66c349caa6
Move btSoftBodySolverData.h to src/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h Attempt to re-enable MiniCL version of OpenCLClothDemo (cloth-capsule collision still broken) Add optional OpenCL acceleration to SerializeDemo (just for cloth)
249 lines
8.9 KiB
C++
249 lines
8.9 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
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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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#include <MiniCL/cl_MiniCL_Defs.h>
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#define MSTRINGIFY(A) A
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#include "../OpenCLC10/ApplyForces.cl"
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#include "../OpenCLC10/Integrate.cl"
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#include "../OpenCLC10/PrepareLinks.cl"
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#include "../OpenCLC10/SolvePositions.cl"
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#include "../OpenCLC10/UpdateNodes.cl"
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#include "../OpenCLC10/UpdateNormals.cl"
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#include "../OpenCLC10/UpdatePositions.cl"
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#include "../OpenCLC10/UpdatePositionsFromVelocities.cl"
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#include "../OpenCLC10/VSolveLinks.cl"
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//#include "../OpenCLC10/SolveCollisionsAndUpdateVelocities.cl"
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MINICL_REGISTER(PrepareLinksKernel)
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MINICL_REGISTER(VSolveLinksKernel)
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MINICL_REGISTER(UpdatePositionsFromVelocitiesKernel)
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MINICL_REGISTER(SolvePositionsFromLinksKernel)
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MINICL_REGISTER(updateVelocitiesFromPositionsWithVelocitiesKernel)
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MINICL_REGISTER(updateVelocitiesFromPositionsWithoutVelocitiesKernel)
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MINICL_REGISTER(IntegrateKernel)
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MINICL_REGISTER(ApplyForcesKernel)
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MINICL_REGISTER(ResetNormalsAndAreasKernel)
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MINICL_REGISTER(NormalizeNormalsAndAreasKernel)
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MINICL_REGISTER(UpdateSoftBodiesKernel)
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float mydot3a(float4 a, float4 b)
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{
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return a.x*b.x + a.y*b.y + a.z*b.z;
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}
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typedef struct
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{
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int firstObject;
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int endObject;
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} CollisionObjectIndices;
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typedef struct
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{
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float4 shapeTransform[4]; // column major 4x4 matrix
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float4 linearVelocity;
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float4 angularVelocity;
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int softBodyIdentifier;
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int collisionShapeType;
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// Shape information
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// Compressed from the union
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float radius;
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float halfHeight;
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int upAxis;
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float margin;
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float friction;
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int padding0;
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} CollisionShapeDescription;
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// From btBroadphaseProxy.h
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__constant int CAPSULE_SHAPE_PROXYTYPE = 10;
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// Multiply column-major matrix against vector
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float4 matrixVectorMul( float4 matrix[4], float4 vector )
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{
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float4 returnVector;
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float4 row0 = float4(matrix[0].x, matrix[1].x, matrix[2].x, matrix[3].x);
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float4 row1 = float4(matrix[0].y, matrix[1].y, matrix[2].y, matrix[3].y);
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float4 row2 = float4(matrix[0].z, matrix[1].z, matrix[2].z, matrix[3].z);
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float4 row3 = float4(matrix[0].w, matrix[1].w, matrix[2].w, matrix[3].w);
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returnVector.x = dot(row0, vector);
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returnVector.y = dot(row1, vector);
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returnVector.z = dot(row2, vector);
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returnVector.w = dot(row3, vector);
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return returnVector;
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}
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__kernel void
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SolveCollisionsAndUpdateVelocitiesKernel(
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const int numNodes,
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const float isolverdt,
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__global int *g_vertexClothIdentifier,
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__global float4 *g_vertexPreviousPositions,
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__global float * g_perClothFriction,
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__global float * g_clothDampingFactor,
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__global CollisionObjectIndices * g_perClothCollisionObjectIndices,
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__global CollisionShapeDescription * g_collisionObjectDetails,
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__global float4 * g_vertexForces,
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__global float4 *g_vertexVelocities,
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__global float4 *g_vertexPositions GUID_ARG)
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{
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int nodeID = get_global_id(0);
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float4 forceOnVertex = (float4)(0.f, 0.f, 0.f, 0.f);
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if( get_global_id(0) < numNodes )
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{
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int clothIdentifier = g_vertexClothIdentifier[nodeID];
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// Abort if this is not a valid cloth
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if( clothIdentifier < 0 )
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return;
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float4 position (g_vertexPositions[nodeID].xyz, 1.f);
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float4 previousPosition (g_vertexPreviousPositions[nodeID].xyz, 1.f);
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float clothFriction = g_perClothFriction[clothIdentifier];
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float dampingFactor = g_clothDampingFactor[clothIdentifier];
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float velocityCoefficient = (1.f - dampingFactor);
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float4 difference = position - previousPosition;
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float4 velocity = difference*velocityCoefficient*isolverdt;
