Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 421 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solveFriction.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solveFriction.h
new file mode 100644
index 0000000000..eb58674f22
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solveFriction.h
@@ -0,0 +1,421 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* solveFrictionCL= \
+"/*\n"
+"Copyright (c) 2012 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 Takahiro Harada\n"
+"//#pragma OPENCL EXTENSION cl_amd_printf : enable\n"
+"#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable\n"
+"#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable\n"
+"#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n"
+"#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n"
+"#ifdef cl_ext_atomic_counters_32\n"
+"#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable\n"
+"#else\n"
+"#define counter32_t volatile global int*\n"
+"#endif\n"
+"typedef unsigned int u32;\n"
+"typedef unsigned short u16;\n"
+"typedef unsigned char u8;\n"
+"#define GET_GROUP_IDX get_group_id(0)\n"
+"#define GET_LOCAL_IDX get_local_id(0)\n"
+"#define GET_GLOBAL_IDX get_global_id(0)\n"
+"#define GET_GROUP_SIZE get_local_size(0)\n"
+"#define GET_NUM_GROUPS get_num_groups(0)\n"
+"#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE)\n"
+"#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE)\n"
+"#define AtomInc(x) atom_inc(&(x))\n"
+"#define AtomInc1(x, out) out = atom_inc(&(x))\n"
+"#define AppendInc(x, out) out = atomic_inc(x)\n"
+"#define AtomAdd(x, value) atom_add(&(x), value)\n"
+"#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value )\n"
+"#define AtomXhg(x, value) atom_xchg ( &(x), value )\n"
+"#define SELECT_UINT4( b, a, condition ) select( b,a,condition )\n"
+"#define mymake_float4 (float4)\n"
+"//#define make_float2 (float2)\n"
+"//#define make_uint4 (uint4)\n"
+"//#define make_int4 (int4)\n"
+"//#define make_uint2 (uint2)\n"
+"//#define make_int2 (int2)\n"
+"#define max2 max\n"
+"#define min2 min\n"
+"///////////////////////////////////////\n"
+"//	Vector\n"
+"///////////////////////////////////////\n"
+"__inline\n"
+"float4 fastNormalize4(float4 v)\n"
+"{\n"
+"	return fast_normalize(v);\n"
+"}\n"
+"__inline\n"
+"float4 cross3(float4 a, float4 b)\n"
+"{\n"
+"	return cross(a,b);\n"
+"}\n"
+"__inline\n"
+"float dot3F4(float4 a, float4 b)\n"
+"{\n"
+"	float4 a1 = mymake_float4(a.xyz,0.f);\n"
+"	float4 b1 = mymake_float4(b.xyz,0.f);\n"
+"	return dot(a1, b1);\n"
+"}\n"
+"__inline\n"
+"float4 normalize3(const float4 a)\n"
+"{\n"
+"	float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n"
+"	return fastNormalize4( n );\n"
+"//	float length = sqrtf(dot3F4(a, a));\n"
+"//	return 1.f/length * a;\n"
+"}\n"
+"///////////////////////////////////////\n"
+"//	Matrix3x3\n"
+"///////////////////////////////////////\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_row[3];\n"
+"}Matrix3x3;\n"
+"__inline\n"
+"float4 mtMul1(Matrix3x3 a, float4 b);\n"
+"__inline\n"
+"float4 mtMul3(float4 a, Matrix3x3 b);\n"
+"__inline\n"
+"float4 mtMul1(Matrix3x3 a, float4 b)\n"
+"{\n"
+"	float4 ans;\n"
+"	ans.x = dot3F4( a.m_row[0], b );\n"
+"	ans.y = dot3F4( a.m_row[1], b );\n"
+"	ans.z = dot3F4( a.m_row[2], b );\n"
+"	ans.w = 0.f;\n"
+"	return ans;\n"
+"}\n"
+"__inline\n"
