diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h | 783 |
1 files changed, 391 insertions, 392 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h index 15a049992b..6e14ad51fc 100644 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h +++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveContact.h @@ -1,393 +1,392 @@ //this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project -static const char* solveContactCL= \ -"/*\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" -"//#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 mymake_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" -"///////////////////////////////////////\n" -"// Vector\n" -"///////////////////////////////////////\n" -"__inline\n" -"float4 fastNormalize4(float4 v)\n" -"{\n" -" return fast_normalize(v);\n" -"}\n" -"__inline\n" -"float4 cross3(float4 a, float4 b)\n" -"{\n" -" return cross(a,b);\n" -"}\n" -"__inline\n" -"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" -"__inline\n" -"float4 normalize3(const float4 a)\n" -"{\n" -" float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n" -" return fastNormalize4( n );\n" -"// float length = sqrtf(dot3F4(a, a));\n" -"// return 1.f/length * a;\n" -"}\n" -"///////////////////////////////////////\n" -"// Matrix3x3\n" -"///////////////////////////////////////\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" -"///////////////////////////////////////\n" -"// Quaternion\n" -"///////////////////////////////////////\n" -"typedef float4 Quaternion;\n" -"#define WG_SIZE 64\n" -"typedef struct\n" -"{\n" -" float4 m_pos;\n" -" Quaternion m_quat;\n" -" float4 m_linVel;\n" -" float4 m_angVel;\n" -" u32 m_shapeIdx;\n" -" float m_invMass;\n" -" float m_restituitionCoeff;\n" -" float m_frictionCoeff;\n" -"} Body;\n" -"typedef struct\n" -"{\n" -" Matrix3x3 m_invInertia;\n" -" Matrix3x3 m_initInvInertia;\n" -"} Shape;\n" -"typedef struct\n" -"{\n" -" float4 m_linear;\n" -" float4 m_worldPos[4];\n" -" float4 m_center; \n" -" float m_jacCoeffInv[4];\n" -" float m_b[4];\n" -" float m_appliedRambdaDt[4];\n" -" float m_fJacCoeffInv[2]; \n" -" float m_fAppliedRambdaDt[2]; \n" -" u32 m_bodyA;\n" -" u32 m_bodyB;\n" -" int m_batchIdx;\n" -" u32 m_paddings[1];\n" -"} Constraint4;\n" -"typedef struct\n" -"{\n" -" int m_nConstraints;\n" -" int m_start;\n" -" int m_batchIdx;\n" -" int m_nSplit;\n" -"// int m_paddings[1];\n" -"} ConstBuffer;\n" -"typedef struct\n" -"{\n" -" int m_solveFriction;\n" -" int m_maxBatch; // long batch really kills the performance\n" -" int m_batchIdx;\n" -" int m_nSplit;\n" -"// int m_paddings[1];\n" -"} ConstBufferBatchSolve;\n" -"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n" -"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n" -"{\n" -" *linear = mymake_float4(-n.xyz,0.f);\n" -" *angular0 = -cross3(r0, n);\n" -" *angular1 = cross3(r1, n);\n" -"}\n" -"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n" -"float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n" -"{\n" -" return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n" -"}\n" -"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n" -" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n" -"float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n" -" float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n" -"{\n" -" // linear0,1 are normlized\n" -" float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n" -" float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n" -" float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n" -" float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n" -" return -1.f/(jmj0+jmj1+jmj2+jmj3);\n" -"}\n" -"void