1782 lines
59 KiB
C++
1782 lines
59 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library - Parallel solver
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Copyright (c) 2007 Starbreeze Studios
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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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Written by: Marten Svanfeldt
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*/
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#define IN_PARALLELL_SOLVER 1
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#include "SpuParallellSolverTask.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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#include "../PlatformDefinitions.h"
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#include "../SpuFakeDma.h"
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#include "LinearMath/btMinMax.h"
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// To setup constraints
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#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
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#ifndef offsetof
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#define offsetof(s,m) (size_t)&reinterpret_cast<const volatile char&>((((s *)0)->m))
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#endif
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//NOTE! When changing this, make sure the package sizes etc below are updated
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#define TEMP_STORAGE_SIZE (150*1024)
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#define CONSTRAINT_MAX_SIZE (46*16)
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struct SolverTask_LocalStoreMemory
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{
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ATTRIBUTE_ALIGNED16(SpuSolverHash m_localHash);
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// Data for temporary storage in situations where we just need very few
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ATTRIBUTE_ALIGNED16(SpuSolverInternalConstraint m_tempInternalConstr[4]);
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ATTRIBUTE_ALIGNED16(SpuSolverConstraint m_tempConstraint[1]);
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ATTRIBUTE_ALIGNED16(SpuSolverBody m_tempSPUBodies[2]);
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ATTRIBUTE_ALIGNED16(char m_tempRBs[2][sizeof(btRigidBody)]);
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ATTRIBUTE_ALIGNED16(char m_externalConstraint[CONSTRAINT_MAX_SIZE]);
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// The general temporary storage, "dynamically" allocated
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ATTRIBUTE_ALIGNED16(uint8_t m_temporaryStorage[TEMP_STORAGE_SIZE]);
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size_t m_temporaryStorageUsed;
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};
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#ifdef WIN32
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void* createSolverLocalStoreMemory()
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{
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return new SolverTask_LocalStoreMemory;
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};
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#elif defined(__CELLOS_LV2__)
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ATTRIBUTE_ALIGNED16(SolverTask_LocalStoreMemory gLocalStoreMemory);
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void* createSolverLocalStoreMemory()
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{
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return &gLocalStoreMemory;
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}
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#endif
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//-- MEMORY MANAGEMENT HELPERS
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size_t memTemporaryStorage (SolverTask_LocalStoreMemory* lsmem)
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{
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return TEMP_STORAGE_SIZE - lsmem->m_temporaryStorageUsed;
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}
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void setupTemporaryStorage (SolverTask_LocalStoreMemory* lsmem)
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{
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lsmem->m_temporaryStorageUsed = 0;
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}
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void* allocTemporaryStorage (SolverTask_LocalStoreMemory* lsmem, size_t size)
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{
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// Align size to even 16-byte interval to make it DMA-able
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size = (size+0xf)&~0xf;
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//btAssert(lsmem->m_temporaryStorageUsed + size <= TEMP_STORAGE_SIZE);
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void *res = &lsmem->m_temporaryStorage[lsmem->m_temporaryStorageUsed];
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lsmem->m_temporaryStorageUsed += size;
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return res;
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}
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void freeTemporaryStorage (SolverTask_LocalStoreMemory* lsmem, void* ptr, size_t size)
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{
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// Align size to even 16-byte interval to make it DMA-able
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size = (size+0xf)&~0xf;
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// Only works if we free the last gotten allocation
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//btAssert(&lsmem->m_temporaryStorage[lsmem->m_temporaryStorageUsed - size] == ptr);
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lsmem->m_temporaryStorageUsed -= size;
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}
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SpuSolverBody* allocBodyStorage (SolverTask_LocalStoreMemory* lsmem, size_t numBodies)
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{
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return static_cast<SpuSolverBody*> (allocTemporaryStorage(lsmem, sizeof(SpuSolverBody)*numBodies));
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}
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void freeBodyStorage (SolverTask_LocalStoreMemory* lsmem, SpuSolverBody* ptr, size_t numBodies)
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{
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freeTemporaryStorage(lsmem, ptr, sizeof(SpuSolverBody)*numBodies);
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}
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SpuSolverInternalConstraint* allocInternalConstraintStorage (SolverTask_LocalStoreMemory* lsmem, size_t numConstr)
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{
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return static_cast<SpuSolverInternalConstraint*> (allocTemporaryStorage(lsmem, sizeof(SpuSolverInternalConstraint)*numConstr));
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}
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void freeInternalConstraintStorage (SolverTask_LocalStoreMemory* lsmem, SpuSolverInternalConstraint* ptr, size_t numConstr)
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{
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freeTemporaryStorage(lsmem, ptr, sizeof(SpuSolverInternalConstraint)*numConstr);
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}
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SpuSolverConstraint* allocConstraintStorage (SolverTask_LocalStoreMemory* lsmem, size_t numConstr)
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{
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return static_cast<SpuSolverConstraint*> (allocTemporaryStorage(lsmem, sizeof(SpuSolverConstraint)*numConstr));
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}
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void freeConstraintStorage (SolverTask_LocalStoreMemory* lsmem, SpuSolverConstraint* ptr, size_t numConstr)
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{
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freeTemporaryStorage(lsmem, ptr, sizeof(SpuSolverConstraint)*numConstr);
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}
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//-- MEMORY MANAGEMENT HELPERS END
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//-- INDEX SET HELPER
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class SpuIndexSet
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{
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public:
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SIMD_FORCE_INLINE SpuIndexSet (uint32_t* a)
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: m_backingArray (a), m_size (0)
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{}
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SIMD_FORCE_INLINE int insert (uint32_t data)
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{
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int pos = 0;
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for (pos = 0; pos < m_size; ++pos)
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{
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if (m_backingArray[pos] == data)
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{
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return pos;
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}
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}
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//btAssert(m_size < SPU_MAX_BODIES_PER_CELL);
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m_backingArray[m_size] = data;
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return m_size++;
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}
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SIMD_FORCE_INLINE void clear ()
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{
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m_size = 0;
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}
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SIMD_FORCE_INLINE const uint32_t& operator[](int n) const
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{
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return m_backingArray[n];
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}
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SIMD_FORCE_INLINE uint32_t& operator[](int n)
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{
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return m_backingArray[n];
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}
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SIMD_FORCE_INLINE int size() const
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{ // return length of sequence
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return m_size;
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}
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private:
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uint32_t* m_backingArray;
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int m_size;
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};
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//-- INDEX SET HELPER END
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//-- RB HANDLING
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static void setupSpuBody (btRigidBody* rb, SpuSolverBody* spuBody)
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{
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spuBody->m_linearVelocity = rb->getLinearVelocity();
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spuBody->m_angularVelocity = rb->getAngularVelocity();
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spuBody->m_worldInvInertiaTensor = rb->getInvInertiaTensorWorld();
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spuBody->m_invertedMass = rb->getInvMass();
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}
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//-- RB HANDLING END
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//-- HASH HANDLING
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static void writeTaskFlag(SpuSolverHash* hashRemote, uint32_t taskId, uint32_t* flags)
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{
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int dmaSize = sizeof(uint32_t)*SPU_HASH_NUMCELLDWORDS;
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uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (hashRemote);
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dmaPpuAddress2 += offsetof(SpuSolverHash, m_currentMask);
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dmaPpuAddress2 += sizeof(uint32_t) * SPU_HASH_NUMCELLDWORDS * (taskId + 1);
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cellDmaLargePut(flags, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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static void updateLocalMask(SolverTask_LocalStoreMemory* localMemory, SpuSolverTaskDesc& taskDesc)
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{
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int dmaSize = sizeof(uint32_t)*(SPU_MAX_SPUS+1)*SPU_HASH_NUMCELLDWORDS;
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uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverHash);
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dmaPpuAddress2 += offsetof(SpuSolverHash, m_currentMask);
