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path: root/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp')
-rw-r--r--thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp639
1 files changed, 281 insertions, 358 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
index 179dfc4f26..089fb1f6a6 100644
--- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp
@@ -2,7 +2,7 @@
#include "b3GpuJacobiContactSolver.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" //b3Int2
+#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" //b3Int2
class b3Vector3;
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanCL.h"
@@ -15,89 +15,78 @@ class b3Vector3;
#include "Bullet3Common/shared/b3Int4.h"
#define SOLVER_UTILS_KERNEL_PATH "src/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl"
-
struct b3GpuJacobiSolverInternalData
{
- //btRadixSort32CL* m_sort32;
- //btBoundSearchCL* m_search;
- b3PrefixScanCL* m_scan;
-
- b3OpenCLArray<unsigned int>* m_bodyCount;
- b3OpenCLArray<b3Int2>* m_contactConstraintOffsets;
- b3OpenCLArray<unsigned int>* m_offsetSplitBodies;
-
- b3OpenCLArray<b3Vector3>* m_deltaLinearVelocities;
- b3OpenCLArray<b3Vector3>* m_deltaAngularVelocities;
-
- b3AlignedObjectArray<b3Vector3> m_deltaLinearVelocitiesCPU;
- b3AlignedObjectArray<b3Vector3> m_deltaAngularVelocitiesCPU;
+ //btRadixSort32CL* m_sort32;
+ //btBoundSearchCL* m_search;
+ b3PrefixScanCL* m_scan;
+ b3OpenCLArray<unsigned int>* m_bodyCount;
+ b3OpenCLArray<b3Int2>* m_contactConstraintOffsets;
+ b3OpenCLArray<unsigned int>* m_offsetSplitBodies;
+ b3OpenCLArray<b3Vector3>* m_deltaLinearVelocities;
+ b3OpenCLArray<b3Vector3>* m_deltaAngularVelocities;
- b3OpenCLArray<b3GpuConstraint4>* m_contactConstraints;
-
- b3FillCL* m_filler;
-
-
- cl_kernel m_countBodiesKernel;
- cl_kernel m_contactToConstraintSplitKernel;
- cl_kernel m_clearVelocitiesKernel;
- cl_kernel m_averageVelocitiesKernel;
- cl_kernel m_updateBodyVelocitiesKernel;
- cl_kernel m_solveContactKernel;
- cl_kernel m_solveFrictionKernel;
+ b3AlignedObjectArray<b3Vector3> m_deltaLinearVelocitiesCPU;
+ b3AlignedObjectArray<b3Vector3> m_deltaAngularVelocitiesCPU;
+ b3OpenCLArray<b3GpuConstraint4>* m_contactConstraints;
+ b3FillCL* m_filler;
+ cl_kernel m_countBodiesKernel;
+ cl_kernel m_contactToConstraintSplitKernel;
+ cl_kernel m_clearVelocitiesKernel;
+ cl_kernel m_averageVelocitiesKernel;
+ cl_kernel m_updateBodyVelocitiesKernel;
+ cl_kernel m_solveContactKernel;
+ cl_kernel m_solveFrictionKernel;
};
-
b3GpuJacobiContactSolver::b3GpuJacobiContactSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity)
- :m_context(ctx),
- m_device(device),
- m_queue(queue)
+ : m_context(ctx),
+ m_device(device),
+ m_queue(queue)
{
m_data = new b3GpuJacobiSolverInternalData;
- m_data->m_scan = new b3PrefixScanCL(m_context,m_device,m_queue);
- m_data->m_bodyCount = new b3OpenCLArray<unsigned int>(m_context,m_queue);
- m_data->m_filler = new b3FillCL(m_context,m_device,m_queue);
- m_data->m_contactConstraintOffsets = new b3OpenCLArray<b3Int2>(m_context,m_queue);
- m_data->m_offsetSplitBodies = new b3OpenCLArray<unsigned int>(m_context,m_queue);
- m_data->m_contactConstraints = new b3OpenCLArray<b3GpuConstraint4>(m_context,m_queue);
- m_data->m_deltaLinearVelocities = new b3OpenCLArray<b3Vector3>(m_context,m_queue);
- m_data->m_deltaAngularVelocities = new b3OpenCLArray<b3Vector3>(m_context,m_queue);
+ m_data->m_scan = new b3PrefixScanCL(m_context, m_device, m_queue);
+ m_data->m_bodyCount = new b3OpenCLArray<unsigned int>(m_context, m_queue);
+ m_data->m_filler = new b3FillCL(m_context, m_device, m_queue);
+ m_data->m_contactConstraintOffsets = new b3OpenCLArray<b3Int2>(m_context, m_queue);
+ m_data->m_offsetSplitBodies = new b3OpenCLArray<unsigned int>(m_context, m_queue);
+ m_data->m_contactConstraints = new b3OpenCLArray<b3GpuConstraint4>(m_context, m_queue);
+ m_data->m_deltaLinearVelocities = new b3OpenCLArray<b3Vector3>(m_context, m_queue);
+ m_data->m_deltaAngularVelocities = new b3OpenCLArray<b3Vector3>(m_context, m_queue);
cl_int pErrNum;
- const char* additionalMacros="";
+ const char* additionalMacros = "";
const char* solverUtilsSource = solverUtilsCL;
{
- cl_program solverUtilsProg= b3OpenCLUtils::compileCLProgramFromString( ctx, device, solverUtilsSource, &pErrNum,additionalMacros, SOLVER_UTILS_KERNEL_PATH);
+ cl_program solverUtilsProg = b3OpenCLUtils::compileCLProgramFromString(ctx, device, solverUtilsSource, &pErrNum, additionalMacros, SOLVER_UTILS_KERNEL_PATH);
b3Assert(solverUtilsProg);
- m_data->m_countBodiesKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "CountBodiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
+ m_data->m_countBodiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "CountBodiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
b3Assert(m_data->m_countBodiesKernel);