solveContact(__global Constraint4* cs,\n" -" float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n" -" float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB);\n" -"void solveContact(__global Constraint4* cs,\n" -" float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n" -" float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB)\n" -"{\n" -" float minRambdaDt = 0;\n" -" float maxRambdaDt = FLT_MAX;\n" -" for(int ic=0; ic<4; ic++)\n" -" {\n" -" if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n" -" float4 angular0, angular1, linear;\n" -" float4 r0 = cs->m_worldPos[ic] - posA;\n" -" float4 r1 = cs->m_worldPos[ic] - posB;\n" -" setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n" -" float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n" -" *linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];\n" -" rambdaDt *= cs->m_jacCoeffInv[ic];\n" -" {\n" -" float prevSum = cs->m_appliedRambdaDt[ic];\n" -" float updated = prevSum;\n" -" updated += rambdaDt;\n" -" updated = max2( updated, minRambdaDt );\n" -" updated = min2( updated, maxRambdaDt );\n" -" rambdaDt = updated - prevSum;\n" -" cs->m_appliedRambdaDt[ic] = updated;\n" -" }\n" -" float4 linImp0 = invMassA*linear*rambdaDt;\n" -" float4 linImp1 = invMassB*(-linear)*rambdaDt;\n" -" float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n" -" float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n" -" *linVelA += linImp0;\n" -" *angVelA += angImp0;\n" -" *linVelB += linImp1;\n" -" *angVelB += angImp1;\n" -" }\n" -"}\n" -"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n" -" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n" -"{\n" -" if (fabs(n[0].z) > 0.70710678f) {\n" -" // choose p in y-z plane\n" -" float a = n[0].y*n[0].y + n[0].z*n[0].z;\n" -" float k = 1.f/sqrt(a);\n" -" p[0].x = 0;\n" -" p[0].y = -n[0].z*k;\n" -" p[0].z = n[0].y*k;\n" -" // set q = n x p\n" -" q[0].x = a*k;\n" -" q[0].y = -n[0].x*p[0].z;\n" -" q[0].z = n[0].x*p[0].y;\n" -" }\n" -" else {\n" -" // choose p in x-y plane\n" -" float a = n[0].x*n[0].x + n[0].y*n[0].y;\n" -" float k = 1.f/sqrt(a);\n" -" p[0].x = -n[0].y*k;\n" -" p[0].y = n[0].x*k;\n" -" p[0].z = 0;\n" -" // set q = n x p\n" -" q[0].x = -n[0].z*p[0].y;\n" -" q[0].y = n[0].z*p[0].x;\n" -" q[0].z = a*k;\n" -" }\n" -"}\n" -"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n" -"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n" -"{\n" -" //float frictionCoeff = ldsCs[0].m_linear.w;\n" -" int aIdx = ldsCs[0].m_bodyA;\n" -" int bIdx = ldsCs[0].m_bodyB;\n" -" float4 posA = gBodies[aIdx].m_pos;\n" -" float4 linVelA = gBodies[aIdx].m_linVel;\n" -" float4 angVelA = gBodies[aIdx].m_angVel;\n" -" float invMassA = gBodies[aIdx].m_invMass;\n" -" Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n" -" float4 posB = gBodies[bIdx].m_pos;\n" -" float4 linVelB = gBodies[bIdx].m_linVel;\n" -" float4 angVelB = gBodies[bIdx].m_angVel;\n" -" float invMassB = gBodies[bIdx].m_invMass;\n" -" Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n" -" solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n" -" posB, &linVelB, &angVelB, invMassB, invInertiaB );\n" -" if (gBodies[aIdx].m_invMass)\n" -" {\n" -" gBodies[aIdx].m_linVel = linVelA;\n" -" gBodies[aIdx].m_angVel = angVelA;\n" -" } else\n" -" {\n" -" gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n" -" gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n" -" \n" -" }\n" -" if (gBodies[bIdx].m_invMass)\n" -" {\n" -" gBodies[bIdx].m_linVel = linVelB;\n" -" gBodies[bIdx].m_angVel = angVelB;\n" -" } else\n" -" {\n" -" gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n" -" gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n" -" \n" -" }\n" -"}\n" -"typedef