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cellDmaLargeGet(&localMemory->m_localHash.m_currentMask, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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static unsigned int getZeroIndex(unsigned int start, uint32_t* mask, uint32_t* finished, unsigned int numRegs)
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{
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// Find the index of some zero within mask|finished
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unsigned int index = start;
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int reg = (start >> 5);
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{
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unsigned int bit = 1 << (start & 31);
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uint32_t combinedMask = mask[reg] | finished[reg];
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for (int bitCnt = (start & 31); bitCnt < SPU_HASH_WORDWIDTH; ++bitCnt, ++index, bit <<= 1)
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{
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if ((combinedMask & bit) == 0)
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{
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return index;
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}
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}
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reg++;
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}
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for (; reg < numRegs; ++reg)
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{
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unsigned int bit = 1;
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uint32_t combinedMask = mask[reg] | finished[reg];
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for (int bitCnt = 0; bitCnt < SPU_HASH_WORDWIDTH; ++bitCnt, ++index, bit <<= 1)
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{
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if ((combinedMask & bit) == 0)
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{
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return index;
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}
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}
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}
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return SPU_HASH_NUMCELLS;
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}
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static bool isAllOne (uint32_t* mask, unsigned int numRegs)
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{
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uint32_t totalMask = ~0;
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for (int reg = 0; reg < numRegs; ++reg)
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{
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totalMask &= mask[reg];
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}
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return totalMask == ~0;
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}
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static bool checkDependency(unsigned int tryIndex, uint32_t* mask, uint32_t matrix[SPU_HASH_NUMCELLS][SPU_HASH_NUMCELLDWORDS], unsigned int numRegs)
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{
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for (int reg = 0; reg < numRegs; ++reg)
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{
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if ((mask[reg] & matrix[tryIndex][reg]) != 0)
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{
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//Dependency conflict, no-go
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return false;
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}
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}
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return true;
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}
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static unsigned int getNextFreeCell(SolverTask_LocalStoreMemory* localMemory, SpuSolverTaskDesc& taskDesc, btSpinlock& lock)
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{
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unsigned int cellIndex = SPU_HASH_NUMCELLS;
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uint32_t myMask[SPU_HASH_NUMCELLDWORDS] = {0};
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writeTaskFlag(taskDesc.m_solverData.m_solverHash, taskDesc.m_taskId, myMask);
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SpuSolverHash* hash = &localMemory->m_localHash;
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// locking
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lock.Lock();
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bool stopLoop = false;
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while (!stopLoop)
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{
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// Try to find a free cell
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uint32_t tmpMask[SPU_HASH_NUMCELLDWORDS] = {0};
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updateLocalMask(localMemory, taskDesc);
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// Or together the masks of finished cells and all currently locked cells
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for (int row = 1; row <= SPU_MAX_SPUS; ++row)
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{
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for (int reg = 0; reg < SPU_HASH_NUMCELLDWORDS; ++reg)
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{
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tmpMask[reg] |= hash->m_currentMask[row][reg];
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}
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}
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// Find first zero, starting with offset
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unsigned int tryIndex;
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unsigned int start = 0;
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bool haveTry = false;
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while (!haveTry)
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{
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tryIndex = getZeroIndex(start, tmpMask, hash->m_currentMask[0], SPU_HASH_NUMCELLDWORDS);
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if (tryIndex >= SPU_HASH_NUMCELLS)
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break;
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haveTry = checkDependency(tryIndex, tmpMask, hash->m_dependencyMatrix, SPU_HASH_NUMCELLDWORDS);
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start = tryIndex+1;
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}
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if (tryIndex < SPU_HASH_NUMCELLS)
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{
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// If we get here there is no dependency conflict, so lets use it
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cellIndex = tryIndex;
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writeTaskFlag(taskDesc.m_solverData.m_solverHash, taskDesc.m_taskId, hash->m_dependencyMatrix[cellIndex]);
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hash->m_currentMask[0][cellIndex >> 5] |= (1 << (cellIndex & 31));
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{
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int dmaSize = sizeof(uint32_t)*SPU_HASH_NUMCELLDWORDS;
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uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverHash);
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dmaPpuAddress2 += offsetof(SpuSolverHash, m_currentMask);
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cellDmaLargePut(&hash->m_currentMask, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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}
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stopLoop = true;
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}
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// Check if there are at all any cells left
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if (isAllOne (hash->m_currentMask[0], SPU_HASH_NUMCELLDWORDS))
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{
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//lock.Unlock();
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break;
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}
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}
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// unlock
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lock.Unlock();
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return cellIndex;
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}
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//-- HASH HANDLING END
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//-- SOLVER METHODS
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// Contact solve method
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static void solveContact (SpuSolverInternalConstraint& constraint, SpuSolverBody& bodyA, SpuSolverBody& bodyB)
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{
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float normalImpulse(0.f);
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{
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if (constraint.m_penetration < 0.f)
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return;
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// Optimized version of projected relative velocity, use precomputed cross products with normal
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// body1.getVelocityInLocalPoint(contactConstraint.m_rel_posA,vel1);
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// body2.getVelocityInLocalPoint(contactConstraint.m_rel_posB,vel2);
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// btVector3 vel = vel1 - vel2;
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// float rel_vel = contactConstraint.m_contactNormal.dot(vel);
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float rel_vel;
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float vel1Dotn = constraint.m_normal.dot(bodyA.m_linearVelocity)
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+ constraint.m_relpos1CrossNormal.dot(bodyA.m_angularVelocity);
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float vel2Dotn = constraint.m_normal.dot(bodyB.m_linearVelocity)
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+ constraint.m_relpos2CrossNormal.dot(bodyB.m_angularVelocity);
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rel_vel = vel1Dotn-vel2Dotn;
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float positionalError = constraint.m_penetration;
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float velocityError = constraint.m_restitution - rel_vel;// * damping;
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float penetrationImpulse = positionalError * constraint.m_jacDiagABInv;
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float velocityImpulse = velocityError * constraint.m_jacDiagABInv;
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float normalImpulse = penetrationImpulse+velocityImpulse;
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// See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse
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float oldNormalImpulse = constraint.m_appliedImpulse;
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float sum = oldNormalImpulse + normalImpulse;
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constraint.m_appliedImpulse = float(0.) > sum ? float(0.): sum;
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float oldVelocityImpulse = constraint.m_appliedVelocityImpulse;
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float velocitySum = oldVelocityImpulse + velocityImpulse;
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constraint.m_appliedVelocityImpulse = float(0.) > velocitySum ? float(0.): velocitySum;
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normalImpulse = constraint.m_appliedImpulse - oldNormalImpulse;
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if (bodyA.m_invertedMass > 0)
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{
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bodyA.m_linearVelocity += constraint.m_normal*bodyA.m_invertedMass*normalImpulse;
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bodyA.m_angularVelocity += constraint.m_angularComponentA*normalImpulse;
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}
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if (bodyB.m_invertedMass > 0)
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{
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bodyB.m_linearVelocity -= constraint.m_normal*bodyB.m_invertedMass*normalImpulse;
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bodyB.m_angularVelocity -= constraint.m_angularComponentB*normalImpulse;
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}
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}
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}
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// Friction solve method
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static void solveFriction (SpuSolverInternalConstraint& constraint, SpuSolverBody& bodyA, SpuSolverBody& bodyB, btScalar normalImpulse)
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{
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const btScalar combinedFriction = constraint.m_friction;
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const btScalar limit = normalImpulse * combinedFriction;
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if (normalImpulse>btScalar(0.))
