diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h | 387 |
1 files changed, 0 insertions, 387 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h deleted file mode 100644 index 7c73c96baa..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h +++ /dev/null @@ -1,387 +0,0 @@ -//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"; |