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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h | 388 |
1 files changed, 388 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h new file mode 100644 index 0000000000..150eedc94b --- /dev/null +++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h @@ -0,0 +1,388 @@ +//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project +static const char* batchingKernelsCL= \ +"/*\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" +"#ifndef B3_CONTACT4DATA_H\n" +"#define B3_CONTACT4DATA_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" +"typedef struct b3Contact4Data b3Contact4Data_t;\n" +"struct b3Contact4Data\n" +"{\n" +" b3Float4 m_worldPosB[4];\n" +"// b3Float4 m_localPosA[4];\n" +"// b3Float4 m_localPosB[4];\n" +" b3Float4 m_worldNormalOnB; // w: m_nPoints\n" +" unsigned short m_restituitionCoeffCmp;\n" +" unsigned short m_frictionCoeffCmp;\n" +" int m_batchIdx;\n" +" int m_bodyAPtrAndSignBit;//x:m_bodyAPtr, y:m_bodyBPtr\n" +" int m_bodyBPtrAndSignBit;\n" +" int m_childIndexA;\n" +" int m_childIndexB;\n" +" int m_unused1;\n" +" int m_unused2;\n" +"};\n" +"inline int b3Contact4Data_getNumPoints(const struct b3Contact4Data* contact)\n" +"{\n" +" return (int)contact->m_worldNormalOnB.w;\n" +"};\n" +"inline void b3Contact4Data_setNumPoints(struct b3Contact4Data* contact, int numPoints)\n" +"{\n" +" contact->m_worldNormalOnB.w = (float)numPoints;\n" +"};\n" +"#endif //B3_CONTACT4DATA_H\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 make_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" +"#define WG_SIZE 64\n" +"typedef struct \n" +"{\n" +" int m_n;\n" +" int m_start;\n" +" int m_staticIdx;\n" +" int m_paddings[1];\n" +"} ConstBuffer;\n" +"typedef struct \n" +"{\n" +" int m_a;\n" +" int m_b;\n" +" u32 m_idx;\n" +"}Elem;\n" +"#define STACK_SIZE (WG_SIZE*10)\n" +"//#define STACK_SIZE (WG_SIZE)\n" +"#define RING_SIZE 1024\n" +"#define RING_SIZE_MASK (RING_SIZE-1)\n" +"#define CHECK_SIZE (WG_SIZE)\n" +"#define GET_RING_CAPACITY (RING_SIZE - ldsRingEnd)\n" +"#define RING_END ldsTmp\n" +"u32 readBuf(__local u32* buff, int idx)\n" +"{\n" +" idx = idx % (32*CHECK_SIZE);\n" +" int bitIdx = idx%32;\n" +" int bufIdx = idx/32;\n" +" return buff[bufIdx] & (1<<bitIdx);\n" +"}\n" +"void writeBuf(__local u32* buff, int idx)\n" +"{\n" +" idx = idx % (32*CHECK_SIZE);\n" +" int bitIdx = idx%32;\n" +" int bufIdx = idx/32;\n" +"// buff[bufIdx] |= (1<<bitIdx);\n" +" atom_or( &buff[bufIdx], (1<<bitIdx) );\n" +"}\n" +"u32 tryWrite(__local u32* buff, int idx)\n" +"{\n" +" idx = idx % (32*CHECK_SIZE);\n" +" int bitIdx = idx%32;\n" +" int bufIdx = idx/32;\n" +" u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n" +" return ((ans >> bitIdx)&1) == 0;\n" +"}\n" +"// batching on the GPU\n" +"__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,\n" +" __global const u32* gN, __global const u32* gStart, __global int* batchSizes, \n" +" int m_staticIdx )\n" +"{\n" +" __local u32 ldsStackIdx[STACK_SIZE];\n" +" __local u32 ldsStackEnd;\n" +" __local Elem ldsRingElem[RING_SIZE];\n" +" __local u32 ldsRingEnd;\n" +" __local u32 ldsTmp;\n" +" __local u32 ldsCheckBuffer[CHECK_SIZE];\n" +" __local u32 ldsFixedBuffer[CHECK_SIZE];\n" +" __local u32 ldsGEnd;\n" +" __local u32 ldsDstEnd;\n" +" int wgIdx = GET_GROUP_IDX;\n" +" int lIdx = GET_LOCAL_IDX;\n" +" \n" +" const int m_n = gN[wgIdx];\n" +" const int m_start = gStart[wgIdx];\n" +" \n" +" if( lIdx == 0 )\n" +" {\n" +" ldsRingEnd = 0;\n" +" ldsGEnd = 0;\n" +" ldsStackEnd = 0;\n" +" ldsDstEnd = m_start;\n" +" }\n" +" \n" +" \n" +" \n" +"// while(1)\n" +"//was 250\n" +" int ie=0;\n" +" int maxBatch = 0;\n" +" for(ie=0; ie<50; ie++)\n" +" {\n" +" ldsFixedBuffer[lIdx] = 0;\n" +" for(int giter=0; giter<4; giter++)\n" +" {\n" +" int ringCap = GET_RING_CAPACITY;\n" +" \n" +" // 1. fill ring\n" +" if( ldsGEnd < m_n )\n" +" {\n" +" while( ringCap > WG_SIZE )\n" +" {\n" +" if( ldsGEnd >= m_n ) break;\n" +" if( lIdx < ringCap - WG_SIZE )\n" +" {\n" +" int srcIdx;\n" +" AtomInc1( ldsGEnd, srcIdx );\n" +" if( srcIdx < m_n )\n" +" {\n" +" int dstIdx;\n" +" AtomInc1( ldsRingEnd, dstIdx );\n" +" \n" +" int a = gConstraints[m_start+srcIdx].m_bodyAPtrAndSignBit;\n" +" int b = gConstraints[m_start+srcIdx].m_bodyBPtrAndSignBit;\n" +" ldsRingElem[dstIdx].m_a = (a>b)? b:a;\n" +" ldsRingElem[dstIdx].m_b = (a>b)? a:b;\n" +" ldsRingElem[dstIdx].m_idx = srcIdx;\n" +" }\n" +" }\n" +" ringCap = GET_RING_CAPACITY;\n" +" }\n" +" }\n" +" GROUP_LDS_BARRIER;\n" +" \n" +" // 2. fill stack\n" +" __local Elem* dst = ldsRingElem;\n" +" if( lIdx == 0 ) RING_END = 0;\n" +" int srcIdx=lIdx;\n" +" int end = ldsRingEnd;\n" +" {\n" +" for(int ii=0; ii<end; ii+=WG_SIZE, srcIdx+=WG_SIZE)\n" +" {\n" +" Elem e;\n" +" if(srcIdx<end) e = ldsRingElem[srcIdx];\n" +" bool done = (srcIdx<end)?false:true;\n" +" for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) ldsCheckBuffer[lIdx] = 0;\n" +" \n" +" if( !done )\n" +" {\n" +" int aUsed = readBuf( ldsFixedBuffer, abs(e.m_a));\n" +" int bUsed = readBuf( ldsFixedBuffer, abs(e.m_b));\n" +" if( aUsed==0 && bUsed==0 )\n" +" {\n" +" int aAvailable=1;\n" +" int bAvailable=1;\n" +" int ea = abs(e.m_a);\n" +" int eb = abs(e.m_b);\n" +" bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n" +" bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n" +" \n" +" if (!aStatic)\n" +" aAvailable = tryWrite( ldsCheckBuffer, ea );\n" +" if (!bStatic)\n" +" bAvailable = tryWrite( ldsCheckBuffer, eb );\n" +" \n" +" //aAvailable = aStatic? 1: aAvailable;\n" +" //bAvailable = bStatic? 1: bAvailable;\n" +" bool success = (aAvailable && bAvailable);\n" +" if(success)\n" +" {\n" +" \n" +" if (!aStatic)\n" +" writeBuf( ldsFixedBuffer, ea );\n" +" if (!bStatic)\n" +" writeBuf( ldsFixedBuffer, eb );\n" +" }\n" +" done = success;\n" +" }\n" +" }\n" +" // put it aside\n" +" if(srcIdx<end)\n" +" {\n" +" if( done )\n" +" {\n" +" int dstIdx; AtomInc1( ldsStackEnd, dstIdx );\n" +" if( dstIdx < STACK_SIZE )\n" +" ldsStackIdx[dstIdx] = e.m_idx;\n" +" else{\n" +" done = false;\n" +" AtomAdd( ldsStackEnd, -1 );\n" +" }\n" +" }\n" +" if( !done )\n" +" {\n" +" int dstIdx; AtomInc1( RING_END, dstIdx );\n" +" dst[dstIdx] = e;\n" +" }\n" +" }\n" +" // if filled, flush\n" +" if( ldsStackEnd == STACK_SIZE )\n" +" {\n" +" for(int i=lIdx; i<STACK_SIZE; i+=WG_SIZE)\n" +" {\n" +" int idx = m_start + ldsStackIdx[i];\n" +" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n" +" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n" +" gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n" +" }\n" +" if( lIdx == 0 ) ldsStackEnd = 0;\n" +" //for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) \n" +" ldsFixedBuffer[lIdx] = 0;\n" +" }\n" +" }\n" +" }\n" +" if( lIdx == 0 ) ldsRingEnd = RING_END;\n" +" }\n" +" GROUP_LDS_BARRIER;\n" +" for(int i=lIdx; i<ldsStackEnd; i+=WG_SIZE)\n" +" {\n" +" int idx = m_start + ldsStackIdx[i];\n" +" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n" +" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n" +" gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n" +" }\n" +" // in case it couldn't consume any pair. Flush them\n" +" // todo. Serial batch worth while?\n" +" if( ldsStackEnd == 0 )\n" +" {\n" +" for(int i=lIdx; i<ldsRingEnd; i+=WG_SIZE)\n" +" {\n" +" int idx = m_start + ldsRingElem[i].m_idx;\n" +" int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n" +" gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n" +" int curBatch = 100+i;\n" +" if (maxBatch < curBatch)\n" +" maxBatch = curBatch;\n" +" \n" +" gConstraintsOut[ dstIdx ].m_batchIdx = curBatch;\n" +" \n" +" }\n" +" GROUP_LDS_BARRIER;\n" +" if( lIdx == 0 ) ldsRingEnd = 0;\n" +" }\n" +" if( lIdx == 0 ) ldsStackEnd = 0;\n" +" GROUP_LDS_BARRIER;\n" +" // termination\n" +" if( ldsGEnd == m_n && ldsRingEnd == 0 )\n" +" break;\n" +" }\n" +" if( lIdx == 0 )\n" +" {\n" +" if (maxBatch < ie)\n" +" maxBatch=ie;\n" +" batchSizes[wgIdx]=maxBatch;\n" +" }\n" +"}\n" +; |