- m_data->m_contactToConstraintSplitKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "ContactToConstraintSplitKernel", &pErrNum, solverUtilsProg,additionalMacros );
+ m_data->m_contactToConstraintSplitKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "ContactToConstraintSplitKernel", &pErrNum, solverUtilsProg, additionalMacros);
b3Assert(m_data->m_contactToConstraintSplitKernel);
- m_data->m_clearVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "ClearVelocitiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
+ m_data->m_clearVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "ClearVelocitiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
b3Assert(m_data->m_clearVelocitiesKernel);
- m_data->m_averageVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "AverageVelocitiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
+ m_data->m_averageVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "AverageVelocitiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
b3Assert(m_data->m_averageVelocitiesKernel);
- m_data->m_updateBodyVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "UpdateBodyVelocitiesKernel", &pErrNum, solverUtilsProg,additionalMacros );
+ m_data->m_updateBodyVelocitiesKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "UpdateBodyVelocitiesKernel", &pErrNum, solverUtilsProg, additionalMacros);
b3Assert(m_data->m_updateBodyVelocitiesKernel);
-
- m_data->m_solveContactKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "SolveContactJacobiKernel", &pErrNum, solverUtilsProg,additionalMacros );
- b3Assert(m_data->m_solveContactKernel );
+ m_data->m_solveContactKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "SolveContactJacobiKernel", &pErrNum, solverUtilsProg, additionalMacros);
+ b3Assert(m_data->m_solveContactKernel);
- m_data->m_solveFrictionKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, solverUtilsSource, "SolveFrictionJacobiKernel", &pErrNum, solverUtilsProg,additionalMacros );
+ m_data->m_solveFrictionKernel = b3OpenCLUtils::compileCLKernelFromString(ctx, device, solverUtilsSource, "SolveFrictionJacobiKernel", &pErrNum, solverUtilsProg, additionalMacros);
b3Assert(m_data->m_solveFrictionKernel);
}
-
}
-
b3GpuJacobiContactSolver::~b3GpuJacobiContactSolver()
{
clReleaseKernel(m_data->m_solveContactKernel);
@@ -106,7 +95,7 @@ b3GpuJacobiContactSolver::~b3GpuJacobiContactSolver()
clReleaseKernel(m_data->m_contactToConstraintSplitKernel);
clReleaseKernel(m_data->m_averageVelocitiesKernel);
clReleaseKernel(m_data->m_updateBodyVelocitiesKernel);
- clReleaseKernel(m_data->m_clearVelocitiesKernel );
+ clReleaseKernel(m_data->m_clearVelocitiesKernel);
delete m_data->m_deltaLinearVelocities;
delete m_data->m_deltaAngularVelocities;
@@ -119,80 +108,70 @@ b3GpuJacobiContactSolver::~b3GpuJacobiContactSolver()
delete m_data;
}
-
-
b3Vector3 make_float4(float v)
{
- return b3MakeVector3 (v,v,v);
+ return b3MakeVector3(v, v, v);
}
-b3Vector4 make_float4(float x,float y, float z, float w)
+b3Vector4 make_float4(float x, float y, float z, float w)
{
- return b3MakeVector4 (x,y,z,w);
+ return b3MakeVector4(x, y, z, w);
}
-
- static
- inline
- float calcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1,
- const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1)
- {
- return b3Dot(l0, linVel0) + b3Dot(a0, angVel0) + b3Dot(l1, linVel1) + b3Dot(a1, angVel1);
- }
-
-
- static
- inline
- void setLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1,
- b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1)
- {
- linear = n;
- angular0 = b3Cross(r0, n);
- angular1 = -b3Cross(r1, n);
- }
-
-
-static __inline void solveContact(b3GpuConstraint4& cs,
- const b3Vector3& posA, const b3Vector3& linVelARO, const b3Vector3& angVelARO, float invMassA, const b3Matrix3x3& invInertiaA,
- const b3Vector3& posB, const b3Vector3& linVelBRO, const b3Vector3& angVelBRO, float invMassB, const b3Matrix3x3& invInertiaB,
- float maxRambdaDt[4], float minRambdaDt[4], b3Vector3& dLinVelA, b3Vector3& dAngVelA, b3Vector3& dLinVelB, b3Vector3& dAngVelB)
+static inline float calcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1,
+ const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1)
{
+ return b3Dot(l0, linVel0) + b3Dot(a0, angVel0) + b3Dot(l1, linVel1) + b3Dot(a1, angVel1);
+}
+static inline void setLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1,
+ b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1)
+{
+ linear = n;
+ angular0 = b3Cross(r0, n);
+ angular1 = -b3Cross(r1, n);
+}
- for(int ic=0; ic<4; ic++)
+static __inline void solveContact(b3GpuConstraint4& cs,
+ const b3Vector3& posA, const b3Vector3& linVelARO, const b3Vector3& angVelARO, float invMassA, const b3Matrix3x3& invInertiaA,
+ const b3Vector3& posB, const b3Vector3& linVelBRO, const b3Vector3& angVelBRO, float invMassB, const b3Matrix3x3& invInertiaB,
