924 lines
29 KiB
C++
924 lines
29 KiB
C++
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#include "btGpuJacobiSolver.h"
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#include "BulletCommon/btAlignedObjectArray.h"
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#include "parallel_primitives/host/btPrefixScanCL.h"
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#include "btGpuConstraint4.h"
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#include "BulletCommon/btQuickprof.h"
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#include "../../parallel_primitives/host/btInt2.h"
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#include "../../parallel_primitives/host/btFillCL.h"
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#include "../../parallel_primitives/host/btLauncherCL.h"
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#include "../kernels/solverUtils.h"
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#define SOLVER_UTILS_KERNEL_PATH "opencl/gpu_rigidbody/kernels/solverUtils.cl"
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struct btGpuJacobiSolverInternalData
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{
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//btRadixSort32CL* m_sort32;
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//btBoundSearchCL* m_search;
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btPrefixScanCL* m_scan;
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btOpenCLArray<unsigned int>* m_bodyCount;
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btOpenCLArray<btInt2>* m_contactConstraintOffsets;
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btOpenCLArray<unsigned int>* m_offsetSplitBodies;
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btOpenCLArray<btVector3>* m_deltaLinearVelocities;
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btOpenCLArray<btVector3>* m_deltaAngularVelocities;
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btOpenCLArray<btGpuConstraint4>* m_contactConstraints;
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btFillCL* m_filler;
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cl_kernel m_countBodiesKernel;
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cl_kernel m_contactToConstraintSplitKernel;
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cl_kernel m_clearVelocitiesKernel;
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cl_kernel m_averageVelocitiesKernel;
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cl_kernel m_updateBodyVelocitiesKernel;
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cl_kernel m_solveContactKernel;
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cl_kernel m_solveFrictionKernel;
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};
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btGpuJacobiSolver::btGpuJacobiSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity)
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:m_context(ctx),
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m_device(device),
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m_queue(queue)
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{
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m_data = new btGpuJacobiSolverInternalData;
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m_data->m_scan = new btPrefixScanCL(m_context,m_device,m_queue);
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m_data->m_bodyCount = new btOpenCLArray<unsigned int>(m_context,m_queue);
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m_data->m_filler = new btFillCL(m_context,m_device,m_queue);
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m_data->m_contactConstraintOffsets = new btOpenCLArray<btInt2>(m_context,m_queue);
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m_data->m_offsetSplitBodies = new btOpenCLArray<unsigned int>(m_context,m_queue);
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m_data->m_contactConstraints = new btOpenCLArray<btGpuConstraint4>(m_context,m_queue);
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m_data->m_deltaLinearVelocities = new btOpenCLArray<btVector3>(m_context,m_queue);
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m_data->m_deltaAngularVelocities = new btOpenCLArray<btVector3>(m_context,m_queue);
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cl_int pErrNum;
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const char* additionalMacros="";
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const char* solverUtilsSource = solverUtilsCL;
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{
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cl_program solverUtilsProg= btOpenCLUtils::compileCLProgramFromString( ctx, device, 0, &pErrNum,additionalMacros, SOLVER_UTILS_KERNEL_PATH,true);
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btAssert(solverUtilsProg);
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m_data->m_countBodiesKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "CountBodiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
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btAssert(m_data->m_countBodiesKernel);
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m_data->m_contactToConstraintSplitKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "ContactToConstraintSplitKernel", &pErrNum, solverUtilsProg,additionalMacros );
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btAssert(m_data->m_contactToConstraintSplitKernel);
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m_data->m_clearVelocitiesKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "ClearVelocitiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
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btAssert(m_data->m_clearVelocitiesKernel);