+"float4 mtMul3(float4 a, Matrix3x3 b)\n"
+"{\n"
+"	float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
+"	float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
+"	float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
+"	float4 ans;\n"
+"	ans.x = dot3F4( a, colx );\n"
+"	ans.y = dot3F4( a, coly );\n"
+"	ans.z = dot3F4( a, colz );\n"
+"	return ans;\n"
+"}\n"
+"///////////////////////////////////////\n"
+"//	Quaternion\n"
+"///////////////////////////////////////\n"
+"typedef float4 Quaternion;\n"
+"#define WG_SIZE 64\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_pos;\n"
+"	Quaternion m_quat;\n"
+"	float4 m_linVel;\n"
+"	float4 m_angVel;\n"
+"	u32 m_shapeIdx;\n"
+"	float m_invMass;\n"
+"	float m_restituitionCoeff;\n"
+"	float m_frictionCoeff;\n"
+"} Body;\n"
+"typedef struct\n"
+"{\n"
+"	Matrix3x3 m_invInertia;\n"
+"	Matrix3x3 m_initInvInertia;\n"
+"} Shape;\n"
+"typedef struct\n"
+"{\n"
+"	float4 m_linear;\n"
+"	float4 m_worldPos[4];\n"
+"	float4 m_center;	\n"
+"	float m_jacCoeffInv[4];\n"
+"	float m_b[4];\n"
+"	float m_appliedRambdaDt[4];\n"
+"	float m_fJacCoeffInv[2];	\n"
+"	float m_fAppliedRambdaDt[2];	\n"
+"	u32 m_bodyA;\n"
+"	u32 m_bodyB;\n"
+"	int m_batchIdx;\n"
+"	u32 m_paddings[1];\n"
+"} Constraint4;\n"
+"typedef struct\n"
+"{\n"
+"	int m_nConstraints;\n"
+"	int m_start;\n"
+"	int m_batchIdx;\n"
+"	int m_nSplit;\n"
+"//	int m_paddings[1];\n"
+"} ConstBuffer;\n"
+"typedef struct\n"
+"{\n"
+"	int m_solveFriction;\n"
+"	int m_maxBatch;	//	long batch really kills the performance\n"
+"	int m_batchIdx;\n"
+"	int m_nSplit;\n"
+"//	int m_paddings[1];\n"
+"} ConstBufferBatchSolve;\n"
+"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n"
+"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n"
+"{\n"
+"	*linear = mymake_float4(-n.xyz,0.f);\n"
+"	*angular0 = -cross3(r0, n);\n"
+"	*angular1 = cross3(r1, n);\n"
+"}\n"
+"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n"
+"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n"
+"{\n"
+"	return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n"
+"}\n"
+"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
+"				   float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n"
+"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n"
+"					float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n"
+"{\n"
+"	//	linear0,1 are normlized\n"
+"	float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n"
+"	float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n"
+"	float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n"
+"	float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n"
+"	return -1.f/(jmj0+jmj1+jmj2+jmj3);\n"
+"}\n"
+"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n"
+" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n"
+"{\n"
+"  if (fabs(n[0].z) > 0.70710678f) {\n"
+"    // choose p in y-z plane\n"
+"    float a = n[0].y*n[0].y + n[0].z*n[0].z;\n"
+"    float k = 1.f/sqrt(a);\n"
+"    p[0].x = 0;\n"
+"	p[0].y = -n[0].z*k;\n"
+"	p[0].z = n[0].y*k;\n"
+"    // set q = n x p\n"
+"    q[0].x = a*k;\n"
+"	q[0].y = -n[0].x*p[0].z;\n"
+"	q[0].z = n[0].x*p[0].y;\n"
+"  }\n"
+"  else {\n"
+"    // choose p in x-y plane\n"
+"    float a = n[0].x*n[0].x + n[0].y*n[0].y;\n"
+"    float k = 1.f/sqrt(a);\n"
+"    p[0].x = -n[0].y*k;\n"
+"	p[0].y = n[0].x*k;\n"
+"	p[0].z = 0;\n"
+"    // set q = n x p\n"