+ float maxRambdaDt[4], float minRambdaDt[4], b3Vector3& dLinVelA, b3Vector3& dAngVelA, b3Vector3& dLinVelB, b3Vector3& dAngVelB)
+{
+ for (int ic = 0; ic < 4; ic++)
{
// dont necessary because this makes change to 0
- if( cs.m_jacCoeffInv[ic] == 0.f ) continue;
+ if (cs.m_jacCoeffInv[ic] == 0.f) continue;
{
b3Vector3 angular0, angular1, linear;
b3Vector3 r0 = cs.m_worldPos[ic] - (b3Vector3&)posA;
b3Vector3 r1 = cs.m_worldPos[ic] - (b3Vector3&)posB;
- setLinearAndAngular( (const b3Vector3 &)cs.m_linear, (const b3Vector3 &)r0, (const b3Vector3 &)r1, linear, angular0, angular1 );
+ setLinearAndAngular((const b3Vector3&)cs.m_linear, (const b3Vector3&)r0, (const b3Vector3&)r1, linear, angular0, angular1);
- float rambdaDt = calcRelVel((const b3Vector3 &)cs.m_linear,(const b3Vector3 &) -cs.m_linear, angular0, angular1,
- linVelARO+dLinVelA, angVelARO+dAngVelA, linVelBRO+dLinVelB, angVelBRO+dAngVelB ) + cs.m_b[ic];
+ float rambdaDt = calcRelVel((const b3Vector3&)cs.m_linear, (const b3Vector3&)-cs.m_linear, angular0, angular1,
+ linVelARO + dLinVelA, angVelARO + dAngVelA, linVelBRO + dLinVelB, angVelBRO + dAngVelB) +
+ cs.m_b[ic];
rambdaDt *= cs.m_jacCoeffInv[ic];
{
float prevSum = cs.m_appliedRambdaDt[ic];
float updated = prevSum;
updated += rambdaDt;
- updated = b3Max( updated, minRambdaDt[ic] );
- updated = b3Min( updated, maxRambdaDt[ic] );
+ updated = b3Max(updated, minRambdaDt[ic]);
+ updated = b3Min(updated, maxRambdaDt[ic]);
rambdaDt = updated - prevSum;
cs.m_appliedRambdaDt[ic] = updated;
}
- b3Vector3 linImp0 = invMassA*linear*rambdaDt;
- b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
- b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
- b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
+ b3Vector3 linImp0 = invMassA * linear * rambdaDt;
+ b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
+ b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
+ b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
#ifdef _WIN32
- b3Assert(_finite(linImp0.getX()));
+ b3Assert(_finite(linImp0.getX()));
b3Assert(_finite(linImp1.getX()));
#endif
-
+
if (invMassA)
{
dLinVelA += linImp0;
@@ -207,43 +186,42 @@ static __inline void solveContact(b3GpuConstraint4& cs,
}
}
-
-
void solveContact3(b3GpuConstraint4* cs,
- b3Vector3* posAPtr, b3Vector3* linVelA, b3Vector3* angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
- b3Vector3* posBPtr, b3Vector3* linVelB, b3Vector3* angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
- b3Vector3* dLinVelA, b3Vector3* dAngVelA, b3Vector3* dLinVelB, b3Vector3* dAngVelB)
+ b3Vector3* posAPtr, b3Vector3* linVelA, b3Vector3* angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
+ b3Vector3* posBPtr, b3Vector3* linVelB, b3Vector3* angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
+ b3Vector3* dLinVelA, b3Vector3* dAngVelA, b3Vector3* dLinVelB, b3Vector3* dAngVelB)
{
float minRambdaDt = 0;
float maxRambdaDt = FLT_MAX;
- for(int ic=0; ic<4; ic++)
+ for (int ic = 0; ic < 4; ic++)
{
- if( cs->m_jacCoeffInv[ic] == 0.f ) continue;
+ if (cs->m_jacCoeffInv[ic] == 0.f) continue;
b3Vector3 angular0, angular1, linear;
b3Vector3 r0 = cs->m_worldPos[ic] - *posAPtr;
b3Vector3 r1 = cs->m_worldPos[ic] - *posBPtr;
- setLinearAndAngular( cs->m_linear, r0, r1, linear, angular0, angular1 );
+ setLinearAndAngular(cs->m_linear, r0, r1, linear, angular0, angular1);
- float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1,
- *linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];
+ float rambdaDt = calcRelVel(cs->m_linear, -cs->m_linear, angular0, angular1,
+ *linVelA + *dLinVelA, *angVelA + *dAngVelA, *linVelB + *dLinVelB, *angVelB + *dAngVelB) +
+ cs->m_b[ic];
rambdaDt *= cs->m_jacCoeffInv[ic];
{
float prevSum = cs->m_appliedRambdaDt[ic];
float updated = prevSum;
updated += rambdaDt;
- updated = b3Max( updated, minRambdaDt );
- updated = b3Min( updated, maxRambdaDt );
+ updated = b3Max(updated, minRambdaDt);
+ updated = b3Min(updated, maxRambdaDt);
rambdaDt = updated - prevSum;
cs->m_appliedRambdaDt[ic] = updated;
}
- b3Vector3 linImp0 = invMassA*linear*rambdaDt;
- b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
- b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
- b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
+ b3Vector3 linImp0 = invMassA * linear * rambdaDt;
+ b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
+ b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
+ b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
if (invMassA)
{
@@ -258,58 +236,56 @@ void solveContact3(b3GpuConstraint4* cs,
}
}
-
-static inline void solveFriction(b3GpuConstraint4& cs,
- const b3Vector3& posA, const b3Vector3& linVelARO, const b3Vector3& angVelARO, float invMassA, const b3Matrix3x3& invInertiaA,
- const b3Vector3& posB, const b3Vector3& linVelBRO, const b3Vector3& angVelBRO, float invMassB, const b3Matrix3x3& invInertiaB,
