Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

1 files changed, 433 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h
new file mode 100644
index 0000000000..a5a432947c
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h
@@ -0,0 +1,433 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* integrateKernelCL= \
+"/*\n"
+"Copyright (c) 2013 Advanced Micro Devices, Inc.  \n"
+"This software is provided 'as-is', without any express or implied warranty.\n"
+"In no event will the authors be held liable for any damages arising from the use of this software.\n"
+"Permission is granted to anyone to use this software for any purpose, \n"
+"including commercial applications, and to alter it and redistribute it freely, \n"
+"subject to the following restrictions:\n"
+"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.\n"
+"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
+"3. This notice may not be removed or altered from any source distribution.\n"
+"*/\n"
+"//Originally written by Erwin Coumans\n"
+"#ifndef B3_RIGIDBODY_DATA_H\n"
+"#define B3_RIGIDBODY_DATA_H\n"
+"#ifndef B3_FLOAT4_H\n"
+"#define B3_FLOAT4_H\n"
+"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+"#define B3_PLATFORM_DEFINITIONS_H\n"
+"struct MyTest\n"
+"{\n"
+"	int bla;\n"
+"};\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
+"#define B3_LARGE_FLOAT 1e18f\n"
+"#define B3_INFINITY 1e18f\n"
+"#define b3Assert(a)\n"
+"#define b3ConstArray(a) __global const a*\n"
+"#define b3AtomicInc atomic_inc\n"
+"#define b3AtomicAdd atomic_add\n"
+"#define b3Fabs fabs\n"
+"#define b3Sqrt native_sqrt\n"
+"#define b3Sin native_sin\n"
+"#define b3Cos native_cos\n"
+"#define B3_STATIC\n"
+"#endif\n"
+"#endif\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"	typedef float4	b3Float4;\n"
+"	#define b3Float4ConstArg const b3Float4\n"
+"	#define b3MakeFloat4 (float4)\n"
+"	float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+"	{\n"
+"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+"		return dot(a1, b1);\n"
+"	}\n"
+"	b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
+"	{\n"
+"		float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
+"		float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
+"		return cross(a1, b1);\n"
+"	}\n"
+"	#define b3MinFloat4 min\n"
+"	#define b3MaxFloat4 max\n"
+"	#define b3Normalized(a) normalize(a)\n"
+"#endif \n"
+"		\n"
+"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
+"{\n"
+"	if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)	\n"
+"		return false;\n"
+"	return true;\n"
+"}\n"
+"inline int    b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
+"{\n"
+"    float maxDot = -B3_INFINITY;\n"
+"    int i = 0;\n"
+"    int ptIndex = -1;\n"
+"    for( i = 0; i < vecLen; i++ )\n"
+"    {\n"
+"        float dot = b3Dot3F4(vecArray[i],vec);\n"
+"            \n"
+"        if( dot > maxDot )\n"
+"        {\n"
+"            maxDot = dot;\n"
+"            ptIndex = i;\n"
+"        }\n"
+"    }\n"
+"	b3Assert(ptIndex>=0);\n"
+"    if (ptIndex<0)\n"
+"	{\n"
+"		ptIndex = 0;\n"
+"	}\n"
+"    *dotOut = maxDot;\n"
+"    return ptIndex;\n"
+"}\n"
+"#endif //B3_FLOAT4_H\n"
+"#ifndef B3_QUAT_H\n"
+"#define B3_QUAT_H\n"
+"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#endif\n"
+"#endif\n"
+"#ifndef B3_FLOAT4_H\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#endif \n"
+"#endif //B3_FLOAT4_H\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"	typedef float4	b3Quat;\n"
+"	#define b3QuatConstArg const b3Quat\n"
+"	\n"
+"	\n"
+"inline float4 b3FastNormalize4(float4 v)\n"
+"{\n"
+"	v = (float4)(v.xyz,0.f);\n"
+"	return fast_normalize(v);\n"
+"}\n"
+"	\n"
+"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
+"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
+"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
+"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
+"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
+"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
+"{\n"
+"	b3Quat ans;\n"
+"	ans = b3Cross3( a, b );\n"
+"	ans += a.w*b+b.w*a;\n"
+"//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
+"	ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
+"	return ans;\n"
+"}\n"
+"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
+"{\n"
+"	b3Quat q;\n"
+"	q=in;\n"
+"	//return b3FastNormalize4(in);\n"
+"	float len = native_sqrt(dot(q, q));\n"
+"	if(len > 0.f)\n"