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m_data->m_averageVelocitiesKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "AverageVelocitiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
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btAssert(m_data->m_averageVelocitiesKernel);
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m_data->m_updateBodyVelocitiesKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "UpdateBodyVelocitiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
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btAssert(m_data->m_updateBodyVelocitiesKernel);
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m_data->m_solveContactKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "SolveContactJacobiKernel", &pErrNum, solverUtilsProg,additionalMacros );
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btAssert(m_data->m_solveContactKernel );
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m_data->m_solveFrictionKernel = btOpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "SolveFrictionJacobiKernel", &pErrNum, solverUtilsProg,additionalMacros );
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btAssert(m_data->m_solveFrictionKernel);
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}
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}
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btGpuJacobiSolver::~btGpuJacobiSolver()
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{
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clReleaseKernel(m_data->m_solveContactKernel);
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clReleaseKernel(m_data->m_solveFrictionKernel);
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clReleaseKernel(m_data->m_countBodiesKernel);
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clReleaseKernel(m_data->m_contactToConstraintSplitKernel);
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clReleaseKernel(m_data->m_averageVelocitiesKernel);
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clReleaseKernel(m_data->m_updateBodyVelocitiesKernel);
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clReleaseKernel(m_data->m_clearVelocitiesKernel );
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delete m_data->m_deltaLinearVelocities;
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delete m_data->m_deltaAngularVelocities;
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delete m_data->m_contactConstraints;
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delete m_data->m_offsetSplitBodies;
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delete m_data->m_contactConstraintOffsets;
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delete m_data->m_bodyCount;
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delete m_data->m_filler;
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delete m_data->m_scan;
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delete m_data;
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}
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btVector3 make_float4(float v)
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{
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return btVector3 (v,v,v);
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}
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btVector4 make_float4(float x,float y, float z, float w)
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{
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return btVector4 (x,y,z,w);
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}
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static
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inline
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float calcRelVel(const btVector3& l0, const btVector3& l1, const btVector3& a0, const btVector3& a1,
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const btVector3& linVel0, const btVector3& angVel0, const btVector3& linVel1, const btVector3& angVel1)
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{
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return btDot(l0, linVel0) + btDot(a0, angVel0) + btDot(l1, linVel1) + btDot(a1, angVel1);
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}
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static
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inline
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void setLinearAndAngular(const btVector3& n, const btVector3& r0, const btVector3& r1,
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btVector3& linear, btVector3& angular0, btVector3& angular1)
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{
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linear = -n;
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angular0 = -btCross(r0, n);
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angular1 = btCross(r1, n);
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}
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static __inline void solveContact(btGpuConstraint4& cs,
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const btVector3& posA, const btVector3& linVelARO, const btVector3& angVelARO, float invMassA, const btMatrix3x3& invInertiaA,
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const btVector3& posB, const btVector3& linVelBRO, const btVector3& angVelBRO, float invMassB, const btMatrix3x3& invInertiaB,
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float maxRambdaDt[4], float minRambdaDt[4], btVector3& dLinVelA, btVector3& dAngVelA, btVector3& dLinVelB, btVector3& dAngVelB)
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{
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for(int ic=0; ic<4; ic++)
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{