- float maxRambdaDt[4], float minRambdaDt[4], b3Vector3& dLinVelA, b3Vector3& dAngVelA, b3Vector3& dLinVelB, b3Vector3& dAngVelB)
+static inline void solveFriction(b3GpuConstraint4& cs,
+ const b3Vector3& posA, const b3Vector3& linVelARO, const b3Vector3& angVelARO, float invMassA, const b3Matrix3x3& invInertiaA,
+ const b3Vector3& posB, const b3Vector3& linVelBRO, const b3Vector3& angVelBRO, float invMassB, const b3Matrix3x3& invInertiaB,
+ float maxRambdaDt[4], float minRambdaDt[4], b3Vector3& dLinVelA, b3Vector3& dAngVelA, b3Vector3& dLinVelB, b3Vector3& dAngVelB)
{
+ b3Vector3 linVelA = linVelARO + dLinVelA;
+ b3Vector3 linVelB = linVelBRO + dLinVelB;
+ b3Vector3 angVelA = angVelARO + dAngVelA;
+ b3Vector3 angVelB = angVelBRO + dAngVelB;
- b3Vector3 linVelA = linVelARO+dLinVelA;
- b3Vector3 linVelB = linVelBRO+dLinVelB;
- b3Vector3 angVelA = angVelARO+dAngVelA;
- b3Vector3 angVelB = angVelBRO+dAngVelB;
-
- if( cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0 ) return;
+ if (cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0) return;
const b3Vector3& center = (const b3Vector3&)cs.m_center;
b3Vector3 n = -(const b3Vector3&)cs.m_linear;
b3Vector3 tangent[2];
-#if 1
- b3PlaneSpace1 (n, tangent[0],tangent[1]);
+#if 1
+ b3PlaneSpace1(n, tangent[0], tangent[1]);
#else
- b3Vector3 r = cs.m_worldPos[0]-center;
- tangent[0] = cross3( n, r );
- tangent[1] = cross3( tangent[0], n );
- tangent[0] = normalize3( tangent[0] );
- tangent[1] = normalize3( tangent[1] );
+ b3Vector3 r = cs.m_worldPos[0] - center;
+ tangent[0] = cross3(n, r);
+ tangent[1] = cross3(tangent[0], n);
+ tangent[0] = normalize3(tangent[0]);
+ tangent[1] = normalize3(tangent[1]);
#endif
b3Vector3 angular0, angular1, linear;
b3Vector3 r0 = center - posA;
b3Vector3 r1 = center - posB;
- for(int i=0; i<2; i++)
+ for (int i = 0; i < 2; i++)
{
- setLinearAndAngular( tangent[i], r0, r1, linear, angular0, angular1 );
+ setLinearAndAngular(tangent[i], r0, r1, linear, angular0, angular1);
float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,
- linVelA, angVelA, linVelB, angVelB );
+ linVelA, angVelA, linVelB, angVelB);
rambdaDt *= cs.m_fJacCoeffInv[i];
- {
- float prevSum = cs.m_fAppliedRambdaDt[i];
- float updated = prevSum;
- updated += rambdaDt;
- updated = b3Max( updated, minRambdaDt[i] );
- updated = b3Min( updated, maxRambdaDt[i] );
- rambdaDt = updated - prevSum;
- cs.m_fAppliedRambdaDt[i] = updated;
- }
+ {
+ float prevSum = cs.m_fAppliedRambdaDt[i];
+ float updated = prevSum;
+ updated += rambdaDt;
+ updated = b3Max(updated, minRambdaDt[i]);
+ updated = b3Min(updated, maxRambdaDt[i]);
+ rambdaDt = updated - prevSum;
+ cs.m_fAppliedRambdaDt[i] = updated;
+ }
- b3Vector3 linImp0 = invMassA*linear*rambdaDt;
- b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
- b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
- b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
+ b3Vector3 linImp0 = invMassA * linear * rambdaDt;
+ b3Vector3 linImp1 = invMassB * (-linear) * rambdaDt;
+ b3Vector3 angImp0 = (invInertiaA * angular0) * rambdaDt;
+ b3Vector3 angImp1 = (invInertiaB * angular1) * rambdaDt;
#ifdef _WIN32
b3Assert(_finite(linImp0.getX()));
b3Assert(_finite(linImp1.getX()));
@@ -326,65 +302,58 @@ static inline void solveFriction(b3GpuConstraint4& cs,
}
}
- { // angular damping for point constraint
- b3Vector3 ab = ( posB - posA ).normalized();
- b3Vector3 ac = ( center - posA ).normalized();
- if( b3Dot( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
+ { // angular damping for point constraint
+ b3Vector3 ab = (posB - posA).normalized();
+ b3Vector3 ac = (center - posA).normalized();
+ if (b3Dot(ab, ac) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
{
- float angNA = b3Dot( n, angVelA );
- float angNB = b3Dot( n, angVelB );
+ float angNA = b3Dot(n, angVelA);
+ float angNB = b3Dot(n, angVelB);
if (invMassA)
- dAngVelA -= (angNA*0.1f)*n;
+ dAngVelA -= (angNA * 0.1f) * n;
if (invMassB)
- dAngVelB -= (angNB*0.1f)*n;
+ dAngVelB -= (angNB * 0.1f) * n;
}
}
-
}
-
-
-
float calcJacCoeff(const b3Vector3& linear0, const b3Vector3& linear1, const b3Vector3& angular0, const b3Vector3& angular1,
- float invMass0, const b3Matrix3x3* invInertia0, float invMass1, const b3Matrix3x3* invInertia1, float countA, float countB)
+ float invMass0, const b3Matrix3x3* invInertia0, float invMass1, const b3Matrix3x3* invInertia1, float countA, float countB)
{
// linear0,1 are normlized
- float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;
-
- float jmj1 = b3Dot(mtMul3(angular0,*invInertia0), angular0);
- float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;
- float jmj3 = b3Dot(mtMul3(angular1,*invInertia1), angular1);
- return -1.f/((jmj0+jmj1)*countA+(jmj2+jmj3)*countB);
-// return -1.f/((jmj0+jmj1)+(jmj2+jmj3));
+ float jmj0 = invMass0; //dot3F4(linear0, linear0)*invMass0;