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{
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btScalar j1;
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{
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btScalar rel_vel;
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const btScalar vel1Dotn = constraint.m_normal.dot(bodyA.m_linearVelocity)
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+ constraint.m_relpos1CrossNormal.dot(bodyA.m_angularVelocity);
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const btScalar vel2Dotn = constraint.m_normal.dot(bodyB.m_linearVelocity)
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+ constraint.m_relpos2CrossNormal.dot(bodyB.m_angularVelocity);
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rel_vel = vel1Dotn-vel2Dotn;
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// calculate j that moves us to zero relative velocity
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j1 = -rel_vel * constraint.m_jacDiagABInv;
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btScalar oldTangentImpulse = constraint.m_appliedImpulse;
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constraint.m_appliedImpulse = oldTangentImpulse + j1;
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GEN_set_min(constraint.m_appliedImpulse, limit);
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GEN_set_max(constraint.m_appliedImpulse, -limit);
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j1 = constraint.m_appliedImpulse - oldTangentImpulse;
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}
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if (bodyA.m_invertedMass > 0)
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{
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bodyA.m_linearVelocity += constraint.m_normal*bodyA.m_invertedMass*j1;
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bodyA.m_angularVelocity += constraint.m_angularComponentA*j1;
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}
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if (bodyB.m_invertedMass > 0)
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{
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bodyB.m_linearVelocity -= constraint.m_normal*bodyB.m_invertedMass*j1;
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bodyB.m_angularVelocity -= constraint.m_angularComponentB*j1;
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}
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}
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}
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// Constraint solving
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static void solveConstraint (SpuSolverConstraint& constraint, SpuSolverBody& bodyA, SpuSolverBody& bodyB)
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{
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// All but D6 use worldspace normals, use same code
|
|
if (constraint.m_flags.m_useLinear)
|
|
{
|
|
if (constraint.m_constraintType == POINT2POINT_CONSTRAINT_TYPE ||
|
|
constraint.m_constraintType == HINGE_CONSTRAINT_TYPE ||
|
|
constraint.m_constraintType == CONETWIST_CONSTRAINT_TYPE)
|
|
{
|
|
btVector3 normal (0,0,0);
|
|
|
|
const btVector3& bias (constraint.m_linearBias);
|
|
const btVector3& jacInv (constraint.m_jacdiagABInv);
|
|
|
|
for (int i = 0; i < 3; ++i)
|
|
{
|
|
normal[i] = 1;
|
|
|
|
// Compute relative velocity
|
|
btVector3 vel1 = bodyA.m_linearVelocity + bodyA.m_angularVelocity.cross(constraint.m_relPos1);
|
|
btVector3 vel2 = bodyB.m_linearVelocity + bodyB.m_angularVelocity.cross(constraint.m_relPos2);
|
|
btVector3 vel = vel1 - vel2;
|
|
|
|
float relVelNormal = normal.dot(vel);
|
|
|
|
// Compute impulse
|
|
float impulse = (bias[i] - relVelNormal) * jacInv[i];
|
|
|
|
btVector3 impNormal = normal*impulse;
|
|
|
|
// Apply
|
|
if (bodyA.m_invertedMass > 0)
|
|
{
|
|
bodyA.m_linearVelocity += impNormal*bodyA.m_invertedMass;
|
|
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * (btVector3(constraint.m_relPos1).cross(impNormal));
|
|
}
|
|
if (bodyB.m_invertedMass > 0)
|
|
{
|
|
bodyB.m_linearVelocity -= impNormal*bodyB.m_invertedMass;
|
|
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * (btVector3(constraint.m_relPos2).cross(impNormal));
|
|
}
|
|
|
|
normal[i] = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//D6
|
|
}
|
|
|
|
}
|
|
|
|
switch (constraint.m_constraintType)
|
|
{
|
|
case POINT2POINT_CONSTRAINT_TYPE:
|
|
break; // Nothing special to do
|
|
case HINGE_CONSTRAINT_TYPE:
|
|
{
|
|
// Angular solving for the two first axes
|
|
const btVector3& bias (constraint.hinge.m_angularBias);
|
|
const btVector3& jacInv (constraint.hinge.m_angJacdiagABInv);
|
|
|
|
for (int i = 0; i < 2; ++i)
|
|
{
|
|
const btVector3& axis (constraint.hinge.m_frameAinW[i]);
|
|
|
|
// Compute relative velocity
|
|
btVector3 relVel = bodyA.m_angularVelocity - bodyB.m_angularVelocity;
|
|
|
|
float relVelAxis = axis.dot(relVel);
|
|
|
|
// Compute impulse
|
|
float impulse = (bias[i] - relVelAxis) * jacInv[i];
|
|
btVector3 impAxis = axis*impulse;
|
|
|
|
// Apply
|
|
if (bodyA.m_invertedMass > 0)
|
|
{
|
|
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * impAxis;
|
|
}
|
|
if (bodyB.m_invertedMass > 0)
|
|
{
|
|
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * impAxis;
|
|
}
|
|
}
|
|
|
|
// Limit
|
|
if (constraint.m_flags.m_limit1)
|
|
{
|
|
const btVector3& axis (constraint.hinge.m_frameAinW[2]);
|
|
|
|
// Compute relative velocity
|
|
btVector3 relVel = bodyA.m_angularVelocity - bodyB.m_angularVelocity;
|
|
float relVelAxis = axis.dot(relVel);
|
|
|
|
// Compute impulse
|
|
float impulse = (bias[2] - relVelAxis) * jacInv[2] * constraint.hinge.m_limitJacFactor;
|
|
|
|
// Clamp it
|
|
float temp = constraint.hinge.m_limitAccumulatedImpulse;
|
|
constraint.hinge.m_limitAccumulatedImpulse = btMax (constraint.hinge.m_limitAccumulatedImpulse + impulse, 0.0f);
|
|
impulse = constraint.hinge.m_limitAccumulatedImpulse - temp;
|
|
|
|
btVector3 impAxis = axis*impulse* (constraint.hinge.m_limitJacFactor/btFabs (constraint.hinge.m_limitJacFactor));
|
|
|
|
// Apply
|
|
if (bodyA.m_invertedMass > 0)
|
|
{
|
|
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * impAxis;
|
|
}
|
|
if (bodyB.m_invertedMass > 0)
|
|
{
|
|
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * impAxis;
|
|
}
|
|
}
|
|
|
|
// Motor
|
|
if (constraint.m_flags.m_motor1)
|
|
{
|
|
const btVector3& axis (constraint.hinge.m_frameAinW[2]);
|
|
|
|
// Compute relative velocity
|
|
btVector3 relVel = bodyA.m_angularVelocity - bodyB.m_angularVelocity;
|
|
float relVelAxis = axis.dot(relVel);
|
|
|
|
// Compute impulse
|
|
float impulse = (constraint.hinge.m_motorVelocity - relVelAxis) * jacInv[2];
|
|
|
|
// Clamp it
|
|
float clampedImpulse = impulse > constraint.hinge.m_motorImpulse ? constraint.hinge.m_motorImpulse : impulse;
|
|
clampedImpulse = impulse < -constraint.hinge.m_motorImpulse ? -constraint.hinge.m_motorImpulse : clampedImpulse;
|
|
|
|
|
|
btVector3 impAxis = axis*clampedImpulse;
|
|
|
|
// Apply
|
|
if (bodyA.m_invertedMass > 0)
|
|
{
|
|
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * impAxis;
|
|
}
|
|
if (bodyB.m_invertedMass > 0)
|
|
{
|
|
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * impAxis;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
case CONETWIST_CONSTRAINT_TYPE:
|
|
{
|
|
// Swing
|
|
if (constraint.m_flags.m_limit1)
|
|
{
|
|
const btVector3& axis (constraint.conetwist.m_swingAxis);
|
|
|
|
// Compute relative velocity
