d52f58edd8
Main improvements are: GPU cloth collision detection against a capsule shape ,OpenCL-OpenGL interoperability (keeping data buffers on GPU), and bug fixes Thanks to Lee Howes
509 lines
14 KiB
C++
509 lines
14 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SOFT_BODY_SOLVER_OPENCL_H
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#define BT_SOFT_BODY_SOLVER_OPENCL_H
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#include "stddef.h" //for size_t
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#include "vectormath/vmInclude.h"
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#include "BulletSoftBody/btSoftBodySolvers.h"
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#include "btSoftBodySolverBuffer_OpenCL.h"
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#include "btSoftBodySolverLinkData_OpenCL.h"
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#include "btSoftBodySolverVertexData_OpenCL.h"
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#include "btSoftBodySolverTriangleData_OpenCL.h"
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class CLFunctions
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{
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protected:
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cl_command_queue m_cqCommandQue;
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cl_context m_cxMainContext;
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public:
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CLFunctions(cl_command_queue cqCommandQue, cl_context cxMainContext) :
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m_cqCommandQue( cqCommandQue ),
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m_cxMainContext( cxMainContext )
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{
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}
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/**
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* Compile a compute shader kernel from a string and return the appropriate cl_kernel object.
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*/
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cl_kernel compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros = "" );
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};
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/**
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* Entry in the collision shape array.
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* Specifies the shape type, the transform matrix and the necessary details of the collisionShape.
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*/
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struct CollisionShapeDescription
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{
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Vectormath::Aos::Transform3 shapeTransform;
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Vectormath::Aos::Vector3 linearVelocity;
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Vectormath::Aos::Vector3 angularVelocity;
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int softBodyIdentifier;
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int collisionShapeType;
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// Both needed for capsule
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float radius;
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float halfHeight;
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int upAxis;
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float margin;
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float friction;
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CollisionShapeDescription()
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{
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collisionShapeType = 0;
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margin = 0;
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friction = 0;
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}
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};
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/**
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* SoftBody class to maintain information about a soft body instance
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* within a solver.
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* This data addresses the main solver arrays.
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*/
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class btOpenCLAcceleratedSoftBodyInterface
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{
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protected:
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/** Current number of vertices that are part of this cloth */
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int m_numVertices;
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/** Maximum number of vertices allocated to be part of this cloth */
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int m_maxVertices;
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/** Current number of triangles that are part of this cloth */
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int m_numTriangles;
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/** Maximum number of triangles allocated to be part of this cloth */
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int m_maxTriangles;
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/** Index of first vertex in the world allocated to this cloth */
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int m_firstVertex;
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/** Index of first triangle in the world allocated to this cloth */
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int m_firstTriangle;
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/** Index of first link in the world allocated to this cloth */
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int m_firstLink;
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/** Maximum number of links allocated to this cloth */
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int m_maxLinks;
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/** Current number of links allocated to this cloth */
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int m_numLinks;
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/** The actual soft body this data represents */
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btSoftBody *m_softBody;
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public:
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btOpenCLAcceleratedSoftBodyInterface( btSoftBody *softBody ) :
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m_softBody( softBody )
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{
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m_numVertices = 0;
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m_maxVertices = 0;
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m_numTriangles = 0;
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m_maxTriangles = 0;
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m_firstVertex = 0;
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m_firstTriangle = 0;
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m_firstLink = 0;
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m_maxLinks = 0;
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m_numLinks = 0;
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}
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int getNumVertices()
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{
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return m_numVertices;
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}
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int getNumTriangles()
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{
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return m_numTriangles;
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}
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int getMaxVertices()
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{
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return m_maxVertices;
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}
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int getMaxTriangles()
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{
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return m_maxTriangles;
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}
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int getFirstVertex()
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{
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return m_firstVertex;
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}
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int getFirstTriangle()
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{
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return m_firstTriangle;
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}
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/**
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* Update the bounds in the btSoftBody object
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*/
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void updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound );
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// TODO: All of these set functions will have to do checks and
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// update the world because restructuring of the arrays will be necessary
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// Reasonable use of "friend"?
