diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h | 720 |
1 files changed, 0 insertions, 720 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h deleted file mode 100644 index c94b55851e..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/jointSolver.h +++ /dev/null @@ -1,720 +0,0 @@ -//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project -static const char* solveConstraintRowsCL = - "/*\n" - "Copyright (c) 2013 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 Erwin Coumans\n" - "#define B3_CONSTRAINT_FLAG_ENABLED 1\n" - "#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3\n" - "#define B3_GPU_FIXED_CONSTRAINT_TYPE 4\n" - "#define MOTIONCLAMP 100000 //unused, for debugging/safety in case constraint solver fails\n" - "#define B3_INFINITY 1e30f\n" - "#define mymake_float4 (float4)\n" - "__inline float dot3F4(float4 a, float4 b)\n" - "{\n" - " float4 a1 = mymake_float4(a.xyz,0.f);\n" - " float4 b1 = mymake_float4(b.xyz,0.f);\n" - " return dot(a1, b1);\n" - "}\n" - "typedef float4 Quaternion;\n" - "typedef struct\n" - "{\n" - " float4 m_row[3];\n" - "}Matrix3x3;\n" - "__inline\n" - "float4 mtMul1(Matrix3x3 a, float4 b);\n" - "__inline\n" - "float4 mtMul3(float4 a, Matrix3x3 b);\n" - "__inline\n" - "float4 mtMul1(Matrix3x3 a, float4 b)\n" - "{\n" - " float4 ans;\n" - " ans.x = dot3F4( a.m_row[0], b );\n" - " ans.y = dot3F4( a.m_row[1], b );\n" - " ans.z = dot3F4( a.m_row[2], b );\n" - " ans.w = 0.f;\n" - " return ans;\n" - "}\n" - "__inline\n" - "float4 mtMul3(float4 a, Matrix3x3 b)\n" - "{\n" - " float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n" - " float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n" - " float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n" - " float4 ans;\n" - " ans.x = dot3F4( a, colx );\n" - " ans.y = dot3F4( a, coly );\n" - " ans.z = dot3F4( a, colz );\n" - " return ans;\n" - "}\n" - "typedef struct\n" - "{\n" - " Matrix3x3 m_invInertiaWorld;\n" - " Matrix3x3 m_initInvInertia;\n" - "} BodyInertia;\n" - "typedef struct\n" - "{\n" - " Matrix3x3 m_basis;//orientation\n" - " float4 m_origin;//transform\n" - "}b3Transform;\n" - "typedef struct\n" - "{\n" - "// b3Transform m_worldTransformUnused;\n" - " float4 m_deltaLinearVelocity;\n" - " float4 m_deltaAngularVelocity;\n" - " float4 m_angularFactor;\n" - " float4 m_linearFactor;\n" - " float4 m_invMass;\n" - " float4 m_pushVelocity;\n" - " float4 m_turnVelocity;\n" - " float4 m_linearVelocity;\n" - " float4 m_angularVelocity;\n" - " union \n" - " {\n" - " void* m_originalBody;\n" - " int m_originalBodyIndex;\n" - " };\n" - " int padding[3];\n" - "} b3GpuSolverBody;\n" - "typedef struct\n" - "{\n" - " float4 m_pos;\n" - " Quaternion m_quat;\n" - " float4 m_linVel;\n" - " float4 m_angVel;\n" - " unsigned int m_shapeIdx;\n" - " float m_invMass;\n" - " float m_restituitionCoeff;\n" - " float m_frictionCoeff;\n" - "} b3RigidBodyCL;\n" - "typedef struct\n" - "{\n" - " float4 m_relpos1CrossNormal;\n" - " float4 m_contactNormal;\n" - " float4 m_relpos2CrossNormal;\n" - " //float4 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal\n" - " float4 m_angularComponentA;\n" - " float4 m_angularComponentB;\n" - " \n" - " float m_appliedPushImpulse;\n" - " float m_appliedImpulse;\n" - " int m_padding1;\n" - " int m_padding2;\n" - " float m_friction;\n" - " float