|
|
btVector3 relVel = bodyA.m_angularVelocity - bodyB.m_angularVelocity;
|
|
float relVelAxis = axis.dot(relVel);
|
|
|
|
// Compute impulse
|
|
float impulse = (constraint.conetwist.m_swingError - relVelAxis) * constraint.conetwist.m_swingJacInv;
|
|
|
|
// Clamp it
|
|
float temp = constraint.conetwist.m_swingLimitImpulse;
|
|
constraint.conetwist.m_swingLimitImpulse = btMax (constraint.conetwist.m_swingLimitImpulse + impulse, 0.0f);
|
|
impulse = constraint.conetwist.m_swingLimitImpulse - temp;
|
|
|
|
btVector3 impAxis = axis*impulse;
|
|
|
|
// Apply
|
|
if (bodyA.m_invertedMass > 0)
|
|
{
|
|
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * impAxis;
|
|
}
|
|
if (bodyB.m_invertedMass > 0)
|
|
{
|
|
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * impAxis;
|
|
}
|
|
}
|
|
|
|
// Twist
|
|
if (constraint.m_flags.m_limit2)
|
|
{
|
|
const btVector3& axis (constraint.conetwist.m_twistAxis);
|
|
|
|
// Compute relative velocity
|
|
btVector3 relVel = bodyA.m_angularVelocity - bodyB.m_angularVelocity;
|
|
float relVelAxis = axis.dot(relVel);
|
|
|
|
// Compute impulse
|
|
float impulse = (constraint.conetwist.m_twistError - relVelAxis) * constraint.conetwist.m_twistJacInv;
|
|
|
|
// Clamp it
|
|
float temp = constraint.conetwist.m_twistLimitImpulse;
|
|
constraint.conetwist.m_twistLimitImpulse = btMax (constraint.conetwist.m_twistLimitImpulse + impulse, 0.0f);
|
|
impulse = constraint.conetwist.m_twistLimitImpulse - temp;
|
|
|
|
btVector3 impAxis = axis*impulse;
|
|
|
|
// Apply
|
|
if (bodyA.m_invertedMass > 0)
|
|
{
|
|
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * impAxis;
|
|
}
|
|
if (bodyB.m_invertedMass > 0)
|
|
{
|
|
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * impAxis;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
default:
|
|
;
|
|
}
|
|
}
|
|
//-- SOLVER METHODS END
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//-- CONSTRAINT SETUP METHODS
|
|
// Compute the jacobian inverse @@TODO: Optimize
|
|
static float computeJacobianInverse (const btRigidBody* rb0, const btRigidBody* rb1,
|
|
const btVector3& anchorAinW, const btVector3& anchorBinW, const btVector3& normal)
|
|
{
|
|
float jacobian = rb0->computeImpulseDenominator(anchorAinW, normal);
|
|
jacobian += rb1->computeImpulseDenominator(anchorBinW, normal);
|
|
|
|
return 1.0f/jacobian;
|
|
}
|
|
|
|
static float computeAngularJacobianInverse (const btRigidBody* rb0, const btRigidBody* rb1,
|
|
const btVector3& normal)
|
|
{
|
|
float jacobian = rb0->computeAngularImpulseDenominator(normal);
|
|
jacobian += rb1->computeAngularImpulseDenominator(normal);
|
|
|
|
return 1.0f/jacobian;
|
|
}
|
|
|
|
static void setupLinearConstraintWorld (SpuSolverConstraint& constraint, const btRigidBody* rb0, const btRigidBody* rb1,
|
|
const btVector3& anchorAinW, const btVector3& anchorBinW, const btContactSolverInfoData& solverInfo)
|
|
{
|
|
btVector3 relPos1 = anchorAinW - rb0->getCenterOfMassPosition();
|
|
btVector3 relPos2 = anchorBinW - rb1->getCenterOfMassPosition();
|
|
|
|
constraint.m_relPos1 = relPos1;
|
|
constraint.m_relPos2 = relPos2;
|
|
|
|
btVector3 error = anchorAinW - anchorBinW;
|
|
|
|
// Setup the three axes
|
|
btVector3 normal (0,0,0);
|
|
btVector3 jacInv, bias;
|
|
const float errorFactor = solverInfo.m_tau / (solverInfo.m_timeStep * solverInfo.m_damping);
|
|
|
|
for (int i = 0; i < 3; ++i)
|
|
{
|
|
normal[i] = 1;
|
|
|
|
jacInv[i] = solverInfo.m_damping * computeJacobianInverse (rb0, rb1, anchorAinW, anchorBinW, normal);
|
|
|
|
// Compute the depth
|
|
float depth = -error[i]*errorFactor;
|
|
bias[i] = depth;
|
|
|
|
normal[i] = 0;
|
|
}
|
|
|
|
constraint.m_jacdiagABInv = jacInv;
|
|
constraint.m_linearBias = bias;
|
|
constraint.m_flags.m_useLinear = 1;
|
|
}
|
|
//-- CONSTRAINT SETUP METHODS END
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
static int getConstraintSize (btTypedConstraintType type)
|
|
{
|
|
switch (type)
|
|
{
|
|
case POINT2POINT_CONSTRAINT_TYPE:
|
|
return sizeof(btPoint2PointConstraint);
|
|
case HINGE_CONSTRAINT_TYPE:
|
|
return sizeof(btHingeConstraint);
|
|
case CONETWIST_CONSTRAINT_TYPE:
|
|
return sizeof(btConeTwistConstraint);
|
|
case D6_CONSTRAINT_TYPE:
|
|
return sizeof(btGeneric6DofConstraint);
|
|
default:
|
|
;
|
|
//btAssert(0);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//-- MAIN METHOD
|
|
void processSolverTask(void* userPtr, void* lsMemory)
|
|
{
|
|
SolverTask_LocalStoreMemory* localMemory = (SolverTask_LocalStoreMemory*)lsMemory;
|
|
|
|
SpuSolverTaskDesc* taskDescPtr = (SpuSolverTaskDesc*)userPtr;
|
|
SpuSolverTaskDesc& taskDesc = *taskDescPtr;
|
|
|
|
setupTemporaryStorage(localMemory);
|
|
|
|
switch (taskDesc.m_solverCommand)
|
|
{
|
|
case CMD_SOLVER_SETUP_BODIES:
|
|
{
|
|
int bodiesToProcess = taskDesc.m_commandData.m_bodySetup.m_numBodies;
|
|
int bodyPackageOffset = taskDesc.m_commandData.m_bodySetup.m_startBody;
|
|
const int bodiesPerPackage = 256;
|
|
|
|
btRigidBody** bodyPtrList = (btRigidBody**)allocTemporaryStorage(localMemory, bodiesPerPackage*sizeof(btRigidBody*));
|
|
btRigidBody* bodyList = (btRigidBody*)allocTemporaryStorage(localMemory, bodiesPerPackage*sizeof(btRigidBody));
|
|
SpuSolverBody* spuBodyList = allocBodyStorage(localMemory, bodiesPerPackage);
|
|
|
|
|
|
while (bodiesToProcess > 0)
|
|
{
|
|
const int packageSize = bodiesToProcess > bodiesPerPackage ? bodiesPerPackage : bodiesToProcess;
|
|
|
|
// DMA the body pointers
|
|
{
|
|
int dmaSize = sizeof(btRigidBody*)*packageSize;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_commandData.m_bodySetup.m_rbList + bodyPackageOffset);
|
|
cellDmaLargeGet(bodyPtrList, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
|
|
// DMA the rigid bodies
|
|
for (int b = 0; b < packageSize; ++b)
|
|
{
|
|
btRigidBody* body = bodyPtrList[b];
|
|
int dmaSize = sizeof(btRigidBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (body);
|
|
cellDmaLargeGet(&bodyList[b], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
for (int b = 0; b < packageSize; ++b)
|
|
{
|
|
btRigidBody* localBody = bodyList+b;
|
|
SpuSolverBody* spuBody = spuBodyList + b;
|
|
//Set it up solver body
|
|
setupSpuBody(localBody, spuBody);
|
|
|
|
int spuBodyIndex = bodyPackageOffset + b;
|
|
localBody->setCompanionId(spuBodyIndex);
|
|
}
|
|
|
|
// DMA the rigid bodies back
|
|
for (int b = 0; b < packageSize; ++b)
|
|
{
|
|
btRigidBody* body = bodyPtrList[b];
|
|
int dmaSize = sizeof(btRigidBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (body);
|
|
cellDmaLargePut(&bodyList[b], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
|
|
// DMA the list of SPU bodies
|
|
{
|
|
int dmaSize = sizeof(SpuSolverBody)*packageSize;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverBodyList + bodyPackageOffset);
|
|
cellDmaLargePut(spuBodyList, dmaPpuAddress2, dmaSize, DMA_TAG(2), 0, 0);
|
|
}
|
|
|
|
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
bodiesToProcess -= packageSize;
|
|
bodyPackageOffset += packageSize;
|
|
}
|
|
|
|
}
|
|
break;
|
|
case CMD_SOLVER_MANIFOLD_SETUP:
|
|
{
|
|
// DMA the hash
|
|
{
|
|
int dmaSize = sizeof(SpuSolverHash);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverHash);
|
|
cellDmaLargeGet(&localMemory->m_localHash, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
|
|
// Iterate over our cells
|
|
const int manifoldsPerPackage = 8;
|
|
const int constraintsPerPackage = 8;
|
|
|
|
ManifoldCellHolder* manifoldHolderList = (ManifoldCellHolder*)allocTemporaryStorage(localMemory, sizeof(ManifoldCellHolder)*manifoldsPerPackage);
|
|