+ float jmj1 = b3Dot(mtMul3(angular0, *invInertia0), angular0);
+ float jmj2 = invMass1; //dot3F4(linear1, linear1)*invMass1;
+ float jmj3 = b3Dot(mtMul3(angular1, *invInertia1), angular1);
+ return -1.f / ((jmj0 + jmj1) * countA + (jmj2 + jmj3) * countB);
+ // return -1.f/((jmj0+jmj1)+(jmj2+jmj3));
}
-
-void setConstraint4( const b3Vector3& posA, const b3Vector3& linVelA, const b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
- const b3Vector3& posB, const b3Vector3& linVelB, const b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
- b3Contact4* src, float dt, float positionDrift, float positionConstraintCoeff, float countA, float countB,
- b3GpuConstraint4* dstC )
+void setConstraint4(const b3Vector3& posA, const b3Vector3& linVelA, const b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
+ const b3Vector3& posB, const b3Vector3& linVelB, const b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
+ b3Contact4* src, float dt, float positionDrift, float positionConstraintCoeff, float countA, float countB,
+ b3GpuConstraint4* dstC)
{
dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);
dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);
- float dtInv = 1.f/dt;
- for(int ic=0; ic<4; ic++)
+ float dtInv = 1.f / dt;
+ for (int ic = 0; ic < 4; ic++)
{
dstC->m_appliedRambdaDt[ic] = 0.f;
}
dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
-
dstC->m_linear = src->m_worldNormalOnB;
- dstC->m_linear[3] = 0.7f ;//src->getFrictionCoeff() );
- for(int ic=0; ic<4; ic++)
+ dstC->m_linear[3] = 0.7f; //src->getFrictionCoeff() );
+ for (int ic = 0; ic < 4; ic++)
{
b3Vector3 r0 = src->m_worldPosB[ic] - posA;
b3Vector3 r1 = src->m_worldPosB[ic] - posB;
- if( ic >= src->m_worldNormalOnB[3] )//npoints
+ if (ic >= src->m_worldNormalOnB[3]) //npoints
{
dstC->m_jacCoeffInv[ic] = 0.f;
continue;
@@ -396,53 +365,53 @@ void setConstraint4( const b3Vector3& posA, const b3Vector3& linVelA, const b3Ve
setLinearAndAngular(src->m_worldNormalOnB, r0, r1, linear, angular0, angular1);
dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
- invMassA, &invInertiaA, invMassB, &invInertiaB ,countA,countB);
+ invMassA, &invInertiaA, invMassB, &invInertiaB, countA, countB);
relVelN = calcRelVel(linear, -linear, angular0, angular1,
- linVelA, angVelA, linVelB, angVelB);
+ linVelA, angVelA, linVelB, angVelB);
- float e = 0.f;//src->getRestituitionCoeff();
- if( relVelN*relVelN < 0.004f )
+ float e = 0.f; //src->getRestituitionCoeff();
+ if (relVelN * relVelN < 0.004f)
{
e = 0.f;
}
- dstC->m_b[ic] = e*relVelN;
+ dstC->m_b[ic] = e * relVelN;
//float penetration = src->m_worldPos[ic].w;
- dstC->m_b[ic] += (src->m_worldPosB[ic][3] + positionDrift)*positionConstraintCoeff*dtInv;
+ dstC->m_b[ic] += (src->m_worldPosB[ic][3] + positionDrift) * positionConstraintCoeff * dtInv;
dstC->m_appliedRambdaDt[ic] = 0.f;
}
}
- if( src->m_worldNormalOnB[3] > 0 )//npoints
- { // prepare friction
+ if (src->m_worldNormalOnB[3] > 0) //npoints
+ { // prepare friction
b3Vector3 center = make_float4(0.f);
- for(int i=0; i<src->m_worldNormalOnB[3]; i++)
+ for (int i = 0; i < src->m_worldNormalOnB[3]; i++)
center += src->m_worldPosB[i];
center /= (float)src->m_worldNormalOnB[3];
b3Vector3 tangent[2];
- b3PlaneSpace1(src->m_worldNormalOnB,tangent[0],tangent[1]);
-
+ b3PlaneSpace1(src->m_worldNormalOnB, tangent[0], tangent[1]);
+
b3Vector3 r[2];
r[0] = center - posA;
r[1] = center - posB;
- for(int i=0; i<2; i++)
+ for (int i = 0; i < 2; i++)
{
b3Vector3 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);
+ invMassA, &invInertiaA, invMassB, &invInertiaB, countA, countB);
dstC->m_fAppliedRambdaDt[i] = 0.f;
}
dstC->m_center = center;
}
- for(int i=0; i<4; i++)
+ for (int i = 0; i < 4; i++)
{
- if( i<src->m_worldNormalOnB[3] )
+ if (i < src->m_worldNormalOnB[3])
{
dstC->m_worldPos[i] = src->m_worldPosB[i];
}
@@ -453,17 +422,14 @@ void setConstraint4( const b3Vector3& posA, const b3Vector3& linVelA, const b3Ve
}
}
-
-
void ContactToConstraintKernel(b3Contact4* gContact, b3RigidBodyData* gBodies, b3InertiaData* gShapes, b3GpuConstraint4* gConstraintOut, int nContacts,
-float dt,
-float positionDrift,
-float positionConstraintCoeff, int gIdx, b3AlignedObjectArray<unsigned int>& bodyCount
-)
+ float dt,
+ float positionDrift,
+ float positionConstraintCoeff, int gIdx, b3AlignedObjectArray<unsigned int>& bodyCount)
{
//int gIdx = 0;//GET_GLOBAL_IDX;
-
- if( gIdx < nContacts )
+
+ if (gIdx < nContacts)
{
int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);
int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);
@@ -472,50 +438,46 @@ float positionConstraintCoeff, int gIdx, b3AlignedObjectArray<unsigned int>& bod
b3Vector3 linVelA = gBodies[aIdx].m_linVel;
b3Vector3 angVelA = gBodies[aIdx].m_angVel;
float invMassA = gBodies[aIdx].m_invMass;
- b3Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertiaWorld;//.m_invInertia;