m_jacDiagABInv;\n" - " float m_rhs;\n" - " float m_cfm;\n" - " \n" - " float m_lowerLimit;\n" - " float m_upperLimit;\n" - " float m_rhsPenetration;\n" - " int m_originalConstraint;\n" - " int m_overrideNumSolverIterations;\n" - " int m_frictionIndex;\n" - " int m_solverBodyIdA;\n" - " int m_solverBodyIdB;\n" - "} b3SolverConstraint;\n" - "typedef struct \n" - "{\n" - " int m_bodyAPtrAndSignBit;\n" - " int m_bodyBPtrAndSignBit;\n" - " int m_originalConstraintIndex;\n" - " int m_batchId;\n" - "} b3BatchConstraint;\n" - "typedef struct \n" - "{\n" - " int m_constraintType;\n" - " int m_rbA;\n" - " int m_rbB;\n" - " float m_breakingImpulseThreshold;\n" - " float4 m_pivotInA;\n" - " float4 m_pivotInB;\n" - " Quaternion m_relTargetAB;\n" - " int m_flags;\n" - " int m_padding[3];\n" - "} b3GpuGenericConstraint;\n" - "/*b3Transform getWorldTransform(b3RigidBodyCL* rb)\n" - "{\n" - " b3Transform newTrans;\n" - " newTrans.setOrigin(rb->m_pos);\n" - " newTrans.setRotation(rb->m_quat);\n" - " return newTrans;\n" - "}*/\n" - "__inline\n" - "float4 cross3(float4 a, float4 b)\n" - "{\n" - " return cross(a,b);\n" - "}\n" - "__inline\n" - "float4 fastNormalize4(float4 v)\n" - "{\n" - " v = mymake_float4(v.xyz,0.f);\n" - " return fast_normalize(v);\n" - "}\n" - "__inline\n" - "Quaternion qtMul(Quaternion a, Quaternion b);\n" - "__inline\n" - "Quaternion qtNormalize(Quaternion in);\n" - "__inline\n" - "float4 qtRotate(Quaternion q, float4 vec);\n" - "__inline\n" - "Quaternion qtInvert(Quaternion q);\n" - "__inline\n" - "Quaternion qtMul(Quaternion a, Quaternion b)\n" - "{\n" - " Quaternion ans;\n" - " ans = cross3( a, b );\n" - " ans += a.w*b+b.w*a;\n" - "// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n" - " ans.w = a.w*b.w - dot3F4(a, b);\n" - " return ans;\n" - "}\n" - "__inline\n" - "Quaternion qtNormalize(Quaternion in)\n" - "{\n" - " return fastNormalize4(in);\n" - "// in /= length( in );\n" - "// return in;\n" - "}\n" - "__inline\n" - "float4 qtRotate(Quaternion q, float4 vec)\n" - "{\n" - " Quaternion qInv = qtInvert( q );\n" - " float4 vcpy = vec;\n" - " vcpy.w = 0.f;\n" - " float4 out = qtMul(qtMul(q,vcpy),qInv);\n" - " return out;\n" - "}\n" - "__inline\n" - "Quaternion qtInvert(Quaternion q)\n" - "{\n" - " return (Quaternion)(-q.xyz, q.w);\n" - "}\n" - "__inline void internalApplyImpulse(__global b3GpuSolverBody* body, float4 linearComponent, float4 angularComponent,float impulseMagnitude)\n" - "{\n" - " body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;\n" - " body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);\n" - "}\n" - "void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)\n" - "{\n" - " float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;\n" - " float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n" - " float deltaVel2Dotn = -dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);\n" - " deltaImpulse -= deltaVel1Dotn*c->m_jacDiagABInv;\n" - " deltaImpulse -= deltaVel2Dotn*c->m_jacDiagABInv;\n" - " float sum = c->m_appliedImpulse + deltaImpulse;\n" - " if (sum < c->m_lowerLimit)\n" - " {\n" - " deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;\n" - " c->m_appliedImpulse = c->m_lowerLimit;\n" - " }\n" - " else if (sum > c->m_upperLimit) \n" - " {\n" - " deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;\n" - " c->m_appliedImpulse = c->m_upperLimit;\n" - " }\n" - " else\n" - " {\n" - " c->m_appliedImpulse = sum;\n" - " }\n" - " internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n" - " internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);\n" - "}\n" - "__kernel void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,\n" - " __global b3BatchConstraint* batchConstraints,\n" - " __global b3SolverConstraint* rows,\n" - " __global unsigned int* numConstraintRowsInfo1, \n" - " __global unsigned int* rowOffsets,\n" - " __global b3GpuGenericConstraint* constraints,\n" - " int batchOffset,\n" - " int numConstraintsInBatch\n" - " )\n" - "{\n" - " int b = get_global_id(0);\n" - " if (b>=numConstraintsInBatch)\n" - " return;\n" - " __global b3BatchConstraint* c = &batchConstraints[b+batchOffset];\n" - " int originalConstraintIndex = c->m_originalConstraintIndex;\n" - " if (constraints[originalConstraintIndex].m_flags&B3_CONSTRAINT_FLAG_ENABLED)\n" - " {\n" - " int numConstraintRows = numConstraintRowsInfo1[originalConstraintIndex];\n" - " int rowOffset = rowOffsets[originalConstraintIndex];\n" - " for (int jj=0;jj<numConstraintRows;jj++)\n" - " {\n" - " __global b3SolverConstraint* constraint = &rows[rowOffset+jj];\n" - " resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);\n" - " }\n" - " }\n" - "};\n" - "__kernel void initSolverBodies(__global b3GpuSolverBody* solverBodies,__global b3RigidBodyCL* bodiesCL, int numBodies)\n" - "{\n" - " int i = get_global_id(0);\n" - " if (i>=numBodies)\n" - " return;\n" - " __global b3GpuSolverBody* solverBody = &solverBodies[i];\n" - " __global b3RigidBodyCL* bodyCL = &bodiesCL[i];\n" - " solverBody->m_deltaLinearVelocity = (float4)(0.f,0.f,0.f,0.f);\n" - " solverBody->m_deltaAngularVelocity = (float4)(0.f,0.f,0.f,0.f);\n" - " solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n" - " solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n" - " solverBody->m_invMass = (float4)(bodyCL->m_invMass,bodyCL->m_invMass,bodyCL->m_invMass,0.f);\n" - " solverBody->m_originalBodyIndex = i;\n" - " solverBody->m_angularFactor = (float4)(1,1,1,0);\n" - " solverBody->m_linearFactor = (float4) (1,1,1,0);\n" - " solverBody->m_linearVelocity = bodyCL->m_linVel;\n" - " solverBody->m_angularVelocity = bodyCL->m_angVel;\n" - "}\n" - "__kernel void breakViolatedConstraintsKernel(__global b3GpuGenericConstraint* constraints, __global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, __global b3SolverConstraint* rows, int numConstraints)\n" - "{\n" - " int cid = get_global_id(0);\n" - " if (cid>=numConstraints)\n" - " return;\n" - " int numRows = numConstraintRows[cid];\n" - " if (numRows)\n" - " {\n" - " for (int i=0;i<numRows;i++)\n" - " {\n" - " int rowIndex = rowOffsets[cid]+i;\n" - " float breakingThreshold = constraints[cid].m_breakingImpulseThreshold;\n" - " if (fabs(rows[rowIndex].m_appliedImpulse) >= breakingThreshold)\n" - " {\n" - " constraints[cid].