btPersistentManifold* manifoldList = (btPersistentManifold*)allocTemporaryStorage(localMemory, sizeof(btPersistentManifold)*manifoldsPerPackage);
|
|
|
|
ConstraintCellHolder* constraintHolderList = (ConstraintCellHolder*)allocTemporaryStorage(localMemory, sizeof(ConstraintCellHolder)*constraintsPerPackage);
|
|
uint8_t* constraintList = (uint8_t*)allocTemporaryStorage(localMemory, CONSTRAINT_MAX_SIZE*constraintsPerPackage);
|
|
|
|
uint32_t* indexArray = (uint32_t*)allocTemporaryStorage(localMemory, sizeof(uint32_t)*SPU_MAX_BODIES_PER_CELL);
|
|
|
|
for (unsigned int c = 0; c < taskDesc.m_commandData.m_manifoldSetup.m_numCells; ++c)
|
|
{
|
|
int cellIdx = taskDesc.m_commandData.m_manifoldSetup.m_startCell + c;
|
|
SpuSolverHashCell& hashCell = localMemory->m_localHash.m_Hash[cellIdx];
|
|
|
|
SpuIndexSet localRBs (indexArray);
|
|
|
|
{
|
|
int constraintIndex = hashCell.m_internalConstraintListOffset;
|
|
int manifoldsToProcess = hashCell.m_numManifolds;
|
|
int manifoldPackageOffset = hashCell.m_manifoldListOffset;
|
|
|
|
while (manifoldsToProcess > 0)
|
|
{
|
|
const int packageSize = manifoldsToProcess > manifoldsPerPackage ? manifoldsPerPackage : manifoldsToProcess;
|
|
|
|
// DMA the holder list
|
|
{
|
|
int dmaSize = sizeof(ManifoldCellHolder)*packageSize;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_commandData.m_manifoldSetup.m_manifoldHolders + manifoldPackageOffset);
|
|
cellDmaLargeGet(manifoldHolderList, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
|
|
// DMA the manifold list
|
|
for (int m = 0; m < packageSize; ++m)
|
|
{
|
|
int dmaSize = sizeof(btPersistentManifold);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (manifoldHolderList[m].m_manifold);
|
|
cellDmaLargeGet(manifoldList + m, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
for (int m = 0; m < packageSize; ++m)
|
|
{
|
|
btPersistentManifold* currManifold = manifoldList + m;
|
|
|
|
btRigidBody* rb0Ptr = (btRigidBody*)currManifold->getBody0();
|
|
btRigidBody* rb1Ptr = (btRigidBody*)currManifold->getBody1();
|
|
|
|
int numContacts = currManifold->getNumContacts();
|
|
|
|
if (!numContacts)
|
|
{
|
|
// No need to DMA anything more or so, so quit
|
|
continue;
|
|
}
|
|
|
|
unsigned int solverBodyIdA = ~0, solverBodyIdB = ~0;
|
|
|
|
// DMA the bodies
|
|
{
|
|
int dmaSize = sizeof(btRigidBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (rb0Ptr);
|
|
cellDmaLargeGet(&localMemory->m_tempRBs[0], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
{
|
|
int dmaSize = sizeof(btRigidBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (rb1Ptr);
|
|
cellDmaLargeGet(&localMemory->m_tempRBs[1], dmaPpuAddress2, dmaSize, DMA_TAG(2), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
|
|
|
|
btRigidBody* rb0 = (btRigidBody*)&localMemory->m_tempRBs[0];
|
|
btRigidBody* rb1 = (btRigidBody*)&localMemory->m_tempRBs[1];
|
|
|
|
if (rb0->getIslandTag() >= 0)
|
|
{
|
|
solverBodyIdA = rb0->getCompanionId();
|
|
}
|
|
else
|
|
{
|
|
//create a static body
|
|
solverBodyIdA = taskDesc.m_commandData.m_manifoldSetup.m_numBodies + hashCell.m_manifoldListOffset;
|
|
setupSpuBody(rb0, &localMemory->m_tempSPUBodies[0]);
|
|
{
|
|
int dmaSize = sizeof(SpuSolverBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverBodyList + solverBodyIdA);
|
|
cellDmaLargePut(&localMemory->m_tempSPUBodies[0], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
}
|
|
|
|
if (rb1->getIslandTag() >= 0)
|
|
{
|
|
solverBodyIdB = rb1->getCompanionId();
|
|
}
|
|
else
|
|
{
|
|
//create a static body
|
|
solverBodyIdB = taskDesc.m_commandData.m_manifoldSetup.m_numBodies + hashCell.m_manifoldListOffset;
|
|
setupSpuBody(rb1, &localMemory->m_tempSPUBodies[0]);
|
|
{
|
|
int dmaSize = sizeof(SpuSolverBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverBodyList + solverBodyIdB);
|
|
cellDmaLargePut(&localMemory->m_tempSPUBodies[0], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
}
|
|
|
|
// Setup the pointer table
|
|
int offsA = localRBs.insert(solverBodyIdA);
|
|
int offsB = localRBs.insert(solverBodyIdB);
|
|
|
|
// Setup all the contacts
|
|
for (int c = 0; c < numContacts; ++c)
|
|
{
|
|
btManifoldPoint& cp = currManifold->getContactPoint(c);
|
|
|
|
btVector3 pos1 = cp.getPositionWorldOnA();
|
|
btVector3 pos2 = cp.getPositionWorldOnB();
|
|
|
|
btVector3 rel_pos1 = pos1 - rb0->getCenterOfMassPosition();
|
|
btVector3 rel_pos2 = pos2 - rb1->getCenterOfMassPosition();
|
|
|
|
// De-penetration
|
|
{
|
|
SpuSolverInternalConstraint& constraint = localMemory->m_tempInternalConstr[0];
|
|
|
|
constraint.m_localOffsetBodyA = offsA;
|
|
constraint.m_localOffsetBodyB = offsB;
|
|
|
|
constraint.m_normal = cp.m_normalWorldOnB;
|
|
|
|
{
|
|
//can be optimized, the cross products are already calculated
|
|
constraint.m_jacDiagABInv = computeJacobianInverse (rb0, rb1, pos1, pos2, cp.m_normalWorldOnB);
|
|
}
|
|
|
|
constraint.m_relpos1CrossNormal = rel_pos1.cross(cp.m_normalWorldOnB);
|
|
constraint.m_relpos2CrossNormal = rel_pos2.cross(cp.m_normalWorldOnB);
|
|
|
|
btVector3 vel1 = rb0->getVelocityInLocalPoint(rel_pos1);
|
|
btVector3 vel2 = rb1->getVelocityInLocalPoint(rel_pos2);
|
|
|
|
btVector3 vel = vel1 - vel2;
|
|
btScalar rel_vel;
|
|
rel_vel = cp.m_normalWorldOnB.dot(vel);
|
|
|
|
|
|
constraint.m_penetration = cp.getDistance();///btScalar(infoGlobal.m_numIterations);
|
|
constraint.m_friction = cp.m_combinedFriction;
|
|
float rest = - rel_vel * cp.m_combinedRestitution;
|
|
if (rest <= btScalar(0.))
|
|
{
|
|
rest = 0.f;
|
|
};
|
|
|
|
btScalar penVel = -constraint.m_penetration/taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_timeStep;
|
|
if (rest > penVel)
|
|
{
|
|
rest = btScalar(0.);
|
|
}
|
|
constraint.m_restitution = rest;
|
|
|
|
constraint.m_penetration *=
|
|
-(taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_erp/taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_timeStep);
|
|
|
|
constraint.m_appliedImpulse = 0.f;
|
|
constraint.m_appliedVelocityImpulse = 0.f;
|
|
|
|
|
|
btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
|
|
constraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*torqueAxis0;
|
|
btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
|
|
constraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*torqueAxis1;
|
|
}
|
|
|
|
// Friction
|
|
|
|
btVector3 frictionTangential0a, frictionTangential1b;
|
|
|
|
btPlaneSpace1(cp.m_normalWorldOnB,frictionTangential0a,frictionTangential1b);
|
|
|
|
|
|
{
|
|
SpuSolverInternalConstraint& constraint = localMemory->m_tempInternalConstr[1];
|
|
|
|
constraint.m_normal = frictionTangential0a;
|
|
|
|
constraint.m_localOffsetBodyA = offsA;
|
|
constraint.m_localOffsetBodyB = offsB;
|
|
|
|
constraint.m_friction = cp.m_combinedFriction;
|
|
|
|
constraint.m_appliedImpulse = btScalar(0.);
|
|
constraint.m_appliedVelocityImpulse = 0.f;
|
|
|
|
constraint.m_jacDiagABInv = computeJacobianInverse (rb0, rb1, pos1, pos2, cp.m_normalWorldOnB);
|
|
|
|
{
|
|
btVector3 ftorqueAxis0 = rel_pos1.cross(constraint.m_normal);
|
|
constraint.m_relpos1CrossNormal = ftorqueAxis0;
|
|
constraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*ftorqueAxis0;
|
|
}
|
|
{
|
|
btVector3 ftorqueAxis0 = rel_pos2.cross(constraint.m_normal);
|
|
constraint.m_relpos2CrossNormal = ftorqueAxis0;
|
|
constraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*ftorqueAxis0;
|
|
}
|
|
}
|
|
|
|
{
|
|
SpuSolverInternalConstraint& constraint = localMemory->m_tempInternalConstr[2];
|
|
|
|
constraint.m_normal = frictionTangential1b;
|
|
|
|
constraint.m_localOffsetBodyA = offsA;
|
|