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void setNumVertices( int numVertices )
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{
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m_numVertices = numVertices;
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}
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void setNumTriangles( int numTriangles )
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{
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m_numTriangles = numTriangles;
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}
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void setMaxVertices( int maxVertices )
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{
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m_maxVertices = maxVertices;
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}
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void setMaxTriangles( int maxTriangles )
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{
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m_maxTriangles = maxTriangles;
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}
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void setFirstVertex( int firstVertex )
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{
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m_firstVertex = firstVertex;
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}
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void setFirstTriangle( int firstTriangle )
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{
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m_firstTriangle = firstTriangle;
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}
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void setMaxLinks( int maxLinks )
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{
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m_maxLinks = maxLinks;
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}
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void setNumLinks( int numLinks )
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{
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m_numLinks = numLinks;
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}
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void setFirstLink( int firstLink )
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{
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m_firstLink = firstLink;
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}
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int getMaxLinks()
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{
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return m_maxLinks;
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}
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int getNumLinks()
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{
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return m_numLinks;
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}
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int getFirstLink()
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{
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return m_firstLink;
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}
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btSoftBody* getSoftBody()
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{
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return m_softBody;
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}
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};
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class btOpenCLSoftBodySolver : public btSoftBodySolver
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{
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public:
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struct UIntVector3
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{
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UIntVector3()
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{
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x = 0;
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y = 0;
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z = 0;
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_padding = 0;
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}
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UIntVector3( unsigned int x_, unsigned int y_, unsigned int z_ )
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{
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x = x_;
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y = y_;
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z = z_;
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_padding = 0;
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}
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unsigned int x;
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unsigned int y;
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unsigned int z;
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unsigned int _padding;
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};
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struct CollisionObjectIndices
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{
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CollisionObjectIndices( int f, int e )
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{
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firstObject = f;
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endObject = e;
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}
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int firstObject;
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int endObject;
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};
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btSoftBodyLinkDataOpenCL m_linkData;
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btSoftBodyVertexDataOpenCL m_vertexData;
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btSoftBodyTriangleDataOpenCL m_triangleData;
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protected:
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CLFunctions clFunctions;
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/** Variable to define whether we need to update solver constants on the next iteration */
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bool m_updateSolverConstants;
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bool m_shadersInitialized;
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/**
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* Cloths owned by this solver.
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* Only our cloths are in this array.
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*/
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btAlignedObjectArray< btOpenCLAcceleratedSoftBodyInterface * > m_softBodySet;
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/** Acceleration value to be applied to all non-static vertices in the solver.
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* Index n is cloth n, array sized by number of cloths in the world not the solver.
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*/
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btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothAcceleration;
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btOpenCLBuffer<Vectormath::Aos::Vector3> m_clPerClothAcceleration;
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/** Wind velocity to be applied normal to all non-static vertices in the solver.
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* Index n is cloth n, array sized by number of cloths in the world not the solver.
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*/
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btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothWindVelocity;
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btOpenCLBuffer<Vectormath::Aos::Vector3> m_clPerClothWindVelocity;
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/** Velocity damping factor */
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btAlignedObjectArray< float > m_perClothDampingFactor;
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btOpenCLBuffer<float> m_clPerClothDampingFactor;
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/** Velocity correction coefficient */
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btAlignedObjectArray< float > m_perClothVelocityCorrectionCoefficient;
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btOpenCLBuffer<float> m_clPerClothVelocityCorrectionCoefficient;
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/** Lift parameter for wind effect on cloth. */
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btAlignedObjectArray< float > m_perClothLiftFactor;
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btOpenCLBuffer<float> m_clPerClothLiftFactor;
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/** Drag parameter for wind effect on cloth. */
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btAlignedObjectArray< float > m_perClothDragFactor;
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btOpenCLBuffer<float> m_clPerClothDragFactor;
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/** Density of the medium in which each cloth sits */
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btAlignedObjectArray< float > m_perClothMediumDensity;
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btOpenCLBuffer<float> m_clPerClothMediumDensity;
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/**
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* Collision shape details: pair of index of first collision shape for the cloth and number of collision objects.
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*/
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btAlignedObjectArray< CollisionObjectIndices > m_perClothCollisionObjects;
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btOpenCLBuffer<CollisionObjectIndices> m_clPerClothCollisionObjects;
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/**
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* Collision shapes being passed across to the cloths in this solver.
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*/
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btAlignedObjectArray< CollisionShapeDescription > m_collisionObjectDetails;
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btOpenCLBuffer< CollisionShapeDescription > m_clCollisionObjectDetails;
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/**
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* Minimum bounds for each cloth.
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* Updated by GPU and returned for use by broad phase.
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* These are int vectors as a reminder that they store the int representation of a float, not a float.
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* Bit 31 is inverted - is floats are stored with int-sortable values.
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* This is really a uint4 array but thanks to a limitation of OpenCL atomics we are using uints.
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*/
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btAlignedObjectArray< UIntVector3 > m_perClothMinBounds;
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btOpenCLBuffer< UIntVector3 > m_clPerClothMinBounds;
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/**
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* Maximum bounds for each cloth.