+ b3Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertiaWorld; //.m_invInertia;
b3Vector3 posB = gBodies[bIdx].m_pos;
b3Vector3 linVelB = gBodies[bIdx].m_linVel;
b3Vector3 angVelB = gBodies[bIdx].m_angVel;
float invMassB = gBodies[bIdx].m_invMass;
- b3Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertiaWorld;//m_invInertia;
+ b3Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertiaWorld; //m_invInertia;
b3GpuConstraint4 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 );
-
+ 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 b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,const b3JacobiSolverInfo& solverInfo)
+void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, const b3JacobiSolverInfo& solverInfo)
{
B3_PROFILE("b3GpuJacobiContactSolver::solveGroup");
b3AlignedObjectArray<unsigned int> bodyCount;
bodyCount.resize(numBodies);
- for (int i=0;i<numBodies;i++)
+ for (int i = 0; i < numBodies; i++)
bodyCount[i] = 0;
b3AlignedObjectArray<b3Int2> contactConstraintOffsets;
contactConstraintOffsets.resize(numManifolds);
-
- for (int i=0;i<numManifolds;i++)
+ 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);
+ 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();
@@ -529,71 +491,63 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
{
contactConstraintOffsets[i].y = bodyCount[bodyIndexB];
bodyCount[bodyIndexB]++;
- }
+ }
}
b3AlignedObjectArray<unsigned int> offsetSplitBodies;
offsetSplitBodies.resize(numBodies);
unsigned int totalNumSplitBodies;
- m_data->m_scan->executeHost(bodyCount,offsetSplitBodies,numBodies,&totalNumSplitBodies);
- int numlastBody = bodyCount[numBodies-1];
+ m_data->m_scan->executeHost(bodyCount, offsetSplitBodies, numBodies, &totalNumSplitBodies);
+ int numlastBody = bodyCount[numBodies - 1];
totalNumSplitBodies += numlastBody;
- printf("totalNumSplitBodies = %d\n",totalNumSplitBodies);
-
-
-
-
+ printf("totalNumSplitBodies = %d\n", totalNumSplitBodies);
b3AlignedObjectArray<b3GpuConstraint4> contactConstraints;
contactConstraints.resize(numManifolds);
- for (int i=0;i<numManifolds;i++)
+ 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);
+ ContactToConstraintKernel(&manifoldPtr[0], bodies, inertias, &contactConstraints[0], numManifolds,
+ solverInfo.m_deltaTime,
+ solverInfo.m_positionDrift,
+ solverInfo.m_positionConstraintCoeff,
+ i, bodyCount);
}
int maxIter = solverInfo.m_numIterations;
-
b3AlignedObjectArray<b3Vector3> deltaLinearVelocities;
b3AlignedObjectArray<b3Vector3> deltaAngularVelocities;
deltaLinearVelocities.resize(totalNumSplitBodies);
deltaAngularVelocities.resize(totalNumSplitBodies);
- for (unsigned int i=0;i<totalNumSplitBodies;i++)
+ for (unsigned int i = 0; i < totalNumSplitBodies; i++)
{
deltaLinearVelocities[i].setZero();
deltaAngularVelocities[i].setZero();
}
-
-
- for (int iter = 0;iter<maxIter;iter++)
+ for (int iter = 0; iter < maxIter; iter++)
{
- int i=0;
- for( i=0; i<numManifolds; i++)
+ 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;
b3RigidBodyData& bodyA = bodies[aIdx];
b3RigidBodyData& bodyB = bodies[bIdx];
- b3Vector3 zero = b3MakeVector3(0,0,0);
-
- b3Vector3* dlvAPtr=&zero;
- b3Vector3* davAPtr=&zero;
- b3Vector3* dlvBPtr=&zero;
- b3Vector3* davBPtr=&zero;
-
+ b3Vector3 zero = b3MakeVector3(0, 0, 0);
+
+ b3Vector3* dlvAPtr = &zero;
+ b3Vector3* davAPtr = &zero;
+ b3Vector3* dlvBPtr = &zero;
+ b3Vector3* davBPtr = &zero;
+
if (bodyA.m_invMass)
{
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[i].x;
- int splitIndexA = bodyOffsetA+constraintOffsetA;
+ int splitIndexA = bodyOffsetA + constraintOffsetA;
dlvAPtr = &deltaLinearVelocities[splitIndexA];
davAPtr = &deltaAngularVelocities[splitIndexA];
}
@@ -602,67 +556,61 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
{
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[i].y;
- int splitIndexB= bodyOffsetB+constraintOffsetB;
- dlvBPtr =&deltaLinearVelocities[splitIndexB];
+ 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], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
- (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
- maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr );
-
+ 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], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
+ (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
+ maxRambdaDt, minRambdaDt, *dlvAPtr, *davAPtr, *dlvBPtr, *davBPtr);
}
-
}
-
//easy
- for (int i=0;i<numBodies;i++)
+ for (int i = 0; i < numBodies; i++)
{
if (bodies[i].m_invMass)
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
- float factor = 1.f/float(count);
+ float factor = 1.f / float(count);
b3Vector3 averageLinVel;
averageLinVel.setZero();
b3Vector3 averageAngVel;
averageAngVel.setZero();
- for (int j=0;j<count;j++)
+ for (int j = 0; j < count; j++)
{
- averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
- averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
+ averageLinVel += deltaLinearVelocities[bodyOffset + j] * factor;
+ averageAngVel += deltaAngularVelocities[bodyOffset + j] * factor;
}
- for (int j=0;j<count;j++)
+ for (int j = 0; j < count; j++)
{
- deltaLinearVelocities[bodyOffset+j] = averageLinVel;
- deltaAngularVelocities[bodyOffset+j] = averageAngVel;
+ deltaLinearVelocities[bodyOffset + j] = averageLinVel;
+ deltaAngularVelocities[bodyOffset + j] = averageAngVel;
}
}
}
}
- for (int iter = 0;iter<maxIter;iter++)
+ for (int iter = 0; iter < maxIter; iter++)
{
//int i=0;
-
+
//solve friction
- for(int i=0; i<numManifolds; i++)
+ 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 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++)
+ for (int j = 0; j < 4; j++)
{
- sum +=contactConstraints[i].m_appliedRambdaDt[j];
+ sum += contactConstraints[i].m_appliedRambdaDt[j];
}
float frictionCoeff = contactConstraints[i].getFrictionCoeff();
int aIdx = (int)contactConstraints[i].m_bodyA;
@@ -670,18 +618,18 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
b3RigidBodyData& bodyA = bodies[aIdx];
b3RigidBodyData& bodyB = bodies[bIdx];
- b3Vector3 zero = b3MakeVector3(0,0,0);
-
- b3Vector3* dlvAPtr=&zero;
- b3Vector3* davAPtr=&zero;
- b3Vector3* dlvBPtr=&zero;
- b3Vector3* davBPtr=&zero;
-
+ b3Vector3 zero = b3MakeVector3(0, 0, 0);
+
+ b3Vector3* dlvAPtr = &zero;
+ b3Vector3* davAPtr = &zero;
+ b3Vector3* dlvBPtr = &zero;
+ b3Vector3* davBPtr = &zero;
+
if (bodyA.m_invMass)
{
int bodyOffsetA = offsetSplitBodies[aIdx];
int constraintOffsetA = contactConstraintOffsets[i].x;
- int splitIndexA = bodyOffsetA+constraintOffsetA;
+ int splitIndexA = bodyOffsetA + constraintOffsetA;
dlvAPtr = &deltaLinearVelocities[splitIndexA];
davAPtr = &deltaAngularVelocities[splitIndexA];
}
@@ -690,55 +638,50 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
{
int bodyOffsetB = offsetSplitBodies[bIdx];
int constraintOffsetB = contactConstraintOffsets[i].y;
- int splitIndexB= bodyOffsetB+constraintOffsetB;
- dlvBPtr =&deltaLinearVelocities[splitIndexB];
+ int splitIndexB = bodyOffsetB + constraintOffsetB;
+ dlvBPtr = &deltaLinearVelocities[splitIndexB];
davBPtr = &deltaAngularVelocities[splitIndexB];
}
- for(int j=0; j<4; j++)
+ for (int j = 0; j < 4; j++)
{
- maxRambdaDt[j] = frictionCoeff*sum;
+ maxRambdaDt[j] = frictionCoeff * sum;
minRambdaDt[j] = -maxRambdaDt[j];
}
- solveFriction( contactConstraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass,inertias[aIdx].m_invInertiaWorld,
- (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
- maxRambdaDt, minRambdaDt , *dlvAPtr,*davAPtr,*dlvBPtr,*davBPtr);
-
+ solveFriction(contactConstraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, inertias[aIdx].m_invInertiaWorld,
+ (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, inertias[bIdx].m_invInertiaWorld,
+ maxRambdaDt, minRambdaDt, *dlvAPtr, *davAPtr, *dlvBPtr, *davBPtr);
}
//easy
- for (int i=0;i<numBodies;i++)
+ for (int i = 0; i < numBodies; i++)
{
if (bodies[i].m_invMass)
{
int bodyOffset = offsetSplitBodies[i];
int count = bodyCount[i];
- float factor = 1.f/float(count);
+ float factor = 1.f / float(count);
b3Vector3 averageLinVel;
averageLinVel.setZero();
b3Vector3 averageAngVel;
averageAngVel.setZero();
- for (int j=0;j<count;j++)
+ for (int j = 0; j < count; j++)
{
- averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;
- averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;
+ averageLinVel += deltaLinearVelocities[bodyOffset + j] * factor;
+ averageAngVel += deltaAngularVelocities[bodyOffset + j] * factor;
}
- for (int j=0;j<count;j++)
+ for (int j = 0; j < count; j++)
{
- deltaLinearVelocities[bodyOffset+j] = averageLinVel;
- deltaAngularVelocities[bodyOffset+j] = averageAngVel;
+ deltaLinearVelocities[bodyOffset + j] = averageLinVel;
+ deltaAngularVelocities[bodyOffset + j] = averageAngVel;
}
}
}
-
-
-
}
-
//easy
- for (int i=0;i<numBodies;i++)
+ for (int i = 0; i < numBodies; i++)
{
if (bodies[i].m_invMass)
{
@@ -753,8 +696,6 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
}
}
-
-
void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config, int static0Index)
//
//
@@ -762,49 +703,47 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
{
b3JacobiSolverInfo solverInfo;
solverInfo.m_fixedBodyIndex = static0Index;
-
B3_PROFILE("b3GpuJacobiContactSolver::solveGroup");
//int numBodies = bodies->size();
- int numManifolds = numContacts;//manifoldPtr->size();
+ int numManifolds = numContacts; //manifoldPtr->size();
{
B3_PROFILE("resize");
m_data->m_bodyCount->resize(numBodies);
}
-
- unsigned int val=0;
+
+ unsigned int val = 0;
b3Int2 val2;
- val2.x=0;
- val2.y=0;
+ val2.x = 0;
+ val2.y = 0;
- {
+ {
B3_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);