constraint.m_localOffsetBodyB = offsB;
|
|
|
|
constraint.m_friction = cp.m_combinedFriction;
|
|
|
|
constraint.m_appliedImpulse = btScalar(0.);
|
|
constraint.m_appliedVelocityImpulse = 0.f;
|
|
|
|
constraint.m_jacDiagABInv = computeJacobianInverse (rb0, rb1, pos1, pos2, cp.m_normalWorldOnB);
|
|
|
|
{
|
|
btVector3 ftorqueAxis0 = rel_pos1.cross(constraint.m_normal);
|
|
constraint.m_relpos1CrossNormal = ftorqueAxis0;
|
|
constraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*ftorqueAxis0;
|
|
}
|
|
{
|
|
btVector3 ftorqueAxis0 = rel_pos2.cross(constraint.m_normal);
|
|
constraint.m_relpos2CrossNormal = ftorqueAxis0;
|
|
constraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*ftorqueAxis0;
|
|
}
|
|
}
|
|
|
|
// DMA the three constraints
|
|
{
|
|
int dmaSize = sizeof(SpuSolverInternalConstraint)*3;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverInternalConstraintList + constraintIndex);
|
|
cellDmaLargePut(&localMemory->m_tempInternalConstr, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
|
|
constraintIndex += 3;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
manifoldsToProcess -= packageSize;
|
|
manifoldPackageOffset += packageSize;
|
|
}
|
|
}
|
|
int numOutConstraints = 0;
|
|
// Setup constraints
|
|
{
|
|
const btContactSolverInfoData& solverInfo = taskDesc.m_commandData.m_manifoldSetup.m_solverInfo;
|
|
|
|
int constraintIndex = hashCell.m_constraintListOffset;
|
|
|
|
int constraintsToProcess = hashCell.m_numConstraints;
|
|
int constraintPackageOffset = hashCell.m_constraintListOffset;
|
|
|
|
while (constraintsToProcess)
|
|
{
|
|
const int packageSize = constraintsToProcess > constraintsPerPackage ? constraintsPerPackage : constraintsToProcess;
|
|
|
|
// DMA the holder list
|
|
{
|
|
int dmaSize = sizeof(ConstraintCellHolder)*packageSize;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_commandData.m_manifoldSetup.m_constraintHolders + constraintPackageOffset);
|
|
cellDmaLargeGet(constraintHolderList, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
|
|
// DMA the constraint list
|
|
for (int c = 0; c < packageSize; ++c)
|
|
{
|
|
//int dmaSize = CONSTRAINT_MAX_SIZE;
|
|
int dmaSize = getConstraintSize((btTypedConstraintType)constraintHolderList[c].m_constraintType);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (constraintHolderList[c].m_constraint);
|
|
cellDmaLargeGet(constraintList + CONSTRAINT_MAX_SIZE*c, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
for (int c = 0; c < packageSize; ++c)
|
|
{
|
|
btTypedConstraint* currConstraint = (btTypedConstraint*)(constraintList + CONSTRAINT_MAX_SIZE*c);
|
|
btTypedConstraintType type = currConstraint->getConstraintType();
|
|
|
|
btRigidBody* rb0Ptr = (btRigidBody*)&currConstraint->getRigidBodyA();
|
|
btRigidBody* rb1Ptr = (btRigidBody*)&currConstraint->getRigidBodyB();
|
|
|
|
// DMA the bodies
|
|
{
|
|
int dmaSize = sizeof(btRigidBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (rb0Ptr);
|
|
cellDmaLargeGet(&localMemory->m_tempRBs[0], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
{
|
|
int dmaSize = sizeof(btRigidBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (rb1Ptr);
|
|
cellDmaLargeGet(&localMemory->m_tempRBs[1], dmaPpuAddress2, dmaSize, DMA_TAG(2), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
|
|
|
|
btRigidBody* rb0 = (btRigidBody*)&localMemory->m_tempRBs[0];
|
|
btRigidBody* rb1 = (btRigidBody*)&localMemory->m_tempRBs[1];
|
|
|
|
unsigned int solverBodyIdA = ~0, solverBodyIdB = ~0;
|
|
if (rb0->getIslandTag() >= 0)
|
|
{
|
|
solverBodyIdA = rb0->getCompanionId();
|
|
}
|
|
else
|
|
{
|
|
//create a static body
|
|
solverBodyIdA = taskDesc.m_commandData.m_manifoldSetup.m_numBodies + taskDesc.m_commandData.m_manifoldSetup.m_numBodies +
|
|
hashCell.m_constraintListOffset;
|
|
setupSpuBody(rb0, &localMemory->m_tempSPUBodies[0]);
|
|
{
|
|
int dmaSize = sizeof(SpuSolverBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverBodyList + solverBodyIdA);
|
|
cellDmaLargePut(&localMemory->m_tempSPUBodies[0], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
}
|
|
|
|
if (rb1->getIslandTag() >= 0)
|
|
{
|
|
solverBodyIdB = rb1->getCompanionId();
|
|
}
|
|
else
|
|
{
|
|
//create a static body
|
|
solverBodyIdB = taskDesc.m_commandData.m_manifoldSetup.m_numBodies + taskDesc.m_commandData.m_manifoldSetup.m_numManifolds +
|
|
hashCell.m_constraintListOffset;
|
|
setupSpuBody(rb1, &localMemory->m_tempSPUBodies[0]);
|
|
{
|
|
int dmaSize = sizeof(SpuSolverBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverBodyList + solverBodyIdB);
|
|
cellDmaLargePut(&localMemory->m_tempSPUBodies[0], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
}
|
|
|
|
// Setup the pointer table
|
|
int offsA = localRBs.insert(solverBodyIdA);
|
|
int offsB = localRBs.insert(solverBodyIdB);
|
|
|
|
bool haveConstraint = false;
|
|
|
|
// Setup the constraint
|
|
switch (type)
|
|
{
|
|
case POINT2POINT_CONSTRAINT_TYPE:
|
|
{
|
|
SpuSolverConstraint& spuConstraint = localMemory->m_tempConstraint[0];
|
|
btPoint2PointConstraint* p2pC = (btPoint2PointConstraint*)currConstraint;
|
|
|
|
spuConstraint.m_localOffsetBodyA = offsA;
|
|
spuConstraint.m_localOffsetBodyB = offsB;
|
|
spuConstraint.m_constraintType = type;
|
|
|
|
// Compute the anchor positions
|
|
btVector3 pivotAinW = rb0->getCenterOfMassTransform()*p2pC->m_pivotInA;
|
|
btVector3 pivotBinW = rb1->getCenterOfMassTransform()*p2pC->m_pivotInB;
|
|
|
|
setupLinearConstraintWorld(spuConstraint, rb0, rb1, pivotAinW, pivotBinW, solverInfo);
|
|
|
|
haveConstraint = true; //We have one constraint
|
|
}
|
|
break;
|
|
case HINGE_CONSTRAINT_TYPE:
|
|
{
|
|
SpuSolverConstraint& spuConstraint = localMemory->m_tempConstraint[0];
|
|
btHingeConstraint* hC = (btHingeConstraint*)currConstraint;
|
|
|
|
spuConstraint.m_localOffsetBodyA = offsA;
|
|
spuConstraint.m_localOffsetBodyB = offsB;
|
|
spuConstraint.m_constraintType = type;
|
|
|
|
// Compute the transforms
|
|
btTransform frameAinW = rb0->getCenterOfMassTransform()*hC->m_rbAFrame;
|
|
btTransform frameBinW = rb1->getCenterOfMassTransform()*hC->m_rbBFrame;
|
|
|
|
// Setup the linear part
|
|
setupLinearConstraintWorld(spuConstraint, rb0, rb1, frameAinW.getOrigin(), frameBinW.getOrigin(), solverInfo);
|
|
|
|
// Setup angular part
|
|
btVector3 jacInv;
|
|
|
|
// Setup the jacobian inverses
|
|
for (int i = 0; i < 3; ++i)
|
|
{
|
|
const btVector3 axisA = frameAinW.getBasis().getColumn(i);
|
|
const btVector3 axisB = frameBinW.getBasis().getColumn(i);
|
|
|
|
spuConstraint.hinge.m_frameAinW[i] = axisA;
|
|
spuConstraint.hinge.m_frameBinW[i] = axisB;
|
|
|
|
jacInv[i] = computeAngularJacobianInverse(rb0, rb1, axisA);
|
|
}
|
|
|
|
// Compute position error along the two secondary axes & limit
|
|
{
|
|
btVector3 angularBias (0,0,0);
|
|
|
|
const btVector3 axisA = frameAinW.getBasis().getColumn(2);
|
|
const btVector3 axisB = frameBinW.getBasis().getColumn(2);
|
|
|
|
btVector3 error = -axisA.cross(axisB) / solverInfo.m_timeStep;
|
|
|
|
angularBias[0] = error.dot(frameAinW.getBasis().getColumn(0));
|
|
angularBias[1] = error.dot(frameAinW.getBasis().getColumn(1));
|
|
|
|
spuConstraint.m_flags.m_limit1 = 0;
|
|
|
|
if (hC->m_lowerLimit < hC->m_upperLimit)
|
|
{
|
|
// Compute hinge axis
|
|
const btVector3& refAxis0 = frameAinW.getBasis().getColumn(0);
|
|
const btVector3& refAxis1 = frameAinW.getBasis().getColumn(1);
|
|
const btVector3& swingAxis = frameBinW.getBasis().getColumn(1);
|
|
|
|
float hingeAngle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
|
|
float correction, sign;
|
|
|
|