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// dont necessary because this makes change to 0
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if( cs.m_jacCoeffInv[ic] == 0.f ) continue;
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{
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btVector3 angular0, angular1, linear;
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btVector3 r0 = cs.m_worldPos[ic] - (btVector3&)posA;
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btVector3 r1 = cs.m_worldPos[ic] - (btVector3&)posB;
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setLinearAndAngular( (const btVector3 &)-cs.m_linear, (const btVector3 &)r0, (const btVector3 &)r1, linear, angular0, angular1 );
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float rambdaDt = calcRelVel((const btVector3 &)cs.m_linear,(const btVector3 &) -cs.m_linear, angular0, angular1,
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linVelARO+dLinVelA, angVelARO+dAngVelA, linVelBRO+dLinVelB, angVelBRO+dAngVelB ) + cs.m_b[ic];
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rambdaDt *= cs.m_jacCoeffInv[ic];
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{
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float prevSum = cs.m_appliedRambdaDt[ic];
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float updated = prevSum;
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updated += rambdaDt;
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updated = btMax( updated, minRambdaDt[ic] );
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updated = btMin( updated, maxRambdaDt[ic] );
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rambdaDt = updated - prevSum;
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cs.m_appliedRambdaDt[ic] = updated;
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}
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btVector3 linImp0 = invMassA*linear*rambdaDt;
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btVector3 linImp1 = invMassB*(-linear)*rambdaDt;
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btVector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
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btVector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
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#ifdef _WIN32
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btAssert(_finite(linImp0.x()));
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btAssert(_finite(linImp1.x()));
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#endif
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if (invMassA)
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{
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dLinVelA += linImp0;
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dAngVelA += angImp0;
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}
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if (invMassB)
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{
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dLinVelB += linImp1;
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dAngVelB += angImp1;
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}
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}
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}
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}
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void solveContact3(btGpuConstraint4* cs,
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btVector3* posAPtr, btVector3* linVelA, btVector3* angVelA, float invMassA, const btMatrix3x3& invInertiaA,
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btVector3* posBPtr, btVector3* linVelB, btVector3* angVelB, float invMassB, const btMatrix3x3& invInertiaB,
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btVector3* dLinVelA, btVector3* dAngVelA, btVector3* dLinVelB, btVector3* dAngVelB)
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{
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float minRambdaDt = 0;
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float maxRambdaDt = FLT_MAX;
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for(int ic=0; ic<4; ic++)
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{
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if( cs->m_jacCoeffInv[ic] == 0.f ) continue;
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btVector3 angular0, angular1, linear;
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btVector3 r0 = cs->m_worldPos[ic] - *posAPtr;
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btVector3 r1 = cs->m_worldPos[ic] - *posBPtr;
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setLinearAndAngular( -cs->m_linear, r0, r1, linear, angular0, angular1 );
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float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1,
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*linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];
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rambdaDt *= cs->m_jacCoeffInv[ic];
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{
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float prevSum = cs->m_appliedRambdaDt[ic];
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float updated = prevSum;
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updated += rambdaDt;
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updated = btMax( updated, minRambdaDt );
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updated = btMin( updated, maxRambdaDt );
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rambdaDt = updated - prevSum;
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cs->m_appliedRambdaDt[ic] = updated;
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}
