Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 126 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3Solver.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3Solver.h
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index 0000000000..b37f2f1bec
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+++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3Solver.h
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+/*
+Copyright (c) 2012 Advanced Micro Devices, Inc.  
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+//Originally written by Takahiro Harada
+
+
+#ifndef __ADL_SOLVER_H
+#define __ADL_SOLVER_H
+
+#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
+#include "b3GpuConstraint4.h"
+
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
+
+#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
+#include "Bullet3OpenCL/ParallelPrimitives/b3BoundSearchCL.h"
+
+#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
+
+
+#define B3NEXTMULTIPLEOF(num, alignment) (((num)/(alignment) + (((num)%(alignment)==0)?0:1))*(alignment))
+
+enum
+{
+	B3_SOLVER_N_SPLIT_X = 8,//16,//4,
+	B3_SOLVER_N_SPLIT_Y = 4,//16,//4,
+	B3_SOLVER_N_SPLIT_Z = 8,//,
+	B3_SOLVER_N_CELLS = B3_SOLVER_N_SPLIT_X*B3_SOLVER_N_SPLIT_Y*B3_SOLVER_N_SPLIT_Z,
+	B3_SOLVER_N_BATCHES = 8,//4,//8,//4,
+	B3_MAX_NUM_BATCHES = 128,
+};
+
+class b3SolverBase
+{
+	public:
+		
+
+		struct ConstraintCfg
+		{
+			ConstraintCfg( float dt = 0.f ): m_positionDrift( 0.005f ), m_positionConstraintCoeff( 0.2f ), m_dt(dt), m_staticIdx(-1) {}
+
+			float m_positionDrift;
+			float m_positionConstraintCoeff;
+			float m_dt;
+			bool m_enableParallelSolve;
+			float m_batchCellSize;
+			int m_staticIdx;
+		};
+		
+};
+
+class b3Solver : public b3SolverBase
+{
+	public:
+
+		cl_context m_context;
+		cl_device_id m_device;
+		cl_command_queue m_queue;
+				
+
+		b3OpenCLArray<unsigned int>* m_numConstraints;
+		b3OpenCLArray<unsigned int>* m_offsets;
+		b3OpenCLArray<int> m_batchSizes;
+		
+		
+		int m_nIterations;
+		cl_kernel m_batchingKernel;
+		cl_kernel m_batchingKernelNew;
+		cl_kernel m_solveContactKernel;
+		cl_kernel m_solveFrictionKernel;
+		cl_kernel m_contactToConstraintKernel;
+		cl_kernel m_setSortDataKernel;
+		cl_kernel m_reorderContactKernel;
+		cl_kernel m_copyConstraintKernel;
+
+		class b3RadixSort32CL*	m_sort32;
+		class b3BoundSearchCL*	m_search;
+		class b3PrefixScanCL*	m_scan;
+
+		b3OpenCLArray<b3SortData>* m_sortDataBuffer;
+		b3OpenCLArray<b3Contact4>* m_contactBuffer2;
+
+		enum
+		{
+			DYNAMIC_CONTACT_ALLOCATION_THRESHOLD = 2000000,
+		};
+
+		
+
+		
+		b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
+
+		virtual ~b3Solver();
+		
+		void solveContactConstraint( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* inertiaBuf, 
+			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches);
+
+		void solveContactConstraintHost(  b3OpenCLArray<b3RigidBodyData>* bodyBuf, b3OpenCLArray<b3InertiaData>* shapeBuf, 
+			b3OpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, b3AlignedObjectArray<int>* batchSizes);
+
+
+		void convertToConstraints( const b3OpenCLArray<b3RigidBodyData>* bodyBuf, 
+			const b3OpenCLArray<b3InertiaData>* shapeBuf, 
+			b3OpenCLArray<b3Contact4>* contactsIn, b3OpenCLArray<b3GpuConstraint4>* contactCOut, void* additionalData, 
+			int nContacts, const ConstraintCfg& cfg );
+
+		void	batchContacts( b3OpenCLArray<b3Contact4>* contacts, int nContacts, b3OpenCLArray<unsigned int>* n, b3OpenCLArray<unsigned int>* offsets, int staticIdx );
+
+};
+
+
+
+
+#endif //__ADL_SOLVER_H