.m_boundaryDamping;
@@ -684,8 +770,16 @@ void btParticlesDynamicsWorld::runIntegrateMotionKernel()
// integrate position
pos += vel * m_timeStep;
// collide with world boundaries
btVector3 worldMin = *((btVector3*)(m_simParams.m_worldMin));
btVector3 worldMax = *((btVector3*)(m_simParams.m_worldMax));
btVector3 worldMin;
worldMin[0] = m_simParams.m_worldMin[0];
worldMin[1] = m_simParams.m_worldMin[1];
worldMin[2] = m_simParams.m_worldMin[2];
btVector3 worldMax;
worldMax[0] = m_simParams.m_worldMax[0];
worldMax[1] = m_simParams.m_worldMax[1];
worldMax[2] = m_simParams.m_worldMax[2];
for(int j = 0; j < 3; j++)
{
if(pos[j] < (worldMin[j] + particleRad))
@@ -800,7 +894,7 @@ void btParticlesDynamicsWorld::runSortHashKernel()
}
};
btHashPosKey* pHash = (btHashPosKey*)(&m_hPosHash[0]);
pHash->quickSort(pHash, 0, m_numParticles - 1);
pHash->quickSort(pHash, 0, m_numParticles );
// pHash->bitonicSort(pHash, 0, m_hashSize, true);
// write back to GPU
ciErrNum = clEnqueueWriteBuffer(m_cqCommandQue, m_dPosHash, CL_TRUE, 0, memSize, &(m_hPosHash[0]), 0, NULL, NULL);
@@ -899,8 +993,19 @@ void btParticlesDynamicsWorld::initKernel(int kernelId, char* pName)
size_t wgSize;
ciErrNum = clGetKernelWorkGroupInfo(kernel, m_cdDevice, CL_KERNEL_WORK_GROUP_SIZE, sizeof(size_t), &wgSize, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
// if (wgSize > 64)
// wgSize = 64;
// if (wgSize > 256)
// wgSize = 256;
if (wgSize > 512)
wgSize = 512;
// if (wgSize > 1024)
// wgSize = 1024;
m_kernels[kernelId].m_Id = kernelId;
m_kernels[kernelId].m_kernel = kernel;
m_kernels[kernelId].m_name = pName;