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btVector3 linImp0 = invMassA*linear*rambdaDt;
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btVector3 linImp1 = invMassB*(-linear)*rambdaDt;
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btVector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
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btVector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
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if (invMassA)
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{
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*dLinVelA += linImp0;
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*dAngVelA += angImp0;
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}
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if (invMassB)
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{
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*dLinVelB += linImp1;
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*dAngVelB += angImp1;
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}
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}
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}
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static inline void solveFriction(btGpuConstraint4& cs,
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const btVector3& posA, const btVector3& linVelARO, const btVector3& angVelARO, float invMassA, const btMatrix3x3& invInertiaA,
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const btVector3& posB, const btVector3& linVelBRO, const btVector3& angVelBRO, float invMassB, const btMatrix3x3& invInertiaB,
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float maxRambdaDt[4], float minRambdaDt[4], btVector3& dLinVelA, btVector3& dAngVelA, btVector3& dLinVelB, btVector3& dAngVelB)
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{
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btVector3 linVelA = linVelARO+dLinVelA;
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btVector3 linVelB = linVelBRO+dLinVelB;
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btVector3 angVelA = angVelARO+dAngVelA;
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btVector3 angVelB = angVelBRO+dAngVelB;
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if( cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0 ) return;
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const btVector3& center = (const btVector3&)cs.m_center;
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btVector3 n = -(const btVector3&)cs.m_linear;
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btVector3 tangent[2];
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#if 1
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btPlaneSpace1 (n, tangent[0],tangent[1]);
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#else
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btVector3 r = cs.m_worldPos[0]-center;
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tangent[0] = cross3( n, r );
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tangent[1] = cross3( tangent[0], n );
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tangent[0] = normalize3( tangent[0] );
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tangent[1] = normalize3( tangent[1] );
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#endif
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btVector3 angular0, angular1, linear;
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btVector3 r0 = center - posA;
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btVector3 r1 = center - posB;
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for(int i=0; i<2; i++)
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{
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setLinearAndAngular( tangent[i], r0, r1, linear, angular0, angular1 );
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float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
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linVelA, angVelA, linVelB, angVelB );
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rambdaDt *= cs.m_fJacCoeffInv[i];
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{
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float prevSum = cs.m_fAppliedRambdaDt[i];
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float updated = prevSum;
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updated += rambdaDt;
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updated = btMax( updated, minRambdaDt[i] );
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updated = btMin( updated, maxRambdaDt[i] );
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rambdaDt = updated - prevSum;
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cs.m_fAppliedRambdaDt[i] = updated;
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}
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btVector3 linImp0 = invMassA*linear*rambdaDt;
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btVector3 linImp1 = invMassB*(-linear)*rambdaDt;
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btVector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
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btVector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
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#ifdef _WIN32
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btAssert(_finite(linImp0.x()));
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btAssert(_finite(linImp1.x()));
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#endif
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if (invMassA)
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{
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dLinVelA += linImp0;
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dAngVelA += angImp0;
