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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h | 110 |
1 files changed, 0 insertions, 110 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h deleted file mode 100644 index ee63531d78..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h +++ /dev/null @@ -1,110 +0,0 @@ -/* -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 |