spuConstraint.hinge.m_limitAccumulatedImpulse = 0;
|
|
|
|
if (hingeAngle <= hC->m_lowerLimit*hC->m_limitSoftness)
|
|
{
|
|
correction = (hC->m_lowerLimit - hingeAngle);
|
|
sign = 1.0f;
|
|
spuConstraint.m_flags.m_limit1 = 1;
|
|
}
|
|
else if (hingeAngle >= hC->m_upperLimit*hC->m_limitSoftness)
|
|
{
|
|
correction = (hC->m_upperLimit - hingeAngle);
|
|
sign = -1.0f;
|
|
spuConstraint.m_flags.m_limit1 = 1;
|
|
}
|
|
|
|
angularBias[2] = correction * hC->m_biasFactor / (solverInfo.m_timeStep * hC->m_relaxationFactor);
|
|
spuConstraint.hinge.m_limitJacFactor = hC->m_relaxationFactor * sign;
|
|
}
|
|
|
|
spuConstraint.hinge.m_angularBias = angularBias;
|
|
}
|
|
|
|
// Setup motor
|
|
spuConstraint.m_flags.m_motor1 = 0;
|
|
if (hC->m_enableAngularMotor)
|
|
{
|
|
spuConstraint.m_flags.m_motor1 = 1;
|
|
spuConstraint.hinge.m_motorVelocity = hC->m_motorTargetVelocity;
|
|
spuConstraint.hinge.m_motorImpulse = hC->m_maxMotorImpulse;
|
|
}
|
|
|
|
spuConstraint.hinge.m_angJacdiagABInv = jacInv;
|
|
|
|
haveConstraint = true;
|
|
}
|
|
break;
|
|
case CONETWIST_CONSTRAINT_TYPE:
|
|
{
|
|
SpuSolverConstraint& spuConstraint = localMemory->m_tempConstraint[0];
|
|
btConeTwistConstraint* ctC = (btConeTwistConstraint*)currConstraint;
|
|
|
|
spuConstraint.m_localOffsetBodyA = offsA;
|
|
spuConstraint.m_localOffsetBodyB = offsB;
|
|
spuConstraint.m_constraintType = type;
|
|
|
|
// Compute the transforms
|
|
btTransform frameAinW = rb0->getCenterOfMassTransform()*ctC->m_rbAFrame;
|
|
btTransform frameBinW = rb1->getCenterOfMassTransform()*ctC->m_rbBFrame;
|
|
|
|
// Setup the linear part
|
|
setupLinearConstraintWorld(spuConstraint, rb0, rb1, frameAinW.getOrigin(), frameBinW.getOrigin(), solverInfo);
|
|
|
|
// Setup the swing limits
|
|
const btVector3& b1Axis1 = frameAinW.getBasis().getColumn(0);
|
|
const btVector3& b2Axis1 = frameBinW.getBasis().getColumn(0);
|
|
const btVector3& b1Axis2 = frameAinW.getBasis().getColumn(1);
|
|
const btVector3& b1Axis3 = frameAinW.getBasis().getColumn(2);
|
|
|
|
float swing1 = 0.0f, swing2 = 0.0f;
|
|
|
|
if (ctC->m_swingSpan1 >= 0.05f)
|
|
{
|
|
swing1 = btAtan2Fast(b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1));
|
|
}
|
|
if (ctC->m_swingSpan2 >= 0.05f)
|
|
{
|
|
swing2 = btAtan2Fast(b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1));
|
|
}
|
|
|
|
float rMaxAngle1Sq = 1.0f / (ctC->m_swingSpan1*ctC->m_swingSpan1);
|
|
float rMaxAngle2Sq = 1.0f / (ctC->m_swingSpan2*ctC->m_swingSpan2);
|
|
float ellipseAngle = btFabs(swing1)* rMaxAngle1Sq + btFabs(swing2) * rMaxAngle2Sq;
|
|
|
|
spuConstraint.m_flags.m_limit1 = 0;
|
|
spuConstraint.m_flags.m_limit2 = 0;
|
|
|
|
spuConstraint.conetwist.m_swingLimitImpulse = 0;
|
|
spuConstraint.conetwist.m_twistLimitImpulse = 0;
|
|
|
|
float relFactorSq = ctC->m_relaxationFactor*ctC->m_relaxationFactor;
|
|
|
|
if (ellipseAngle > 1.0f)
|
|
{
|
|
spuConstraint.conetwist.m_swingError = ellipseAngle - 1.0f;
|
|
spuConstraint.conetwist.m_swingError *= ctC->m_biasFactor;
|
|
spuConstraint.conetwist.m_swingError /= solverInfo.m_timeStep * relFactorSq;
|
|
|
|
spuConstraint.m_flags.m_limit1 = 1;
|
|
|
|
btVector3 axis = b2Axis1.cross(b1Axis2* b2Axis1.dot(b1Axis2) + b1Axis3* b2Axis1.dot(b1Axis3));
|
|
axis.normalize();
|
|
|
|
float swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
|
|
axis *= swingAxisSign;
|
|
|
|
spuConstraint.conetwist.m_swingAxis = axis;
|
|
|
|
float jacobian = computeAngularJacobianInverse(rb0, rb1, axis);
|
|
spuConstraint.conetwist.m_swingJacInv = relFactorSq * jacobian;
|
|
}
|
|
|
|
// Setup twist limits
|
|
if (ctC->m_twistSpan >= 0.0f)
|
|
{
|
|
const btVector3& b2Axis2 = frameBinW.getBasis().getColumn(1);
|
|
|
|
btQuaternion rotationArc = shortestArcQuat(b2Axis1,b1Axis1);
|
|
btVector3 TwistRef = quatRotate(rotationArc,b2Axis2);
|
|
float twist = btAtan2Fast(TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2));
|
|
|
|
float lockedFreeFactor = (ctC->m_twistSpan > btScalar(0.05f)) ? ctC->m_limitSoftness : btScalar(0.);
|
|
if (twist <= -ctC->m_twistSpan*lockedFreeFactor)
|
|
{
|
|
spuConstraint.conetwist.m_twistError = -(twist + ctC->m_twistSpan);
|
|
spuConstraint.conetwist.m_twistError *= ctC->m_biasFactor;
|
|
spuConstraint.conetwist.m_twistError /= solverInfo.m_timeStep * relFactorSq;
|
|
|
|
spuConstraint.m_flags.m_limit2 = 1;
|
|
|
|
btVector3 axis = -(b1Axis1 + b2Axis1);
|
|
axis.normalize();
|
|
spuConstraint.conetwist.m_twistAxis = axis;
|
|
|
|
float jacobian = computeAngularJacobianInverse(rb0, rb1, axis);
|
|
spuConstraint.conetwist.m_twistJacInv = relFactorSq * jacobian;
|
|
}
|
|
else if (twist >= ctC->m_twistSpan*lockedFreeFactor)
|
|
{
|
|
spuConstraint.conetwist.m_twistError = twist - ctC->m_twistSpan;
|
|
spuConstraint.conetwist.m_twistError *= ctC->m_biasFactor;
|
|
spuConstraint.conetwist.m_twistError /= solverInfo.m_timeStep * relFactorSq;
|
|
|
|
spuConstraint.m_flags.m_limit2 = 1;
|
|
|
|
btVector3 axis = b1Axis1 + b2Axis1;
|
|
axis.normalize();
|
|
spuConstraint.conetwist.m_twistAxis = axis;
|
|
|
|
float jacobian = computeAngularJacobianInverse(rb0, rb1, axis);
|
|
spuConstraint.conetwist.m_twistJacInv = relFactorSq * jacobian;
|
|
}
|
|
|
|
}
|
|
|
|
haveConstraint = true; //We have one constraint
|
|
}
|
|
break;
|
|
default:
|
|
;
|
|
}
|
|
|
|
|
|
if (haveConstraint)
|
|
{
|
|
//DMA it
|
|
int dmaSize = sizeof(SpuSolverConstraint);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverConstraintList +
|
|
hashCell.m_constraintListOffset + numOutConstraints);
|
|
cellDmaLargePut(&localMemory->m_tempConstraint[0], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
numOutConstraints++;
|
|
}
|
|
|
|
}
|
|
|
|
constraintsToProcess -= packageSize;
|
|
constraintPackageOffset += packageSize;
|
|
}
|
|
}
|
|
|
|
// Write back some data, if needed
|
|
if (localRBs.size() > 0)
|
|
{
|
|
{
|
|
// DMA the local body list
|
|
int dmaSize = sizeof(uint32_t)*localRBs.size();
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverBodyOffsetList + hashCell.m_solverBodyOffsetListOffset);
|
|
cellDmaLargePut(indexArray, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
hashCell.m_numLocalBodies = localRBs.size();
|
|
hashCell.m_numConstraints = numOutConstraints;
|
|
{
|
|
// DMA the hash cell
|
|
int dmaSize = sizeof(SpuSolverHashCell);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverHash);
|
|
dmaPpuAddress2 += offsetof(SpuSolverHash,m_Hash);
|
|
dmaPpuAddress2 += sizeof(SpuSolverHashCell) * cellIdx;
|
|
|
|
cellDmaLargePut(&hashCell, dmaPpuAddress2, dmaSize, DMA_TAG(2), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
case CMD_SOLVER_SOLVE_ITERATE:
|
|
{
|
|
// DMA the hash
|
|
{
|
|
int dmaSize = sizeof(SpuSolverHash);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverHash);
|
|
cellDmaLargeGet(&localMemory->m_localHash, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
|
|
btSpinlock hashLock (taskDesc.m_commandData.m_iterate.m_spinLockVar);
|
|
|
|
unsigned int cellToProcess;
|
|
while (1)
|
|
{
|
|
cellToProcess = getNextFreeCell(localMemory, taskDesc, hashLock);
|
|
|
|
if (cellToProcess >= SPU_HASH_NUMCELLS)
|
|
break;
|
|
|
|
// Now process that one cell
|
|
SpuSolverHashCell& hashCell = localMemory->m_localHash.m_Hash[cellToProcess];
|
|
|
|
if (hashCell.m_numContacts == 0 && hashCell.m_numConstraints == 0)
|
|
continue;
|
|
|
|
// DMA the local bodies and constraints
|
|
|
|
// Get the body list
|
|
uint32_t* indexList = (uint32_t*)allocTemporaryStorage(localMemory, sizeof(uint32_t)*hashCell.m_numLocalBodies);
|
|
SpuSolverBody* bodyList = allocBodyStorage(localMemory, hashCell.m_numLocalBodies);