+"	{\n"
+"		q *= 1.f / len;\n"
+"	}\n"
+"	else\n"
+"	{\n"
+"		q.x = q.y = q.z = 0.f;\n"
+"		q.w = 1.f;\n"
+"	}\n"
+"	return q;\n"
+"}\n"
+"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+"{\n"
+"	b3Quat qInv = b3QuatInvert( q );\n"
+"	float4 vcpy = vec;\n"
+"	vcpy.w = 0.f;\n"
+"	float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
+"	return out;\n"
+"}\n"
+"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
+"{\n"
+"	return (b3Quat)(-q.xyz, q.w);\n"
+"}\n"
+"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
+"{\n"
+"	return (b3Quat)(-q.xyz, q.w);\n"
+"}\n"
+"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
+"{\n"
+"	return b3QuatRotate( b3QuatInvert( q ), vec );\n"
+"}\n"
+"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg  orientation)\n"
+"{\n"
+"	return b3QuatRotate( orientation, point ) + (translation);\n"
+"}\n"
+"	\n"
+"#endif \n"
+"#endif //B3_QUAT_H\n"
+"#ifndef B3_MAT3x3_H\n"
+"#define B3_MAT3x3_H\n"
+"#ifndef B3_QUAT_H\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"#endif \n"
+"#endif //B3_QUAT_H\n"
+"#ifdef __cplusplus\n"
+"#else\n"
+"typedef struct\n"
+"{\n"
+"	b3Float4 m_row[3];\n"
+"}b3Mat3x3;\n"
+"#define b3Mat3x3ConstArg const b3Mat3x3\n"
+"#define b3GetRow(m,row) (m.m_row[row])\n"
+"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
+"{\n"
+"	b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
+"	b3Mat3x3 out;\n"
+"	out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
+"	out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
+"	out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
+"	out.m_row[0].w = 0.f;\n"
+"	out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
+"	out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
+"	out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
+"	out.m_row[1].w = 0.f;\n"
+"	out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
+"	out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
+"	out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
+"	out.m_row[2].w = 0.f;\n"
+"	return out;\n"
+"}\n"
+"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
+"{\n"
+"	b3Mat3x3 out;\n"
+"	out.m_row[0] = fabs(matIn.m_row[0]);\n"
+"	out.m_row[1] = fabs(matIn.m_row[1]);\n"
+"	out.m_row[2] = fabs(matIn.m_row[2]);\n"
+"	return out;\n"
+"}\n"
+"__inline\n"
+"b3Mat3x3 mtZero();\n"
+"__inline\n"
+"b3Mat3x3 mtIdentity();\n"
+"__inline\n"
+"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
+"__inline\n"
+"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
+"__inline\n"
+"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
+"__inline\n"
+"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
+"__inline\n"
+"b3Mat3x3 mtZero()\n"
+"{\n"
+"	b3Mat3x3 m;\n"
+"	m.m_row[0] = (b3Float4)(0.f);\n"
+"	m.m_row[1] = (b3Float4)(0.f);\n"
+"	m.m_row[2] = (b3Float4)(0.f);\n"
+"	return m;\n"
+"}\n"
+"__inline\n"
+"b3Mat3x3 mtIdentity()\n"
+"{\n"
+"	b3Mat3x3 m;\n"
+"	m.m_row[0] = (b3Float4)(1,0,0,0);\n"
+"	m.m_row[1] = (b3Float4)(0,1,0,0);\n"
+"	m.m_row[2] = (b3Float4)(0,0,1,0);\n"
+"	return m;\n"
+"}\n"
+"__inline\n"
+"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
+"{\n"
+"	b3Mat3x3 out;\n"
+"	out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
+"	out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
+"	out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
+"	return out;\n"
+"}\n"
+"__inline\n"
+"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
+"{\n"
+"	b3Mat3x3 transB;\n"
+"	transB = mtTranspose( b );\n"
+"	b3Mat3x3 ans;\n"
+"	//	why this doesn't run when 0ing in the for{}\n"
+"	a.m_row[0].w = 0.f;\n"
+"	a.m_row[1].w = 0.f;\n"
+"	a.m_row[2].w = 0.f;\n"
+"	for(int i=0; i<3; i++)\n"
+"	{\n"
+"//	a.m_row[i].w = 0.f;\n"
+"		ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
+"		ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
+"		ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
+"		ans.m_row[i].w = 0.f;\n"
+"	}\n"
+"	return ans;\n"
+"}\n"
+"__inline\n"
+"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
+"{\n"
+"	b3Float4 ans;\n"
+"	ans.x = b3Dot3F4( a.m_row[0], b );\n"
+"	ans.y = b3Dot3F4( a.m_row[1], b );\n"
+"	ans.z = b3Dot3F4( a.m_row[2], b );\n"
+"	ans.w = 0.f;\n"
+"	return ans;\n"
+"}\n"
+"__inline\n"
+"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
+"{\n"
+"	b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+"	b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+"	b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+"	b3Float4 ans;\n"