+"    q[0].x = -n[0].z*p[0].y;\n"
+"	q[0].y = n[0].z*p[0].x;\n"
+"	q[0].z = a*k;\n"
+"  }\n"
+"}\n"
+"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n"
+"void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n"
+"{\n"
+"	float frictionCoeff = ldsCs[0].m_linear.w;\n"
+"	int aIdx = ldsCs[0].m_bodyA;\n"
+"	int bIdx = ldsCs[0].m_bodyB;\n"
+"	float4 posA = gBodies[aIdx].m_pos;\n"
+"	float4 linVelA = gBodies[aIdx].m_linVel;\n"
+"	float4 angVelA = gBodies[aIdx].m_angVel;\n"
+"	float invMassA = gBodies[aIdx].m_invMass;\n"
+"	Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n"
+"	float4 posB = gBodies[bIdx].m_pos;\n"
+"	float4 linVelB = gBodies[bIdx].m_linVel;\n"
+"	float4 angVelB = gBodies[bIdx].m_angVel;\n"
+"	float invMassB = gBodies[bIdx].m_invMass;\n"
+"	Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n"
+"	\n"
+"	{\n"
+"		float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n"
+"		float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\n"
+"		float sum = 0;\n"
+"		for(int j=0; j<4; j++)\n"
+"		{\n"
+"			sum +=ldsCs[0].m_appliedRambdaDt[j];\n"
+"		}\n"
+"		frictionCoeff = 0.7f;\n"
+"		for(int j=0; j<4; j++)\n"
+"		{\n"
+"			maxRambdaDt[j] = frictionCoeff*sum;\n"
+"			minRambdaDt[j] = -maxRambdaDt[j];\n"
+"		}\n"
+"		\n"
+"//		solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n"
+"//			posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );\n"
+"		\n"
+"		\n"
+"		{\n"
+"			\n"
+"			__global Constraint4* cs = ldsCs;\n"
+"			\n"
+"			if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;\n"
+"			const float4 center = cs->m_center;\n"
+"			\n"
+"			float4 n = -cs->m_linear;\n"
+"			\n"
+"			float4 tangent[2];\n"
+"			btPlaneSpace1(&n,&tangent[0],&tangent[1]);\n"
+"			float4 angular0, angular1, linear;\n"
+"			float4 r0 = center - posA;\n"
+"			float4 r1 = center - posB;\n"
+"			for(int i=0; i<2; i++)\n"
+"			{\n"
+"				setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );\n"
+"				float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,\n"
+"											linVelA, angVelA, linVelB, angVelB );\n"
+"				rambdaDt *= cs->m_fJacCoeffInv[i];\n"
+"				\n"
+"				{\n"
+"					float prevSum = cs->m_fAppliedRambdaDt[i];\n"
+"					float updated = prevSum;\n"
+"					updated += rambdaDt;\n"
+"					updated = max2( updated, minRambdaDt[i] );\n"
+"					updated = min2( updated, maxRambdaDt[i] );\n"
+"					rambdaDt = updated - prevSum;\n"
+"					cs->m_fAppliedRambdaDt[i] = updated;\n"
+"				}\n"
+"				\n"
+"				float4 linImp0 = invMassA*linear*rambdaDt;\n"
+"				float4 linImp1 = invMassB*(-linear)*rambdaDt;\n"
+"				float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n"
+"				float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n"
+"				\n"
+"				linVelA += linImp0;\n"
+"				angVelA += angImp0;\n"
+"				linVelB += linImp1;\n"
+"				angVelB += angImp1;\n"
+"			}\n"
+"			{	//	angular damping for point constraint\n"
+"				float4 ab = normalize3( posB - posA );\n"
+"				float4 ac = normalize3( center - posA );\n"
+"				if( dot3F4( ab, ac ) > 0.95f  || (invMassA == 0.f || invMassB == 0.f))\n"
+"				{\n"
+"					float angNA = dot3F4( n, angVelA );\n"
+"					float angNB = dot3F4( n, angVelB );\n"
+"					\n"
+"					angVelA -= (angNA*0.1f)*n;\n"
+"					angVelB -= (angNB*0.1f)*n;\n"
+"				}\n"
+"			}\n"
+"		}\n"
+"		\n"
+"		\n"
+"	}\n"
+"	if (gBodies[aIdx].m_invMass)\n"