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;\n" - " }\n" - " }\n" - " }\n" - "}\n" - "__kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGenericConstraint* constraints, int numConstraints)\n" - "{\n" - " int i = get_global_id(0);\n" - " if (i>=numConstraints)\n" - " return;\n" - " __global b3GpuGenericConstraint* constraint = &constraints[i];\n" - " switch (constraint->m_constraintType)\n" - " {\n" - " case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n" - " {\n" - " infos[i] = 3;\n" - " break;\n" - " }\n" - " case B3_GPU_FIXED_CONSTRAINT_TYPE:\n" - " {\n" - " infos[i] = 6;\n" - " break;\n" - " }\n" - " default:\n" - " {\n" - " }\n" - " }\n" - "}\n" - "__kernel void initBatchConstraintsKernel(__global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, \n" - " __global b3BatchConstraint* batchConstraints, \n" - " __global b3GpuGenericConstraint* constraints,\n" - " __global b3RigidBodyCL* bodies,\n" - " int numConstraints)\n" - "{\n" - " int i = get_global_id(0);\n" - " if (i>=numConstraints)\n" - " return;\n" - " int rbA = constraints[i].m_rbA;\n" - " int rbB = constraints[i].m_rbB;\n" - " batchConstraints[i].m_bodyAPtrAndSignBit = bodies[rbA].m_invMass != 0.f ? rbA : -rbA;\n" - " batchConstraints[i].m_bodyBPtrAndSignBit = bodies[rbB].m_invMass != 0.f ? rbB : -rbB;\n" - " batchConstraints[i].m_batchId = -1;\n" - " batchConstraints[i].m_originalConstraintIndex = i;\n" - "}\n" - "typedef struct\n" - "{\n" - " // integrator parameters: frames per second (1/stepsize), default error\n" - " // reduction parameter (0..1).\n" - " float fps,erp;\n" - " // for the first and second body, pointers to two (linear and angular)\n" - " // n*3 jacobian sub matrices, stored by rows. these matrices will have\n" - " // been initialized to 0 on entry. if the second body is zero then the\n" - " // J2xx pointers may be 0.\n" - " union \n" - " {\n" - " __global float4* m_J1linearAxisFloat4;\n" - " __global float* m_J1linearAxis;\n" - " };\n" - " union\n" - " {\n" - " __global float4* m_J1angularAxisFloat4;\n" - " __global float* m_J1angularAxis;\n" - " };\n" - " union\n" - " {\n" - " __global float4* m_J2linearAxisFloat4;\n" - " __global float* m_J2linearAxis;\n" - " };\n" - " union\n" - " {\n" - " __global float4* m_J2angularAxisFloat4;\n" - " __global float* m_J2angularAxis;\n" - " };\n" - " // elements to jump from one row to the next in J's\n" - " int rowskip;\n" - " // right hand sides of the equation J*v = c + cfm * lambda. cfm is the\n" - " // \"constraint force mixing\" vector. c is set to zero on entry, cfm is\n" - " // set to a constant value (typically very small or zero) value on entry.\n" - " __global float* m_constraintError;\n" - " __global float* cfm;\n" - " // lo and hi limits for variables (set to -/+ infinity on entry).\n" - " __global float* m_lowerLimit;\n" - " __global float* m_upperLimit;\n" - " // findex vector for variables. see the LCP solver interface for a\n" - " // description of what this does. this is set to -1 on entry.\n" - " // note that the returned indexes are relative to the first index of\n" - " // the constraint.\n" - " __global int *findex;\n" - " // number of solver iterations\n" - " int m_numIterations;\n" - " //damping of the velocity\n" - " float m_damping;\n" - "} b3GpuConstraintInfo2;\n" - "void getSkewSymmetricMatrix(float4 vecIn, __global float4* v0,__global float4* v1,__global float4* v2)\n" - "{\n" - " *v0 = (float4)(0. ,-vecIn.z ,vecIn.y,0.f);\n" - " *v1 = (float4)(vecIn.z ,0. ,-vecIn.x,0.f);\n" - " *v2 = (float4)(-vecIn.y ,vecIn.x ,0.f,0.f);\n" - "}\n" - "void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies)\n" - "{\n" - " float4 posA = bodies[constraint->m_rbA].m_pos;\n" - " Quaternion rotA = bodies[constraint->m_rbA].m_quat;\n" - " float4 posB = bodies[constraint->m_rbB].m_pos;\n" - " Quaternion rotB = bodies[constraint->m_rbB].m_quat;\n" - " // anchor points in global coordinates with respect to body PORs.