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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h | 126 |
1 files changed, 126 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h new file mode 100644 index 0000000000..b37f2f1bec --- /dev/null +++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/b3Solver.h @@ -0,0 +1,126 @@ +/* +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 |