+"	ans.x = b3Dot3F4( a, colx );\n"
+"	ans.y = b3Dot3F4( a, coly );\n"
+"	ans.z = b3Dot3F4( a, colz );\n"
+"	return ans;\n"
+"}\n"
+"#endif\n"
+"#endif //B3_MAT3x3_H\n"
+"typedef struct b3RigidBodyData b3RigidBodyData_t;\n"
+"struct b3RigidBodyData\n"
+"{\n"
+"	b3Float4				m_pos;\n"
+"	b3Quat					m_quat;\n"
+"	b3Float4				m_linVel;\n"
+"	b3Float4				m_angVel;\n"
+"	int 					m_collidableIdx;\n"
+"	float 				m_invMass;\n"
+"	float 				m_restituitionCoeff;\n"
+"	float 				m_frictionCoeff;\n"
+"};\n"
+"typedef struct b3InertiaData b3InertiaData_t;\n"
+"struct b3InertiaData\n"
+"{\n"
+"	b3Mat3x3 m_invInertiaWorld;\n"
+"	b3Mat3x3 m_initInvInertia;\n"
+"};\n"
+"#endif //B3_RIGIDBODY_DATA_H\n"
+"	\n"
+"#ifndef B3_RIGIDBODY_DATA_H\n"
+"#endif //B3_RIGIDBODY_DATA_H\n"
+"	\n"
+"inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
+"{\n"
+"	\n"
+"	if (bodies[nodeID].m_invMass != 0.f)\n"
+"	{\n"
+"		float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
+"		//angular velocity\n"
+"		{\n"
+"			b3Float4 axis;\n"
+"			//add some hardcoded angular damping\n"
+"			bodies[nodeID].m_angVel.x *= angularDamping;\n"
+"			bodies[nodeID].m_angVel.y *= angularDamping;\n"
+"			bodies[nodeID].m_angVel.z *= angularDamping;\n"
+"			\n"
+"			b3Float4 angvel = bodies[nodeID].m_angVel;\n"
+"			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
+"			\n"
+"			//limit the angular motion\n"
+"			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
+"			{\n"
+"				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
+"			}\n"
+"			if(fAngle < 0.001f)\n"
+"			{\n"
+"				// use Taylor's expansions of sync function\n"
+"				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
+"			}\n"
+"			else\n"
+"			{\n"
+"				// sync(fAngle) = sin(c*fAngle)/t\n"
+"				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
+"			}\n"
+"			\n"
+"			b3Quat dorn;\n"
+"			dorn.x = axis.x;\n"
+"			dorn.y = axis.y;\n"
+"			dorn.z = axis.z;\n"
+"			dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
+"			b3Quat orn0 = bodies[nodeID].m_quat;\n"
+"			b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
+"			predictedOrn = b3QuatNormalized(predictedOrn);\n"
+"			bodies[nodeID].m_quat=predictedOrn;\n"
+"		}\n"
+"		//linear velocity		\n"
+"		bodies[nodeID].m_pos +=  bodies[nodeID].m_linVel * timeStep;\n"
+"		\n"
+"		//apply gravity\n"
+"		bodies[nodeID].m_linVel += gravityAcceleration * timeStep;\n"
+"		\n"
+"	}\n"
+"	\n"
+"}\n"
+"inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n"
+"{\n"
+"	float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n"
+"	\n"
+"	if( (body->m_invMass != 0.f))\n"
+"	{\n"
+"		//angular velocity\n"
+"		{\n"
+"			b3Float4 axis;\n"
+"			//add some hardcoded angular damping\n"
+"			body->m_angVel.x *= angularDamping;\n"
+"			body->m_angVel.y *= angularDamping;\n"
+"			body->m_angVel.z *= angularDamping;\n"
+"			\n"
+"			b3Float4 angvel = body->m_angVel;\n"
+"			float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n"
+"			//limit the angular motion\n"
+"			if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n"
+"			{\n"
+"				fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n"
+"			}\n"
+"			if(fAngle < 0.001f)\n"
+"			{\n"
+"				// use Taylor's expansions of sync function\n"
+"				axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n"
+"			}\n"
+"			else\n"
+"			{\n"
+"				// sync(fAngle) = sin(c*fAngle)/t\n"
+"				axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n"
+"			}\n"
+"			b3Quat dorn;\n"
+"			dorn.x = axis.x;\n"
+"			dorn.y = axis.y;\n"
+"			dorn.z = axis.z;\n"
+"			dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n"
+"			b3Quat orn0 = body->m_quat;\n"
+"			b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n"
+"			predictedOrn = b3QuatNormalized(predictedOrn);\n"
+"			body->m_quat=predictedOrn;\n"
+"		}\n"
+"		//apply gravity\n"
+"		body->m_linVel += gravityAcceleration * timeStep;\n"
+"		//linear velocity		\n"
+"		body->m_pos +=  body->m_linVel * timeStep;\n"
+"		\n"
+"	}\n"
+"	\n"
+"}\n"
+"__kernel void \n"
+"  integrateTransformsKernel( __global b3RigidBodyData_t* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n"
+"{\n"
+"	int nodeID = get_global_id(0);\n"
+"	\n"
+"	if( nodeID < numNodes)\n"
+"	{\n"
+"		integrateSingleTransform(bodies,nodeID, timeStep, angularDamping,gravityAcceleration);\n"
+"	}\n"
+"}\n"
+;