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}
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if (invMassB)
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{
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dLinVelB += linImp1;
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dAngVelB += angImp1;
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}
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}
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{ // angular damping for point constraint
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btVector3 ab = ( posB - posA ).normalized();
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btVector3 ac = ( center - posA ).normalized();
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if( btDot( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
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{
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float angNA = btDot( n, angVelA );
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float angNB = btDot( n, angVelB );
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if (invMassA)
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dAngVelA -= (angNA*0.1f)*n;
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if (invMassB)
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dAngVelB -= (angNB*0.1f)*n;
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}
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}
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}
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btVector3 mtMul3(const btVector3& a, const btMatrix3x3& b)
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{
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btVector3 colx = make_float4(b.getRow(0)[0], b.getRow(1)[0], b.getRow(2)[0], 0);
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btVector3 coly = make_float4(b.getRow(0)[1], b.getRow(1)[1], b.getRow(2)[1], 0);
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btVector3 colz = make_float4(b.getRow(0)[2], b.getRow(1)[2], b.getRow(2)[2], 0);
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btVector3 ans;
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ans[0] = btDot( a, colx );
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ans[1] = btDot( a, coly );
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ans[2] = btDot( a, colz );
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return ans;
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}
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float calcJacCoeff(const btVector3& linear0, const btVector3& linear1, const btVector3& angular0, const btVector3& angular1,
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float invMass0, const btMatrix3x3* invInertia0, float invMass1, const btMatrix3x3* invInertia1, float countA, float countB)
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{
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// linear0,1 are normlized
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float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;
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float jmj1 = btDot(mtMul3(angular0,*invInertia0), angular0);
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float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;
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float jmj3 = btDot(mtMul3(angular1,*invInertia1), angular1);
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return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);
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// return -1.f/((jmj0+jmj1)+(jmj2+jmj3));
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}
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void setConstraint4( const btVector3& posA, const btVector3& linVelA, const btVector3& angVelA, float invMassA, const btMatrix3x3& invInertiaA,
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const btVector3& posB, const btVector3& linVelB, const btVector3& angVelB, float invMassB, const btMatrix3x3& invInertiaB,
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btContact4* src, float dt, float positionDrift, float positionConstraintCoeff, float countA, float countB,
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btGpuConstraint4* dstC )
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{
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dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
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dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
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float dtInv = 1.f/dt;
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for(int ic=0; ic<4; ic++)
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{
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dstC->m_appliedRambdaDt[ic] = 0.f;
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}
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dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
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dstC->m_linear = -src->m_worldNormal;
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dstC->m_linear[3] = 0.7f ;//src->getFrictionCoeff() );
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for(int ic=0; ic<4; ic++)
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{
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btVector3 r0 = src->m_worldPos[ic] - posA;
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btVector3 r1 = src->m_worldPos[ic] - posB;
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if( ic >= src->m_worldNormal[3] )//npoints
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{
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dstC->m_jacCoeffInv[ic] = 0.f;