\n" - " \n" - " // set jacobian\n" - " info->m_J1linearAxis[0] = 1;\n" - " info->m_J1linearAxis[info->rowskip+1] = 1;\n" - " info->m_J1linearAxis[2*info->rowskip+2] = 1;\n" - " float4 a1 = qtRotate(rotA,constraint->m_pivotInA);\n" - " {\n" - " __global float4* angular0 = (__global float4*)(info->m_J1angularAxis);\n" - " __global float4* angular1 = (__global float4*)(info->m_J1angularAxis+info->rowskip);\n" - " __global float4* angular2 = (__global float4*)(info->m_J1angularAxis+2*info->rowskip);\n" - " float4 a1neg = -a1;\n" - " getSkewSymmetricMatrix(a1neg,angular0,angular1,angular2);\n" - " }\n" - " if (info->m_J2linearAxis)\n" - " {\n" - " info->m_J2linearAxis[0] = -1;\n" - " info->m_J2linearAxis[info->rowskip+1] = -1;\n" - " info->m_J2linearAxis[2*info->rowskip+2] = -1;\n" - " }\n" - " \n" - " float4 a2 = qtRotate(rotB,constraint->m_pivotInB);\n" - " \n" - " {\n" - " // float4 a2n = -a2;\n" - " __global float4* angular0 = (__global float4*)(info->m_J2angularAxis);\n" - " __global float4* angular1 = (__global float4*)(info->m_J2angularAxis+info->rowskip);\n" - " __global float4* angular2 = (__global float4*)(info->m_J2angularAxis+2*info->rowskip);\n" - " getSkewSymmetricMatrix(a2,angular0,angular1,angular2);\n" - " }\n" - " \n" - " // set right hand side\n" - "// float currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;\n" - " float currERP = info->erp;\n" - " float k = info->fps * currERP;\n" - " int j;\n" - " float4 result = a2 + posB - a1 - posA;\n" - " float* resultPtr = &result;\n" - " for (j=0; j<3; j++)\n" - " {\n" - " info->m_constraintError[j*info->rowskip] = k * (resultPtr[j]);\n" - " }\n" - "}\n" - "Quaternion nearest( Quaternion first, Quaternion qd)\n" - "{\n" - " Quaternion diff,sum;\n" - " diff = first- qd;\n" - " sum = first + qd;\n" - " \n" - " if( dot(diff,diff) < dot(sum,sum) )\n" - " return qd;\n" - " return (-qd);\n" - "}\n" - "float b3Acos(float x) \n" - "{ \n" - " if (x<-1) \n" - " x=-1; \n" - " if (x>1) \n" - " x=1;\n" - " return acos(x); \n" - "}\n" - "float getAngle(Quaternion orn)\n" - "{\n" - " if (orn.w>=1.f)\n" - " orn.w=1.f;\n" - " float s = 2.f * b3Acos(orn.w);\n" - " return s;\n" - "}\n" - "void calculateDiffAxisAngleQuaternion( Quaternion orn0,Quaternion orn1a,float4* axis,float* angle)\n" - "{\n" - " Quaternion orn1 = nearest(orn0,orn1a);\n" - " \n" - " Quaternion dorn = qtMul(orn1,qtInvert(orn0));\n" - " *angle = getAngle(dorn);\n" - " *axis = (float4)(dorn.x,dorn.y,dorn.z,0.f);\n" - " \n" - " //check for axis length\n" - " float len = dot3F4(*axis,*axis);\n" - " if (len < FLT_EPSILON*FLT_EPSILON)\n" - " *axis = (float4)(1,0,0,0);\n" - " else\n" - " *axis /= sqrt(len);\n" - "}\n" - "void getInfo2FixedOrientation(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies, int start_row)\n" - "{\n" - " Quaternion worldOrnA = bodies[constraint->m_rbA].m_quat;\n" - " Quaternion worldOrnB = bodies[constraint->m_rbB].m_quat;\n" - " int s = info->rowskip;\n" - " int start_index = start_row * s;\n" - " // 3 rows to make body rotations equal\n" - " info->m_J1angularAxis[start_index] = 1;\n" - " info->m_J1angularAxis[start_index + s + 1] = 