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* Updated by GPU and returned for use by broad phase.
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* These are int vectors as a reminder that they store the int representation of a float, not a float.
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* Bit 31 is inverted - is floats are stored with int-sortable values.
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*/
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btAlignedObjectArray< UIntVector3 > m_perClothMaxBounds;
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btOpenCLBuffer< UIntVector3 > m_clPerClothMaxBounds;
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/**
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* Friction coefficient for each cloth
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*/
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btAlignedObjectArray< float > m_perClothFriction;
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btOpenCLBuffer< float > m_clPerClothFriction;
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cl_kernel prepareLinksKernel;
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cl_kernel solvePositionsFromLinksKernel;
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cl_kernel updateConstantsKernel;
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cl_kernel integrateKernel;
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cl_kernel addVelocityKernel;
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cl_kernel updatePositionsFromVelocitiesKernel;
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cl_kernel updateVelocitiesFromPositionsWithoutVelocitiesKernel;
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cl_kernel updateVelocitiesFromPositionsWithVelocitiesKernel;
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cl_kernel vSolveLinksKernel;
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cl_kernel solveCollisionsAndUpdateVelocitiesKernel;
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cl_kernel resetNormalsAndAreasKernel;
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cl_kernel normalizeNormalsAndAreasKernel;
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cl_kernel computeBoundsKernel;
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cl_kernel updateSoftBodiesKernel;
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cl_kernel outputToVertexArrayKernel;
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cl_kernel applyForcesKernel;
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cl_command_queue m_cqCommandQue;
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cl_context m_cxMainContext;
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size_t m_defaultWorkGroupSize;
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virtual bool buildShaders();
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void resetNormalsAndAreas( int numVertices );
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void normalizeNormalsAndAreas( int numVertices );
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void executeUpdateSoftBodies( int firstTriangle, int numTriangles );
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void prepareCollisionConstraints();
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Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a );
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void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce );
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int findSoftBodyIndex( const btSoftBody* const softBody );
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virtual void applyForces( float solverdt );
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/**
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* Integrate motion on the solver.
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*/
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virtual void integrate( float solverdt );
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virtual void updateConstants( float timeStep );
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float computeTriangleArea(
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const Vectormath::Aos::Point3 &vertex0,
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const Vectormath::Aos::Point3 &vertex1,
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const Vectormath::Aos::Point3 &vertex2 );
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//////////////////////////////////////
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// Kernel dispatches
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void prepareLinks();
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void solveLinksForVelocity( int startLink, int numLinks, float kst );
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void updatePositionsFromVelocities( float solverdt );
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virtual void solveLinksForPosition( int startLink, int numLinks, float kst, float ti );
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void updateVelocitiesFromPositionsWithVelocities( float isolverdt );
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void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt );
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void computeBounds( );
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virtual void solveCollisionsAndUpdateVelocities( float isolverdt );
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// End kernel dispatches
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/////////////////////////////////////
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void updateBounds();
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void releaseKernels();
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public:
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btOpenCLSoftBodySolver(cl_command_queue queue,cl_context ctx);
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virtual ~btOpenCLSoftBodySolver();
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btOpenCLAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody );
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virtual btSoftBodyLinkData &getLinkData();
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virtual btSoftBodyVertexData &getVertexData();
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virtual btSoftBodyTriangleData &getTriangleData();
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virtual SolverTypes getSolverType() const
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{
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return CL_SOLVER;
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}
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virtual bool checkInitialized();
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virtual void updateSoftBodies( );
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virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false);
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virtual void copyBackToSoftBodies();
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virtual void solveConstraints( float solverdt );
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virtual void predictMotion( float solverdt );
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virtual void processCollision( btSoftBody *, btCollisionObject* );
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virtual void processCollision( btSoftBody*, btSoftBody* );
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virtual void setDefaultWorkgroupSize(size_t workGroupSize)
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{
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m_defaultWorkGroupSize = workGroupSize;
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}
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virtual size_t getDefaultWorkGroupSize() const
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{
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return m_defaultWorkGroupSize;
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}
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}; // btOpenCLSoftBodySolver
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/**
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* Class to manage movement of data from a solver to a given target.
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* This version is the CL to CPU version.
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*/
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class btSoftBodySolverOutputCLtoCPU : public btSoftBodySolverOutput
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{
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protected:
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public:
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btSoftBodySolverOutputCLtoCPU()
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{
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}
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/** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
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virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer );
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};
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#endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_H
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