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continue;
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}
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float relVelN;
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{
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btVector3 linear, angular0, angular1;
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setLinearAndAngular(src->m_worldNormal, r0, r1, linear, angular0, angular1);
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dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
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invMassA, &invInertiaA, invMassB, &invInertiaB ,countA,countB);
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relVelN = calcRelVel(linear, -linear, angular0, angular1,
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linVelA, angVelA, linVelB, angVelB);
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float e = 0.f;//src->getRestituitionCoeff();
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if( relVelN*relVelN < 0.004f )
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{
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e = 0.f;
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}
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dstC->m_b[ic] = e*relVelN;
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//float penetration = src->m_worldPos[ic].w;
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dstC->m_b[ic] += (src->m_worldPos[ic][3] + positionDrift)*positionConstraintCoeff*dtInv;
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dstC->m_appliedRambdaDt[ic] = 0.f;
|
|
}
|
|
}
|
|
|
|
if( src->m_worldNormal[3] > 0 )//npoints
|
|
{ // prepare friction
|
|
btVector3 center = make_float4(0.f);
|
|
for(int i=0; i<src->m_worldNormal[3]; i++)
|
|
center += src->m_worldPos[i];
|
|
center /= (float)src->m_worldNormal[3];
|
|
|
|
btVector3 tangent[2];
|
|
btPlaneSpace1(src->m_worldNormal,tangent[0],tangent[1]);
|
|
|
|
btVector3 r[2];
|
|
r[0] = center - posA;
|
|
r[1] = center - posB;
|
|
|
|
for(int i=0; i<2; i++)
|
|
{
|
|
btVector3 linear, angular0, angular1;
|
|
setLinearAndAngular(tangent[i], r[0], r[1], linear, angular0, angular1);
|
|
|
|
dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,
|
|
invMassA, &invInertiaA, invMassB, &invInertiaB ,countA,countB);
|
|
dstC->m_fAppliedRambdaDt[i] = 0.f;
|
|
}
|
|
dstC->m_center = center;
|
|
}
|
|
|
|
for(int i=0; i<4; i++)
|
|
{
|
|
if( i<src->m_worldNormal[3] )
|
|
{
|
|
dstC->m_worldPos[i] = src->m_worldPos[i];
|
|
}
|
|
else
|
|
{
|
|
dstC->m_worldPos[i] = make_float4(0.f);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void ContactToConstraintKernel(btContact4* gContact, btRigidBodyCL* gBodies, btInertiaCL* gShapes, btGpuConstraint4* gConstraintOut, int nContacts,
|
|
float dt,
|
|
float positionDrift,
|
|
float positionConstraintCoeff, int gIdx, btAlignedObjectArray<unsigned int>& bodyCount
|
|
)
|
|
{
|
|
//int gIdx = 0;//GET_GLOBAL_IDX;
|
|
|
|
if( gIdx < nContacts )
|
|
{
|
|
int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
|
|
int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
|
|
|
|
btVector3 posA = gBodies[aIdx].m_pos;
|
|
btVector3 linVelA = gBodies[aIdx].m_linVel;
|
|
btVector3 angVelA = gBodies[aIdx].m_angVel;
|
|
float invMassA = gBodies[aIdx].m_invMass;
|
|
btMatrix3x3 invInertiaA = gShapes[aIdx].m_invInertiaWorld;//.m_invInertia;
|
|
|
|
btVector3 posB = gBodies[bIdx].m_pos;
|
|
btVector3 linVelB = gBodies[bIdx].m_linVel;
|
|
btVector3 angVelB = gBodies[bIdx].m_angVel;
|
|
float invMassB = gBodies[bIdx].m_invMass;
|
|
btMatrix3x3 invInertiaB = gShapes[bIdx].m_invInertiaWorld;//m_invInertia;
|
|
|
|
btGpuConstraint4 cs;
|
|
float countA = invMassA ? (float)(bodyCount[aIdx]) : 1;
|
|
float countB = invMassB ? (float)(bodyCount[bIdx]) : 1;
|
|
setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,
|
|
&gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,
|
|
&cs );
|
|
|
|
|
|
|
|
cs.m_batchIdx = gContact[gIdx].m_batchIdx;
|
|
|
|
gConstraintOut[gIdx] = cs;
|
|
}
|
|
}
|
|
|
|
|
|
void btGpuJacobiSolver::solveGroupHost(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo)
|
|
{
|
|
BT_PROFILE("btGpuJacobiSolver::solveGroup");
|
|
|
|
btAlignedObjectArray<unsigned int> bodyCount;
|
|
bodyCount.resize(numBodies);
|
|
for (int i=0;i<numBodies;i++)
|
|
bodyCount[i] = 0;
|
|
|
|
btAlignedObjectArray<btInt2> contactConstraintOffsets;
|
|
contactConstraintOffsets.resize(numManifolds);
|
|
|
|
|
|
for (int i=0;i<numManifolds;i++)
|
|
{
|
|
int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;
|
|
int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;
|
|
|
|
bool isFixedA = (pa <0) || (pa == solverInfo.m_fixedBodyIndex);
|
|
bool isFixedB = (pb <0) || (pb == solverInfo.m_fixedBodyIndex);
|
|
|
|
int bodyIndexA = manifoldPtr[i].getBodyA();
|
|
int bodyIndexB = manifoldPtr[i].getBodyB();
|
|
|
|
if (!isFixedA)
|
|
{
|
|
contactConstraintOffsets[i].x = bodyCount[bodyIndexA];
|
|
bodyCount[bodyIndexA]++;
|
|
}
|
|
if (!isFixedB)
|
|
{
|
|
contactConstraintOffsets[i].y = bodyCount[bodyIndexB];
|
|
bodyCount[bodyIndexB]++;
|
|
}
|
|
}
|
|
|
|
btAlignedObjectArray<unsigned int> offsetSplitBodies;
|
|
offsetSplitBodies.resize(numBodies);
|
|
unsigned int totalNumSplitBodies;
|
|
m_data->m_scan->executeHost(bodyCount,offsetSplitBodies,numBodies,&totalNumSplitBodies);
|
|
int numlastBody = bodyCount[numBodies-1];
|
|
totalNumSplitBodies += numlastBody;
|
|
|
|
|
|
|
|
|
|
|
|
btAlignedObjectArray<btGpuConstraint4> contactConstraints;
|
|
contactConstraints.resize(numManifolds);
|
|
|
|
for (int i=0;i<numManifolds;i++)
|
|
{
|
|
ContactToConstraintKernel(&manifoldPtr[0],bodies,inertias,&contactConstraints[0],numManifolds,
|
|
solverInfo.m_deltaTime,
|
|
solverInfo.m_positionDrift,
|
|