|
|
|
|
{
|
|
int dmaSize = sizeof(uint32_t)*hashCell.m_numLocalBodies;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverBodyOffsetList + hashCell.m_solverBodyOffsetListOffset);
|
|
cellDmaLargeGet(indexList, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
|
|
// DMA the bodies
|
|
for (int b = 0; b < hashCell.m_numLocalBodies; ++b)
|
|
{
|
|
int dmaSize = sizeof(SpuSolverBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverBodyList + indexList[b]);
|
|
cellDmaLargeGet(bodyList+b, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
// Process the constraints in packets
|
|
if (hashCell.m_numConstraints)
|
|
{
|
|
const size_t maxConstraintsPerPacket = memTemporaryStorage(localMemory) / sizeof(SpuSolverConstraint);
|
|
size_t constraintsToProcess = hashCell.m_numConstraints;
|
|
size_t constraintListOffset = hashCell.m_constraintListOffset;
|
|
|
|
SpuSolverConstraint* constraints = allocConstraintStorage(localMemory, maxConstraintsPerPacket);
|
|
|
|
while (constraintsToProcess > 0)
|
|
{
|
|
size_t packetSize = constraintsToProcess > maxConstraintsPerPacket ? maxConstraintsPerPacket : constraintsToProcess;
|
|
|
|
// DMA the constraints
|
|
{
|
|
int dmaSize = sizeof(SpuSolverConstraint)*packetSize;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverConstraintList + constraintListOffset);
|
|
cellDmaLargeGet(constraints, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
|
|
// Solve
|
|
for (int j = 0; j < packetSize; ++j)
|
|
{
|
|
SpuSolverConstraint& constraint = constraints[j];
|
|
SpuSolverBody& bodyA = bodyList[constraint.m_localOffsetBodyA];
|
|
SpuSolverBody& bodyB = bodyList[constraint.m_localOffsetBodyB];
|
|
|
|
solveConstraint(constraint, bodyA, bodyB);
|
|
}
|
|
|
|
// Write back the constraints for accumulated stuff
|
|
{
|
|
int dmaSize = sizeof(SpuSolverConstraint)*packetSize;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverConstraintList + constraintListOffset);
|
|
cellDmaLargePut(constraints, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
constraintListOffset += packetSize;
|
|
constraintsToProcess -= packetSize;
|
|
}
|
|
|
|
freeConstraintStorage (localMemory, constraints, maxConstraintsPerPacket);
|
|
}
|
|
|
|
// Now process the contacts
|
|
if (hashCell.m_numContacts)
|
|
{
|
|
const size_t maxContactsPerPacket = memTemporaryStorage(localMemory) / (sizeof(SpuSolverInternalConstraint)*3);
|
|
size_t contactsToProcess = hashCell.m_numContacts;
|
|
size_t constraintListOffset = hashCell.m_internalConstraintListOffset;
|
|
|
|
SpuSolverInternalConstraint* internalConstraints = allocInternalConstraintStorage(localMemory, maxContactsPerPacket*3);
|
|
|
|
while (contactsToProcess > 0)
|
|
{
|
|
size_t packetSize = contactsToProcess > maxContactsPerPacket ? maxContactsPerPacket : contactsToProcess;
|
|
|
|
// DMA the constraints
|
|
{
|
|
int dmaSize = sizeof(SpuSolverInternalConstraint)*packetSize*3;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverInternalConstraintList + constraintListOffset);
|
|
cellDmaLargeGet(internalConstraints, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
|
|
// Solve
|
|
for (int j = 0; j < packetSize*3; j += 3)
|
|
{
|
|
SpuSolverInternalConstraint& contact = internalConstraints[j];
|
|
SpuSolverBody& bodyA = bodyList[contact.m_localOffsetBodyA];
|
|
SpuSolverBody& bodyB = bodyList[contact.m_localOffsetBodyB];
|
|
|
|
solveContact(contact, bodyA, bodyB);
|
|
}
|
|
|
|
for (int j = 0; j < packetSize*3; j += 3)
|
|
{
|
|
SpuSolverInternalConstraint& contact = internalConstraints[j];
|
|
SpuSolverBody& bodyA = bodyList[contact.m_localOffsetBodyA];
|
|
SpuSolverBody& bodyB = bodyList[contact.m_localOffsetBodyB];
|
|
|
|
SpuSolverInternalConstraint& frictionConstraint1 = internalConstraints[j + 1];
|
|
solveFriction(frictionConstraint1, bodyA, bodyB, contact.m_appliedImpulse);
|
|
|
|
SpuSolverInternalConstraint& frictionConstraint2 = internalConstraints[j + 2];
|
|
solveFriction(frictionConstraint2, bodyA, bodyB, contact.m_appliedImpulse);
|
|
}
|
|
|
|
|
|
// Write back the constraints for accumulated stuff
|
|
{
|
|
int dmaSize = sizeof(SpuSolverInternalConstraint)*packetSize*3;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverInternalConstraintList + constraintListOffset);
|
|
cellDmaLargePut(internalConstraints, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
constraintListOffset += packetSize*3;
|
|
contactsToProcess -= packetSize;
|
|
}
|
|
|
|
freeInternalConstraintStorage (localMemory, internalConstraints, maxContactsPerPacket*3);
|
|
}
|
|
|
|
|
|
// DMA the bodies back to main memory
|
|
for (int b = 0; b < hashCell.m_numLocalBodies; ++b)
|
|
{
|
|
int dmaSize = sizeof(SpuSolverBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverBodyList + indexList[b]);
|
|
cellDmaLargePut(bodyList + b, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
|
|
freeBodyStorage(localMemory, bodyList, hashCell.m_numLocalBodies);
|
|
freeTemporaryStorage(localMemory, indexList, sizeof(uint32_t)*hashCell.m_numLocalBodies);
|
|
|
|
};
|
|
}
|
|
break;
|
|
case CMD_SOLVER_COPYBACK_BODIES:
|
|
{
|
|
int bodiesToProcess = taskDesc.m_commandData.m_bodyCopyback.m_numBodies;
|
|
int bodyPackageOffset = taskDesc.m_commandData.m_bodyCopyback.m_startBody;
|
|
const int bodiesPerPackage = 256;
|
|
|
|
btRigidBody** bodyPtrList = (btRigidBody**)allocTemporaryStorage(localMemory, bodiesPerPackage*sizeof(btRigidBody*));
|
|
btRigidBody* bodyList = (btRigidBody*)allocTemporaryStorage(localMemory, bodiesPerPackage*sizeof(btRigidBody));
|
|
SpuSolverBody* spuBodyList = allocBodyStorage(localMemory, bodiesPerPackage);
|
|
|
|
while (bodiesToProcess > 0)
|
|
{
|
|
const int packageSize = bodiesToProcess > bodiesPerPackage ? bodiesPerPackage : bodiesToProcess;
|
|
|
|
// DMA the body pointers
|
|
{
|
|
int dmaSize = sizeof(btRigidBody*)*packageSize;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_commandData.m_bodySetup.m_rbList + bodyPackageOffset);
|
|
cellDmaLargeGet(bodyPtrList, dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1));
|
|
}
|
|
|
|
// DMA the rigid bodies
|
|
for (int b = 0; b < packageSize; ++b)
|
|
{
|
|
btRigidBody* body = bodyPtrList[b];
|
|
int dmaSize = sizeof(btRigidBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (body);
|
|
cellDmaLargeGet(&bodyList[b], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
|
|
// DMA the list of SPU bodies
|
|
{
|
|
int dmaSize = sizeof(SpuSolverBody)*packageSize;
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (taskDesc.m_solverData.m_solverBodyList + bodyPackageOffset);
|
|
cellDmaLargeGet(spuBodyList, dmaPpuAddress2, dmaSize, DMA_TAG(2), 0, 0);
|
|
}
|
|
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
|
|
|
|
|
|
for (int b = 0; b < packageSize; ++b)
|
|
{
|
|
btRigidBody* localBody = bodyList + b;
|
|
SpuSolverBody* solverBody = spuBodyList + b;
|
|
|
|
if (solverBody->m_invertedMass > 0)
|
|
{
|
|
localBody->setLinearVelocity(solverBody->m_linearVelocity);
|
|
localBody->setAngularVelocity(solverBody->m_angularVelocity);
|
|
}
|
|
localBody->setCompanionId(-1);
|
|
}
|
|
|
|
// DMA the rigid bodies
|
|
for (int b = 0; b < packageSize; ++b)
|
|
{
|
|
btRigidBody* body = bodyPtrList[b];
|
|
int dmaSize = sizeof(btRigidBody);
|
|
uint64_t dmaPpuAddress2 = reinterpret_cast<uint64_t> (body);
|
|
cellDmaLargePut(&bodyList[b], dmaPpuAddress2, dmaSize, DMA_TAG(1), 0, 0);
|
|
}
|
|
|
|
|
|
bodiesToProcess -= packageSize;
|
|
bodyPackageOffset += packageSize;
|
|
}
|
|
|
|
}
|
|
break;
|
|
default:
|
|
//.. nothing
|
|
;
|
|
// btAssert(0);
|
|
}
|
|
}
|