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CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier];
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int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject;
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if( numObjects > 0 )
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{
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// We have some possible collisions to deal with
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for( int collision = collisionObjectIndices.firstObject; collision < collisionObjectIndices.endObject; ++collision )
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{
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CollisionShapeDescription shapeDescription = g_collisionObjectDetails[collision];
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float colliderFriction = shapeDescription.friction;
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if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE )
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{
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// Colliding with a capsule
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float capsuleHalfHeight = shapeDescription.halfHeight;
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float capsuleRadius = shapeDescription.radius;
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float capsuleMargin = shapeDescription.margin;
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int capsuleupAxis = shapeDescription.upAxis;
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// Four columns of worldTransform matrix
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float4 worldTransform[4];
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worldTransform[0] = shapeDescription.shapeTransform[0];
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worldTransform[1] = shapeDescription.shapeTransform[1];
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worldTransform[2] = shapeDescription.shapeTransform[2];
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worldTransform[3] = shapeDescription.shapeTransform[3];
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// Correctly define capsule centerline vector
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float4 c1 (0.f, 0.f, 0.f, 1.f);
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float4 c2 (0.f, 0.f, 0.f, 1.f);
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c1.x = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 0 );
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c1.y = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 1 );
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c1.z = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 2 );
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c2.x = -c1.x;
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c2.y = -c1.y;
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c2.z = -c1.z;
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float4 worldC1 = matrixVectorMul(worldTransform, c1);
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float4 worldC2 = matrixVectorMul(worldTransform, c2);
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float4 segment = (worldC2 - worldC1);
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// compute distance of tangent to vertex along line segment in capsule
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float distanceAlongSegment = -( mydot3a( (worldC1 - position), segment ) / mydot3a(segment, segment) );
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float4 closestPoint = (worldC1 + (segment * distanceAlongSegment));
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float distanceFromLine = length(position - closestPoint);
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float distanceFromC1 = length(worldC1 - position);
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float distanceFromC2 = length(worldC2 - position);
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// Final distance from collision, point to push from, direction to push in
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// for impulse force
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float dist;
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float4 normalVector;
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if( distanceAlongSegment < 0 )
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{
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dist = distanceFromC1;
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normalVector = float4(normalize(position - worldC1).xyz, 0.f);
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} else if( distanceAlongSegment > 1.f ) {
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dist = distanceFromC2;
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normalVector = float4(normalize(position - worldC2).xyz, 0.f);
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} else {
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dist = distanceFromLine;
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normalVector = float4(normalize(position - closestPoint).xyz, 0.f);
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}
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float4 colliderLinearVelocity = shapeDescription.linearVelocity;
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float4 colliderAngularVelocity = shapeDescription.angularVelocity;
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float4 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position - float4(worldTransform[0].w, worldTransform[1].w, worldTransform[2].w, 0.f));
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float minDistance = capsuleRadius + capsuleMargin;
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// In case of no collision, this is the value of velocity
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velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
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// Check for a collision
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if( dist < minDistance )
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{
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// Project back to surface along normal
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position = position + float4(normalVector*(minDistance - dist)*0.9f);
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velocity = (position - previousPosition) * velocityCoefficient * isolverdt;
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float4 relativeVelocity = velocity - velocityOfSurfacePoint;
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float4 p1 = normalize(cross(normalVector, segment));
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float4 p2 = normalize(cross(p1, normalVector));
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// Full friction is sum of velocities in each direction of plane
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float4 frictionVector = p1*mydot3a(relativeVelocity, p1) + p2*mydot3a(relativeVelocity, p2);
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// Real friction is peak friction corrected by friction coefficients
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frictionVector = frictionVector * (colliderFriction*clothFriction);
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float approachSpeed = dot(relativeVelocity, normalVector);
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if( approachSpeed <= 0.0f )
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forceOnVertex -= frictionVector;
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}
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}
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}
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}
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g_vertexVelocities[nodeID] = float4(velocity.xyz, 0.f);
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// Update external force
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g_vertexForces[nodeID] = float4(forceOnVertex.xyz, 0.f);
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g_vertexPositions[nodeID] = float4(position.xyz, 0.f);
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}
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}
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MINICL_REGISTER(SolveCollisionsAndUpdateVelocitiesKernel);
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