solverInfo.m_positionConstraintCoeff,
|
|
i, bodyCount);
|
|
}
|
|
int maxIter = solverInfo.m_numIterations;
|
|
|
|
|
|
btAlignedObjectArray<btVector3> deltaLinearVelocities;
|
|
btAlignedObjectArray<btVector3> deltaAngularVelocities;
|
|
deltaLinearVelocities.resize(totalNumSplitBodies);
|
|
deltaAngularVelocities.resize(totalNumSplitBodies);
|
|
for (int i=0;i<totalNumSplitBodies;i++)
|
|
{
|
|
deltaLinearVelocities[i].setZero();
|
|
deltaAngularVelocities[i].setZero();
|
|
}
|
|
|
|
|
|
|
|
for (int iter = 0;iter<maxIter;iter++)
|
|
{
|
|
int i=0;
|
|
for( i=0; i<numManifolds; i++)
|
|
{
|
|
|
|
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
|
|
int aIdx = (int)contactConstraints[i].m_bodyA;
|
|
int bIdx = (int)contactConstraints[i].m_bodyB;
|
|
btRigidBodyCL& bodyA = bodies[aIdx];
|
|
btRigidBodyCL& bodyB = bodies[bIdx];
|
|
|
|
btVector3 zero(0,0,0);
|
|
|
|
btVector3* dlvAPtr=&zero;
|
|
btVector3* davAPtr=&zero;
|
|
btVector3* dlvBPtr=&zero;
|
|
btVector3* davBPtr=&zero;
|
|
|
|
if (bodyA.getInvMass())
|
|
{
|
|
int bodyOffsetA = offsetSplitBodies[aIdx];
|
|
int constraintOffsetA = contactConstraintOffsets[i].x;
|
|
int splitIndexA = bodyOffsetA+constraintOffsetA;
|
|
dlvAPtr = &deltaLinearVelocities[splitIndexA];
|
|
davAPtr = &deltaAngularVelocities[splitIndexA];
|
|
}
|
|
|
|
if (bodyB.getInvMass())
|
|
{
|
|
int bodyOffsetB = offsetSplitBodies[bIdx];
|
|
int constraintOffsetB = contactConstraintOffsets[i].y;
|
|
int splitIndexB= bodyOffsetB+constraintOffsetB;
|
|
dlvBPtr =&deltaLinearVelocities[splitIndexB];
|
|
davBPtr = &deltaAngularVelocities[splitIndexB];
|
|
}
|
|
|
|
|
|
|
|
{
|
|
float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
|
|
float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
|
|
|
|
solveContact( contactConstraints[i], (btVector3&)bodyA.m_pos, (btVector3&)bodyA.m_linVel, (btVector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
|
|
(btVector3&)bodyB.m_pos, (btVector3&)bodyB.m_linVel, (btVector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
|
|
maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr );
|
|
|
|
|
|
}
|
|
}
|
|
|
|
|
|
//easy
|
|
for (int i=0;i<numBodies;i++)
|
|
{
|
|
if (bodies[i].getInvMass())
|
|
{
|
|
int bodyOffset = offsetSplitBodies[i];
|
|
int count = bodyCount[i];
|
|
float factor = 1.f/float(count);
|
|
btVector3 averageLinVel;
|
|
averageLinVel.setZero();
|
|
btVector3 averageAngVel;
|
|
averageAngVel.setZero();
|
|
for (int j=0;j<count;j++)
|
|
{
|
|
averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
|
|
averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
|
|
}
|
|
for (int j=0;j<count;j++)
|
|
{
|
|
deltaLinearVelocities[bodyOffset+j] = averageLinVel;
|
|
deltaAngularVelocities[bodyOffset+j] = averageAngVel;
|
|
}
|
|
}
|
|
}
|
|
|
|
//solve friction
|
|
|
|
for(int i=0; i<numManifolds; i++)
|
|
{
|
|
float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
|
|
float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
|
|
|
|
float sum = 0;
|
|
for(int j=0; j<4; j++)
|
|
{
|
|
sum +=contactConstraints[i].m_appliedRambdaDt[j];
|
|
}
|
|
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
|
|
int aIdx = (int)contactConstraints[i].m_bodyA;
|
|
int bIdx = (int)contactConstraints[i].m_bodyB;
|
|
btRigidBodyCL& bodyA = bodies[aIdx];
|
|
btRigidBodyCL& bodyB = bodies[bIdx];
|
|
|
|
btVector3 zero(0,0,0);
|
|
|
|
btVector3* dlvAPtr=&zero;
|
|
btVector3* davAPtr=&zero;
|
|
btVector3* dlvBPtr=&zero;
|
|
btVector3* davBPtr=&zero;
|
|
|
|
if (bodyA.getInvMass())
|
|
{
|
|
int bodyOffsetA = offsetSplitBodies[aIdx];
|
|
int constraintOffsetA = contactConstraintOffsets[i].x;
|
|
int splitIndexA = bodyOffsetA+constraintOffsetA;
|
|
dlvAPtr = &deltaLinearVelocities[splitIndexA];
|
|
davAPtr = &deltaAngularVelocities[splitIndexA];
|
|
}
|
|
|
|
if (bodyB.getInvMass())
|
|
{
|
|
int bodyOffsetB = offsetSplitBodies[bIdx];
|
|
int constraintOffsetB = contactConstraintOffsets[i].y;
|
|
int splitIndexB= bodyOffsetB+constraintOffsetB;
|
|
dlvBPtr =&deltaLinearVelocities[splitIndexB];
|
|
davBPtr = &deltaAngularVelocities[splitIndexB];
|
|
}
|
|
|
|
for(int j=0; j<4; j++)
|
|
{
|
|
maxRambdaDt[j] = frictionCoeff*sum;
|
|
minRambdaDt[j] = -maxRambdaDt[j];
|
|
}
|
|
|
|
solveFriction( contactConstraints[i], (btVector3&)bodyA.m_pos, (btVector3&)bodyA.m_linVel, (btVector3&)bodyA.m_angVel, bodyA.m_invMass,inertias[aIdx].m_invInertiaWorld,
|
|
(btVector3&)bodyB.m_pos, (btVector3&)bodyB.m_linVel, (btVector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
|
|
maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr);
|
|
|
|
}
|
|
|
|
//easy
|
|
for (int i=0;i<numBodies;i++)
|
|
{
|
|
if (bodies[i].getInvMass())
|
|
{
|
|
int bodyOffset = offsetSplitBodies[i];
|
|
int count = bodyCount[i];
|
|
float factor = 1.f/float(count);
|
|
btVector3 averageLinVel;
|
|
averageLinVel.setZero();
|
|
btVector3 averageAngVel;
|
|
averageAngVel.setZero();
|
|
for (int j=0;j<count;j++)
|
|
{
|
|
averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
|
|
averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
|
|
}
|
|
for (int j=0;j<count;j++)
|
|
{
|
|
deltaLinearVelocities[bodyOffset+j] = averageLinVel;
|
|
deltaAngularVelocities[bodyOffset+j] = averageAngVel;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
//easy
|
|
for (int i=0;i<numBodies;i++)
|
|
{
|
|
if (bodies[i].getInvMass())
|
|
{
|
|
int bodyOffset = offsetSplitBodies[i];
|
|
int count = bodyCount[i];
|
|
if (count)
|
|
{
|
|
bodies[i].m_linVel += deltaLinearVelocities[bodyOffset];
|
|
bodies[i].m_angVel += deltaAngularVelocities[bodyOffset];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void btGpuJacobiSolver::solveGroup(btOpenCLArray<btRigidBodyCL>* bodies,btOpenCLArray<btInertiaCL>* inertias,btOpenCLArray<btContact4>* manifoldPtr,const btJacobiSolverInfo& solverInfo)
|
|
{
|
|
|
|
BT_PROFILE("btGpuJacobiSolver::solveGroup");