+ m_data->m_filler->execute(*m_data->m_bodyCount, val, numBodies);
+
+ m_data->m_filler->execute(*m_data->m_contactConstraintOffsets, val2, numManifolds);
}
{
B3_PROFILE("m_countBodiesKernel");
- b3LauncherCL launcher(this->m_queue,m_data->m_countBodiesKernel,"m_countBodiesKernel");
- launcher.setBuffer(contactBuf);//manifoldPtr->getBufferCL());
+ b3LauncherCL launcher(this->m_queue, m_data->m_countBodiesKernel, "m_countBodiesKernel");
+ launcher.setBuffer(contactBuf); //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;
+ unsigned int totalNumSplitBodies = 0;
{
B3_PROFILE("m_scan->execute");
-
+
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);
+ m_data->m_scan->execute(*m_data->m_bodyCount, *m_data->m_offsetSplitBodies, numBodies, &totalNumSplitBodies);
+ totalNumSplitBodies += m_data->m_bodyCount->at(numBodies - 1);
}
{
@@ -812,50 +751,45 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
//int numContacts = manifoldPtr->size();
m_data->m_contactConstraints->resize(numContacts);
}
-
+
{
B3_PROFILE("contactToConstraintSplitKernel");
- b3LauncherCL launcher( m_queue, m_data->m_contactToConstraintSplitKernel,"m_contactToConstraintSplitKernel");
+ b3LauncherCL launcher(m_queue, m_data->m_contactToConstraintSplitKernel, "m_contactToConstraintSplitKernel");
launcher.setBuffer(contactBuf);
launcher.setBuffer(bodyBuf);
launcher.setBuffer(inertiaBuf);
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
- launcher.setConst(numContacts);
+ launcher.setConst(numContacts);
launcher.setConst(solverInfo.m_deltaTime);
launcher.setConst(solverInfo.m_positionDrift);
launcher.setConst(solverInfo.m_positionConstraintCoeff);
- launcher.launch1D( numContacts, 64 );
-
+ launcher.launch1D(numContacts, 64);
}
-
{
B3_PROFILE("m_data->m_deltaLinearVelocities->resize");
m_data->m_deltaLinearVelocities->resize(totalNumSplitBodies);
m_data->m_deltaAngularVelocities->resize(totalNumSplitBodies);
}
-
-
{
B3_PROFILE("m_clearVelocitiesKernel");
- b3LauncherCL launch(m_queue,m_data->m_clearVelocitiesKernel,"m_clearVelocitiesKernel");
+ b3LauncherCL launch(m_queue, m_data->m_clearVelocitiesKernel, "m_clearVelocitiesKernel");
launch.setBuffer(m_data->m_deltaAngularVelocities->getBufferCL());
launch.setBuffer(m_data->m_deltaLinearVelocities->getBufferCL());
launch.setConst(totalNumSplitBodies);
launch.launch1D(totalNumSplitBodies);
clFinish(m_queue);
}
-
-
+
int maxIter = solverInfo.m_numIterations;
- for (int iter = 0;iter<maxIter;iter++)
+ for (int iter = 0; iter < maxIter; iter++)
{
{
B3_PROFILE("m_solveContactKernel");
- b3LauncherCL launcher( m_queue, m_data->m_solveContactKernel,"m_solveContactKernel" );
+ b3LauncherCL launcher(m_queue, m_data->m_solveContactKernel, "m_solveContactKernel");
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
launcher.setBuffer(bodyBuf);
launcher.setBuffer(inertiaBuf);
@@ -873,11 +807,9 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
clFinish(m_queue);
}
-
-
{
B3_PROFILE("average velocities");
- b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel,"m_averageVelocitiesKernel");
+ b3LauncherCL launcher(m_queue, m_data->m_averageVelocitiesKernel, "m_averageVelocitiesKernel");
launcher.setBuffer(bodyBuf);
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
@@ -888,10 +820,9 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
clFinish(m_queue);
}
-
{
B3_PROFILE("m_solveFrictionKernel");
- b3LauncherCL launcher( m_queue, m_data->m_solveFrictionKernel,"m_solveFrictionKernel");
+ b3LauncherCL launcher(m_queue, m_data->m_solveFrictionKernel, "m_solveFrictionKernel");
launcher.setBuffer(m_data->m_contactConstraints->getBufferCL());
launcher.setBuffer(bodyBuf);
launcher.setBuffer(inertiaBuf);
@@ -909,10 +840,9 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
clFinish(m_queue);
}
-
{
B3_PROFILE("average velocities");
- b3LauncherCL launcher( m_queue, m_data->m_averageVelocitiesKernel,"m_averageVelocitiesKernel");
+ b3LauncherCL launcher(m_queue, m_data->m_averageVelocitiesKernel, "m_averageVelocitiesKernel");
launcher.setBuffer(bodyBuf);
launcher.setBuffer(m_data->m_offsetSplitBodies->getBufferCL());
launcher.setBuffer(m_data->m_bodyCount->getBufferCL());
@@ -922,27 +852,20 @@ void b3GpuJacobiContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_m
launcher.launch1D(numBodies);
clFinish(m_queue);
}
-
-
-
}
-
{
- B3_PROFILE("update body velocities");
- b3LauncherCL launcher( m_queue, m_data->m_updateBodyVelocitiesKernel,"m_updateBodyVelocitiesKernel");
- launcher.setBuffer(bodyBuf);
- 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);
- }
-
-
-
+ B3_PROFILE("update body velocities");
+ b3LauncherCL launcher(m_queue, m_data->m_updateBodyVelocitiesKernel, "m_updateBodyVelocitiesKernel");
+ launcher.setBuffer(bodyBuf);
+ 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);
+ }
}
#if 0
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-21 15:06:24 +0000