1;\n" - " info->m_J1angularAxis[start_index + s*2+2] = 1;\n" - " if ( info->m_J2angularAxis)\n" - " {\n" - " info->m_J2angularAxis[start_index] = -1;\n" - " info->m_J2angularAxis[start_index + s+1] = -1;\n" - " info->m_J2angularAxis[start_index + s*2+2] = -1;\n" - " }\n" - " \n" - " float currERP = info->erp;\n" - " float k = info->fps * currERP;\n" - " float4 diff;\n" - " float angle;\n" - " float4 qrelCur = qtMul(worldOrnA,qtInvert(worldOrnB));\n" - " \n" - " calculateDiffAxisAngleQuaternion(constraint->m_relTargetAB,qrelCur,&diff,&angle);\n" - " diff*=-angle;\n" - " \n" - " float* resultPtr = &diff;\n" - " \n" - " for (int j=0; j<3; j++)\n" - " {\n" - " info->m_constraintError[(3+j)*info->rowskip] = k * resultPtr[j];\n" - " }\n" - " \n" - "}\n" - "__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)\n" - "{\n" - " int i = get_global_id(0);\n" - " if (i>=numBodies)\n" - " return;\n" - " if (bodies[i].m_invMass)\n" - " {\n" - "// if (length(solverBodies[i].m_deltaLinearVelocity)<MOTIONCLAMP)\n" - " {\n" - " bodies[i].m_linVel += solverBodies[i].m_deltaLinearVelocity;\n" - " }\n" - "// if (length(solverBodies[i].m_deltaAngularVelocity)<MOTIONCLAMP)\n" - " {\n" - " bodies[i].m_angVel += solverBodies[i].m_deltaAngularVelocity;\n" - " } \n" - " }\n" - "}\n" - "__kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows, \n" - " __global unsigned int* infos, \n" - " __global unsigned int* constraintRowOffsets, \n" - " __global b3GpuGenericConstraint* constraints, \n" - " __global b3BatchConstraint* batchConstraints, \n" - " __global b3RigidBodyCL* bodies,\n" - " __global BodyInertia* inertias,\n" - " __global b3GpuSolverBody* solverBodies,\n" - " float timeStep,\n" - " float globalErp,\n" - " float globalCfm,\n" - " float globalDamping,\n" - " int globalNumIterations,\n" - " int numConstraints)\n" - "{\n" - " int i = get_global_id(0);\n" - " if (i>=numConstraints)\n" - " return;\n" - " \n" - " //for now, always initialize the batch info\n" - " int info1 = infos[i];\n" - " \n" - " __global b3SolverConstraint* currentConstraintRow = &solverConstraintRows[constraintRowOffsets[i]];\n" - " __global b3GpuGenericConstraint* constraint = &constraints[i];\n" - " __global b3RigidBodyCL* rbA = &bodies[ constraint->m_rbA];\n" - " __global b3RigidBodyCL* rbB = &bodies[ constraint->m_rbB];\n" - " int solverBodyIdA = constraint->m_rbA;\n" - " int solverBodyIdB = constraint->m_rbB;\n" - " __global b3GpuSolverBody* bodyAPtr = &solverBodies[solverBodyIdA];\n" - " __global b3GpuSolverBody* bodyBPtr = &solverBodies[solverBodyIdB];\n" - " if (rbA->m_invMass)\n" - " {\n" - " batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;\n" - " } else\n" - " {\n" - "// if (!solverBodyIdA)\n" - "// m_staticIdx = 0;\n" - " batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;\n" - " }\n" - " if (rbB->m_invMass)\n" - " {\n" - " batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;\n" - " } else\n" - " {\n" - "// if (!solverBodyIdB)\n" - "// m_staticIdx = 0;\n" - " batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;\n" - " }\n" - " if (info1)\n" - " {\n" - " int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;\n" - "// if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)\n" - " // m_maxOverrideNumSolverIterations = overrideNumSolverIterations;\n" - " int j;\n" - " for ( j=0;j<info1;j++)\n" - " {\n" - "// memset(¤tConstraintRow[j],0,sizeof(b3SolverConstraint));\n" - " currentConstraintRow[j].m_angularComponentA = (float4)(0,0,0,0);\n" - " currentConstraintRow[j].m_angularComponentB = (float4)(0,0,0,0);\n" - " currentConstraintRow[j].m_appliedImpulse = 0.f;\n" - " currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n" - " currentConstraintRow[j].m_cfm = 0.f;\n" - " currentConstraintRow[j].m_contactNormal = (float4)(0,0,0,0);\n" - " currentConstraintRow[j].m_friction = 0.f;\n" - " currentConstraintRow[j].m_frictionIndex = 0;\n" - " currentConstraintRow[j].m_jacDiagABInv = 0.f;\n" - " currentConstraintRow[j].m_lowerLimit = 0.f;\n" - " currentConstraintRow[j].m_upperLimit = 0.f;\n" - " currentConstraintRow[j].m_originalConstraint = i;\n" - " currentConstraintRow[j].m_overrideNumSolverIterations = 0;\n" - " currentConstraintRow[j].m_relpos1CrossNormal = (float4)(0,0,0,0);\n" - " currentConstraintRow[j].m_relpos2CrossNormal = (float4)(0,0,0,0);\n" - " currentConstraintRow[j].m_rhs = 0.f;\n" - " currentConstraintRow[j].m_rhsPenetration = 0.f;\n" - " currentConstraintRow[j].m_solverBodyIdA = 0;\n" - " currentConstraintRow[j].m_solverBodyIdB = 0;\n" - " \n" - " currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;\n" - " currentConstraintRow[j].m_upperLimit = B3_INFINITY;\n" - " currentConstraintRow[j].m_appliedImpulse = 0.f;\n" - " currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n" - " currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;\n" - " currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;\n" - " currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations; \n" - " }\n" - " bodyAPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n" - " bodyAPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n" - " bodyAPtr->m_pushVelocity = (float4)(0,0,0,0);\n" - " bodyAPtr->m_turnVelocity = (float4)(0,0,0,0);\n" - " bodyBPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n" - " bodyBPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n" - " bodyBPtr->m_pushVelocity = (float4)(0,0,0,0);\n" - " bodyBPtr->m_turnVelocity = (float4)(0,0,0,0);\n" - " int rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n" - " \n" - " b3GpuConstraintInfo2 info2;\n" - " info2.fps = 1.f/timeStep;\n" - " info2.erp = globalErp;\n" - " info2.m_J1linearAxisFloat4 = ¤tConstraintRow->m_contactNormal;\n" - " info2.m_J1angularAxisFloat4 = ¤tConstraintRow->m_relpos1CrossNormal;\n" - " info2.m_J2linearAxisFloat4 = 0;\n" - " info2.m_J2angularAxisFloat4 = ¤tConstraintRow->m_relpos2CrossNormal;\n" - " info2.rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n" - " ///the size of b3SolverConstraint needs be a multiple of float\n" - "// b3Assert(info2.rowskip*sizeof(float)== sizeof(b3SolverConstraint));\n" - " info2.m_constraintError = ¤tConstraintRow->m_rhs;\n" - " currentConstraintRow->m_cfm = globalCfm;\n" - " info2.m_damping = globalDamping;\n" - " info2.cfm = ¤tConstraintRow->m_cfm;\n" - " info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit;\n" - " info2.m_upperLimit = ¤tConstraintRow->m_upperLimit;\n" - " info2.m_numIterations = globalNumIterations;\n" - " switch (constraint->m_constraintType)\n" - " {\n" - " case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n" - " {\n" - " getInfo2Point2Point(constraint,&info2,bodies);\n" - " break;\n" - " }\n" - " case