|
|
|
|
int numBodies = bodies->size();
|
|
int numManifolds = manifoldPtr->size();
|
|
|
|
m_data->m_bodyCount->resize(numBodies);
|
|
|
|
unsigned int val=0;
|
|
btInt2 val2;
|
|
val2.x=0;
|
|
val2.y=0;
|
|
|
|
{
|
|
BT_PROFILE("m_filler");
|
|
m_data->m_contactConstraintOffsets->resize(numManifolds);
|
|
m_data->m_filler->execute(*m_data->m_bodyCount,val,numBodies);
|
|
|
|
|
|
m_data->m_filler->execute(*m_data->m_contactConstraintOffsets,val2,numManifolds);
|
|
}
|
|
|
|
{
|
|
BT_PROFILE("m_countBodiesKernel");
|
|
btLauncherCL launcher(this->m_queue,m_data->m_countBodiesKernel);
|
|
launcher.setBuffer(manifoldPtr->getBufferCL());
|
|
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
|
|
launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
|
|
launcher.setConst(numManifolds);
|
|
launcher.setConst(solverInfo.m_fixedBodyIndex);
|
|
launcher.launch1D(numManifolds);
|
|
}
|
|
|
|
unsigned int totalNumSplitBodies=0;
|
|
m_data->m_offsetSplitBodies->resize(numBodies);
|
|
m_data->m_scan->execute(*m_data->m_bodyCount,*m_data->m_offsetSplitBodies,numBodies,&totalNumSplitBodies);
|
|
totalNumSplitBodies+=m_data->m_bodyCount->at(numBodies-1);
|
|
|
|
|
|
int numContacts = manifoldPtr->size();
|
|
m_data->m_contactConstraints->resize(numContacts);
|
|
|
|
|
|
{
|
|
BT_PROFILE("contactToConstraintSplitKernel");
|
|
btLauncherCL launcher( m_queue, m_data->m_contactToConstraintSplitKernel);
|
|
launcher.setBuffer(manifoldPtr->getBufferCL());
|
|
launcher.setBuffer(bodies->getBufferCL());
|
|
launcher.setBuffer(inertias->getBufferCL());
|
|
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
|
|
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
|
|
launcher.setConst(numContacts);
|
|
launcher.setConst(solverInfo.m_deltaTime);
|
|
launcher.setConst(solverInfo.m_positionDrift);
|
|
launcher.setConst(solverInfo.m_positionConstraintCoeff);
|
|
launcher.launch1D( numContacts, 64 );
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
|
|
m_data->m_deltaLinearVelocities->resize(totalNumSplitBodies);
|
|
m_data->m_deltaAngularVelocities->resize(totalNumSplitBodies);
|
|
|
|
|
|
|
|
{
|
|
BT_PROFILE("m_clearVelocitiesKernel");
|
|
btLauncherCL launch(m_queue,m_data->m_clearVelocitiesKernel);
|
|
launch.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
|
|
launch.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
|
|
launch.setConst(totalNumSplitBodies);
|
|
launch.launch1D(totalNumSplitBodies);
|
|
}
|
|
|
|
int maxIter = solverInfo.m_numIterations;
|
|
|
|
for (int iter = 0;iter<maxIter;iter++)
|
|
{
|
|
{
|
|
BT_PROFILE("m_solveContactKernel");
|
|
btLauncherCL launcher( m_queue, m_data->m_solveContactKernel );
|
|
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
|
|
launcher.setBuffer(bodies->getBufferCL());
|
|
launcher.setBuffer(inertias->getBufferCL());
|
|
launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
|
|
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
|
|
launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
|
|
launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
|
|
launcher.setConst(solverInfo.m_deltaTime);
|
|
launcher.setConst(solverInfo.m_positionDrift);
|
|
launcher.setConst(solverInfo.m_positionConstraintCoeff);
|
|
launcher.setConst(solverInfo.m_fixedBodyIndex);
|
|
launcher.setConst(numManifolds);
|
|
|
|
launcher.launch1D(numManifolds);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
|
|
{
|
|
BT_PROFILE("average velocities");
|
|
btLauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel);
|
|
launcher.setBuffer(bodies->getBufferCL());
|
|
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
|
|
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
|
|
launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
|
|
launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
|
|
launcher.setConst(numBodies);
|
|
launcher.launch1D(numBodies);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
{
|
|
BT_PROFILE("m_solveFrictionKernel");
|
|
btLauncherCL launcher( m_queue, m_data->m_solveFrictionKernel);
|
|
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
|
|
launcher.setBuffer(bodies->getBufferCL());
|
|
launcher.setBuffer(inertias->getBufferCL());
|
|
launcher.setBuffer(m_data->m_contactConstraintOffsets->getBufferCL());
|
|
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
|
|
launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
|
|
launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
|
|
launcher.setConst(solverInfo.m_deltaTime);
|
|
launcher.setConst(solverInfo.m_positionDrift);
|
|
launcher.setConst(solverInfo.m_positionConstraintCoeff);
|
|
launcher.setConst(solverInfo.m_fixedBodyIndex);
|
|
launcher.setConst(numManifolds);
|
|
|
|
launcher.launch1D(numManifolds);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
{
|
|
BT_PROFILE("average velocities");
|
|
btLauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel);
|
|
launcher.setBuffer(bodies->getBufferCL());
|
|
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
|
|
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
|
|
launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
|
|
launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
|
|
launcher.setConst(numBodies);
|
|
launcher.launch1D(numBodies);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
{
|
|
BT_PROFILE("update body velocities");
|
|
btLauncherCL launcher( m_queue, m_data->m_updateBodyVelocitiesKernel);
|
|
launcher.setBuffer(bodies->getBufferCL());
|
|
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
|
|
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
|
|
launcher.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
|
|
launcher.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
|
|
launcher.setConst(numBodies);
|
|
launcher.launch1D(numBodies);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
|
|
|
|
} |