+"	{\n"
+"		gBodies[aIdx].m_linVel = linVelA;\n"
+"		gBodies[aIdx].m_angVel = angVelA;\n"
+"	} else\n"
+"	{\n"
+"		gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n"
+"		gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n"
+"	}\n"
+"	if (gBodies[bIdx].m_invMass)\n"
+"	{\n"
+"		gBodies[bIdx].m_linVel = linVelB;\n"
+"		gBodies[bIdx].m_angVel = angVelB;\n"
+"	} else\n"
+"	{\n"
+"		gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n"
+"		gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n"
+"	}\n"
+" \n"
+"}\n"
+"typedef struct \n"
+"{\n"
+"	int m_valInt0;\n"
+"	int m_valInt1;\n"
+"	int m_valInt2;\n"
+"	int m_valInt3;\n"
+"	float m_val0;\n"
+"	float m_val1;\n"
+"	float m_val2;\n"
+"	float m_val3;\n"
+"} SolverDebugInfo;\n"
+"__kernel\n"
+"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n"
+"void BatchSolveKernelFriction(__global Body* gBodies,\n"
+"                      __global Shape* gShapes,\n"
+"                      __global Constraint4* gConstraints,\n"
+"                      __global int* gN,\n"
+"                      __global int* gOffsets,\n"
+"                      __global int* batchSizes,\n"
+"                       int maxBatch1,\n"
+"                       int cellBatch,\n"
+"                       int4 nSplit\n"
+"                      )\n"
+"{\n"
+"	//__local int ldsBatchIdx[WG_SIZE+1];\n"
+"	__local int ldsCurBatch;\n"
+"	__local int ldsNextBatch;\n"
+"	__local int ldsStart;\n"
+"	int lIdx = GET_LOCAL_IDX;\n"
+"	int wgIdx = GET_GROUP_IDX;\n"
+"//	int gIdx = GET_GLOBAL_IDX;\n"
+"//	debugInfo[gIdx].m_valInt0 = gIdx;\n"
+"	//debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n"
+"	int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n"
+"	int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n"
+"	int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n"
+"	int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n"
+"	int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n"
+"	\n"
+"	if( gN[cellIdx] == 0 ) \n"
+"		return;\n"
+"	int maxBatch = batchSizes[cellIdx];\n"
+"	const int start = gOffsets[cellIdx];\n"
+"	const int end = start + gN[cellIdx];\n"
+"	\n"
+"	if( lIdx == 0 )\n"
+"	{\n"
+"		ldsCurBatch = 0;\n"
+"		ldsNextBatch = 0;\n"
+"		ldsStart = start;\n"
+"	}\n"
+"	GROUP_LDS_BARRIER;\n"
+"	int idx=ldsStart+lIdx;\n"
+"	while (ldsCurBatch < maxBatch)\n"
+"	{\n"
+"		for(; idx<end; )\n"
+"		{\n"
+"			if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n"
+"			{\n"
+"					solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
+"				 idx+=64;\n"
+"			} else\n"
+"			{\n"
+"				break;\n"
+"			}\n"
+"		}\n"
+"		GROUP_LDS_BARRIER;\n"
+"		if( lIdx == 0 )\n"
+"		{\n"
+"			ldsCurBatch++;\n"
+"		}\n"
+"		GROUP_LDS_BARRIER;\n"
+"	}\n"
+"	\n"
+"    \n"
+"}\n"
+"__kernel void solveSingleFrictionKernel(__global Body* gBodies,\n"
+"                      __global Shape* gShapes,\n"
+"                      __global Constraint4* gConstraints,\n"
+"                       int cellIdx,\n"
+"                       int batchOffset,\n"
+"                       int numConstraintsInBatch\n"
+"                      )\n"
+"{\n"
+"	int index = get_global_id(0);\n"
+"	if (index < numConstraintsInBatch)\n"
+"	{\n"
+"		\n"
+"		int idx=batchOffset+index;\n"
+"	\n"
+"		solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n"
+"	}    \n"
+"}\n"
+;