B3_GPU_FIXED_CONSTRAINT_TYPE:\n" - " {\n" - " getInfo2Point2Point(constraint,&info2,bodies);\n" - " getInfo2FixedOrientation(constraint,&info2,bodies,3);\n" - " break;\n" - " }\n" - " default:\n" - " {\n" - " }\n" - " }\n" - " ///finalize the constraint setup\n" - " for ( j=0;j<info1;j++)\n" - " {\n" - " __global b3SolverConstraint* solverConstraint = ¤tConstraintRow[j];\n" - " if (solverConstraint->m_upperLimit>=constraint->m_breakingImpulseThreshold)\n" - " {\n" - " solverConstraint->m_upperLimit = constraint->m_breakingImpulseThreshold;\n" - " }\n" - " if (solverConstraint->m_lowerLimit<=-constraint->m_breakingImpulseThreshold)\n" - " {\n" - " solverConstraint->m_lowerLimit = -constraint->m_breakingImpulseThreshold;\n" - " }\n" - "// solverConstraint->m_originalContactPoint = constraint;\n" - " \n" - " Matrix3x3 invInertiaWorldA= inertias[constraint->m_rbA].m_invInertiaWorld;\n" - " {\n" - " //float4 angularFactorA(1,1,1);\n" - " float4 ftorqueAxis1 = solverConstraint->m_relpos1CrossNormal;\n" - " solverConstraint->m_angularComponentA = mtMul1(invInertiaWorldA,ftorqueAxis1);//*angularFactorA;\n" - " }\n" - " \n" - " Matrix3x3 invInertiaWorldB= inertias[constraint->m_rbB].m_invInertiaWorld;\n" - " {\n" - " float4 ftorqueAxis2 = solverConstraint->m_relpos2CrossNormal;\n" - " solverConstraint->m_angularComponentB = mtMul1(invInertiaWorldB,ftorqueAxis2);//*constraint->m_rbB.getAngularFactor();\n" - " }\n" - " {\n" - " //it is ok to use solverConstraint->m_contactNormal instead of -solverConstraint->m_contactNormal\n" - " //because it gets multiplied iMJlB\n" - " float4 iMJlA = solverConstraint->m_contactNormal*rbA->m_invMass;\n" - " float4 iMJaA = mtMul3(solverConstraint->m_relpos1CrossNormal,invInertiaWorldA);\n" - " float4 iMJlB = solverConstraint->m_contactNormal*rbB->m_invMass;//sign of normal?\n" - " float4 iMJaB = mtMul3(solverConstraint->m_relpos2CrossNormal,invInertiaWorldB);\n" - " float sum = dot3F4(iMJlA,solverConstraint->m_contactNormal);\n" - " sum += dot3F4(iMJaA,solverConstraint->m_relpos1CrossNormal);\n" - " sum += dot3F4(iMJlB,solverConstraint->m_contactNormal);\n" - " sum += dot3F4(iMJaB,solverConstraint->m_relpos2CrossNormal);\n" - " float fsum = fabs(sum);\n" - " if (fsum>FLT_EPSILON)\n" - " {\n" - " solverConstraint->m_jacDiagABInv = 1.f/sum;\n" - " } else\n" - " {\n" - " solverConstraint->m_jacDiagABInv = 0.f;\n" - " }\n" - " }\n" - " ///fix rhs\n" - " ///todo: add force/torque accelerators\n" - " {\n" - " float rel_vel;\n" - " float vel1Dotn = dot3F4(solverConstraint->m_contactNormal,rbA->m_linVel) + dot3F4(solverConstraint->m_relpos1CrossNormal,rbA->m_angVel);\n" - " float vel2Dotn = -dot3F4(solverConstraint->m_contactNormal,rbB->m_linVel) + dot3F4(solverConstraint->m_relpos2CrossNormal,rbB->m_angVel);\n" - " rel_vel = vel1Dotn+vel2Dotn;\n" - " float restitution = 0.f;\n" - " float positionalError = solverConstraint->m_rhs;//already filled in by getConstraintInfo2\n" - " float velocityError = restitution - rel_vel * info2.m_damping;\n" - " float penetrationImpulse = positionalError*solverConstraint->m_jacDiagABInv;\n" - " float velocityImpulse = velocityError *solverConstraint->m_jacDiagABInv;\n" - " solverConstraint->m_rhs = penetrationImpulse+velocityImpulse;\n" - " solverConstraint->m_appliedImpulse = 0.f;\n" - " }\n" - " }\n" - " }\n" - "}\n"; |