struct \n" -"{\n" -" int m_valInt0;\n" -" int m_valInt1;\n" -" int m_valInt2;\n" -" int m_valInt3;\n" -" float m_val0;\n" -" float m_val1;\n" -" float m_val2;\n" -" float m_val3;\n" -"} SolverDebugInfo;\n" -"__kernel\n" -"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" -"void BatchSolveKernelContact(__global Body* gBodies,\n" -" __global Shape* gShapes,\n" -" __global Constraint4* gConstraints,\n" -" __global int* gN,\n" -" __global int* gOffsets,\n" -" __global int* batchSizes,\n" -" int maxBatch1,\n" -" int cellBatch,\n" -" int4 nSplit\n" -" )\n" -"{\n" -" //__local int ldsBatchIdx[WG_SIZE+1];\n" -" __local int ldsCurBatch;\n" -" __local int ldsNextBatch;\n" -" __local int ldsStart;\n" -" int lIdx = GET_LOCAL_IDX;\n" -" int wgIdx = GET_GROUP_IDX;\n" -"// int gIdx = GET_GLOBAL_IDX;\n" -"// debugInfo[gIdx].m_valInt0 = gIdx;\n" -" //debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n" -" \n" -" \n" -" int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n" -" int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n" -" int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n" -" int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n" -" int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n" -" //int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);\n" -" //int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);\n" -" //int cellIdx = xIdx+yIdx*nSplit;\n" -" \n" -" if( gN[cellIdx] == 0 ) \n" -" return;\n" -" int maxBatch = batchSizes[cellIdx];\n" -" \n" -" \n" -" const int start = gOffsets[cellIdx];\n" -" const int end = start + gN[cellIdx];\n" -" \n" -" \n" -" \n" -" if( lIdx == 0 )\n" -" {\n" -" ldsCurBatch = 0;\n" -" ldsNextBatch = 0;\n" -" ldsStart = start;\n" -" }\n" -" GROUP_LDS_BARRIER;\n" -" int idx=ldsStart+lIdx;\n" -" while (ldsCurBatch < maxBatch)\n" -" {\n" -" for(; idx<end; )\n" -" {\n" -" if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n" -" {\n" -" solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n" -" idx+=64;\n" -" } else\n" -" {\n" -" break;\n" -" }\n" -" }\n" -" GROUP_LDS_BARRIER;\n" -" \n" -" if( lIdx == 0 )\n" -" {\n" -" ldsCurBatch++;\n" -" }\n" -" GROUP_LDS_BARRIER;\n" -" }\n" -" \n" -" \n" -"}\n" -"__kernel void solveSingleContactKernel(__global Body* gBodies,\n" -" __global Shape* gShapes,\n" -" __global Constraint4* gConstraints,\n" -" int cellIdx,\n" -" int batchOffset,\n" -" int numConstraintsInBatch\n" -" )\n" -"{\n" -" int index = get_global_id(0);\n" -" if (index < numConstraintsInBatch)\n" -" {\n" -" int idx=batchOffset+index;\n" -" solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n" -" } \n" -"}\n" -; +static const char* solveContactCL = + "/*\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" + "//#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 mymake_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" + "///////////////////////////////////////\n" + "// Vector\n" + "///////////////////////////////////////\n" + "__inline\n" + "float4 fastNormalize4(float4 v)\n" + "{\n" + " return fast_normalize(v);\n" + "}\n" + "__inline\n" + "float4 cross3(float4 a, float4 b)\n" + "{\n" + " return cross(a,b);\n" + "}\n" + "__inline\n" + "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" + "__inline\n" + "float4 normalize3(const float4 a)\n" + "{\n" + " float4 n = mymake_float4(a.x, a.y, a.z, 0.f);\n" + " return fastNormalize4( n );\n" + "// float length = sqrtf(dot3F4(a, a));\n" + "// return 1.f/length * a;\n" + "}\n" + "///////////////////////////////////////\n" + "// Matrix3x3\n" + "///////////////////////////////////////\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" + "///////////////////////////////////////\n" + "// Quaternion\n" + "///////////////////////////////////////\n" + "typedef float4 Quaternion;\n" + "#define WG_SIZE 64\n" + "typedef struct\n" + "{\n" + " float4 m_pos;\n" + " Quaternion m_quat;\n" + " float4 m_linVel;\n" + " float4 m_angVel;\n" + " u32 m_shapeIdx;\n" + " float m_invMass;\n" + " float m_restituitionCoeff;\n" + " float m_frictionCoeff;\n" + "} Body;\n" + "typedef struct\n" + "{\n" + " Matrix3x3 m_invInertia;\n" + " Matrix3x3 m_initInvInertia;\n" + "} Shape;\n" + "typedef struct\n" + "{\n" + " float4 m_linear;\n" + " float4 m_worldPos[4];\n" + " float4 m_center; \n" + " float m_jacCoeffInv[4];\n" + " float m_b[4];\n" + " float m_appliedRambdaDt[4];\n" + " float m_fJacCoeffInv[2]; \n" + " float m_fAppliedRambdaDt[2]; \n" + " u32 m_bodyA;\n" + " u32 m_bodyB;\n" + " int m_batchIdx;\n" + " u32 m_paddings[1];\n" + "} Constraint4;\n" + "typedef struct\n" + "{\n" + " int m_nConstraints;\n" + " int m_start;\n" + " int m_batchIdx;\n" + " int m_nSplit;\n" + "// int m_paddings[1];\n" + "} ConstBuffer;\n" + "typedef struct\n" + "{\n" + " int m_solveFriction;\n" + " int m_maxBatch; // long batch really kills the performance\n" + " int m_batchIdx;\n" + " int m_nSplit;\n" + "// int m_paddings[1];\n" + "} ConstBufferBatchSolve;\n" + "void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n" + "void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n" + "{\n" + " *linear = mymake_float4(-n.xyz,0.f);\n" + " *angular0 = -cross3(r0, n);\n" + " *angular1 = cross3(r1, n);\n" + "}\n" + "float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 );\n" + "float calcRelVel( float4 l0, float4 l1, float4 a0, float4 a1, float4 linVel0, float4 angVel0, float4 linVel1, float4 angVel1 )\n" + "{\n" + " return dot3F4(l0, linVel0) + dot3F4(a0, angVel0) + dot3F4(l1, linVel1) + dot3F4(a1, angVel1);\n" + "}\n" + "float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n" + " float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1);\n" + "float calcJacCoeff(const float4 linear0, const float4 linear1, const float4 angular0, const float4 angular1,\n" + " float invMass0, const Matrix3x3* invInertia0, float invMass1, const Matrix3x3* invInertia1)\n" + "{\n" + " // linear0,1 are normlized\n" + " float jmj0 = invMass0;//dot3F4(linear0, linear0)*invMass0;\n" + " float jmj1 = dot3F4(mtMul3(angular0,*invInertia0), angular0);\n" + " float jmj2 = invMass1;//dot3F4(linear1, linear1)*invMass1;\n" + " float jmj3 = dot3F4(mtMul3(angular1,*invInertia1), angular1);\n" + " return -1.f/(jmj0+jmj1+jmj2+jmj3);\n" + "}\n" + "void solveContact(__global Constraint4* cs,\n" + " float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n" + " float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB);\n" + "void solveContact(__global Constraint4* cs,\n" + " float4 posA, float4* linVelA, float4* angVelA, float invMassA, Matrix3x3 invInertiaA,\n" + " float4 posB, float4* linVelB, float4* angVelB, float invMassB, Matrix3x3 invInertiaB)\n" + "{\n" + " float minRambdaDt = 0;\n" + " float maxRambdaDt = FLT_MAX;\n" + " for(int ic=0; ic<4; ic++)\n" + " {\n" + " if( cs->m_jacCoeffInv[ic] == 0.f ) continue;\n" + " float4 angular0, angular1, linear;\n" + " float4 r0 = cs->m_worldPos[ic] - posA;\n" + " float4 r1 = cs->m_worldPos[ic] - posB;\n" + " setLinearAndAngular( -cs->m_linear, r0, r1, &linear, &angular0, &angular1 );\n" + " float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n" + " *linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];\n" + " rambdaDt *= cs->m_jacCoeffInv[ic];\n" + " {\n" + " float prevSum = cs->m_appliedRambdaDt[ic];\n" + " float updated = prevSum;\n" + " updated += rambdaDt;\n" + " updated = max2( updated, minRambdaDt );\n" + " updated = min2( updated, maxRambdaDt );\n" + " rambdaDt = updated - prevSum;\n" + " cs->m_appliedRambdaDt[ic] = updated;\n" + " }\n" + " float4 linImp0 = invMassA*linear*rambdaDt;\n" + " float4 linImp1 = invMassB*(-linear)*rambdaDt;\n" + " float4 angImp0 = mtMul1(invInertiaA, angular0)*rambdaDt;\n" + " float4 angImp1 = mtMul1(invInertiaB, angular1)*rambdaDt;\n" + " *linVelA += linImp0;\n" + " *angVelA += angImp0;\n" + " *linVelB += linImp1;\n" + " *angVelB += angImp1;\n" + " }\n" + "}\n" + "void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n" + " void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n" + "{\n" + " if (fabs(n[0].z) > 0.70710678f) {\n" + " // choose p in y-z plane\n" + " float a = n[0].y*n[0].y + n[0].z*n[0].z;\n" + " float k = 1.f/sqrt(a);\n" + " p[0].x = 0;\n" + " p[0].y = -n[0].z*k;\n" + " p[0].z = n[0].y*k;\n" + " // set q = n x p\n" + " q[0].x = a*k;\n" + " q[0].y = -n[0].x*p[0].z;\n" + " q[0].z = n[0].x*p[0].y;\n" + " }\n" + " else {\n" + " // choose p in x-y plane\n" + " float a = n[0].x*n[0].x + n[0].y*n[0].y;\n" + " float k = 1.f/sqrt(a);\n" + " p[0].x = -n[0].y*k;\n" + " p[0].y = n[0].x*k;\n" + " p[0].z = 0;\n" + " // set q = n x p\n" + " q[0].x = -n[0].z*p[0].y;\n" + " q[0].y = n[0].z*p[0].x;\n" + " q[0].z = a*k;\n" + " }\n" + "}\n" + "void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n" + "void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\n" + "{\n" + " //float frictionCoeff = ldsCs[0].m_linear.w;\n" + " int aIdx = ldsCs[0].m_bodyA;\n" + " int bIdx = ldsCs[0].m_bodyB;\n" + " float4 posA = gBodies[aIdx].m_pos;\n" + " float4 linVelA = gBodies[aIdx].m_linVel;\n" + " float4 angVelA = gBodies[aIdx].m_angVel;\n" + " float invMassA = gBodies[aIdx].m_invMass;\n" + " Matrix3x3 invInertiaA = gShapes[aIdx].m_invInertia;\n" + " float4 posB = gBodies[bIdx].m_pos;\n" + " float4 linVelB = gBodies[bIdx].m_linVel;\n" + " float4 angVelB = gBodies[bIdx].m_angVel;\n" + " float invMassB = gBodies[bIdx].m_invMass;\n" + " Matrix3x3 invInertiaB = gShapes[bIdx].m_invInertia;\n" + " solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n" + " posB, &linVelB, &angVelB, invMassB, invInertiaB );\n" + " if (gBodies[aIdx].m_invMass)\n" + " {\n" + " gBodies[aIdx].m_linVel = linVelA;\n" + " gBodies[aIdx].m_angVel = angVelA;\n" + " } else\n" + " {\n" + " gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n" + " gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n" + " \n" + " }\n" + " if (gBodies[bIdx].m_invMass)\n" + " {\n" + " gBodies[bIdx].m_linVel = linVelB;\n" + " gBodies[bIdx].m_angVel = angVelB;\n" + " } else\n" + " {\n" + " gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n" + " gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n" + " \n" + " }\n" + "}\n" + "typedef struct \n" + "{\n" + " int m_valInt0;\n" + " int m_valInt1;\n" + " int m_valInt2;\n" + " int m_valInt3;\n" + " float m_val0;\n" + " float m_val1;\n" + " float m_val2;\n" + " float m_val3;\n" + "} SolverDebugInfo;\n" + "__kernel\n" + "__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" + "void BatchSolveKernelContact(__global Body* gBodies,\n" + " __global Shape* gShapes,\n" + " __global Constraint4* gConstraints,\n" + " __global int* gN,\n" + " __global int* gOffsets,\n" + " __global int* batchSizes,\n" + " int maxBatch1,\n" + " int cellBatch,\n" + " int4 nSplit\n" + " )\n" + "{\n" + " //__local int ldsBatchIdx[WG_SIZE+1];\n" + " __local int ldsCurBatch;\n" + " __local int ldsNextBatch;\n" + " __local int ldsStart;\n" + " int lIdx = GET_LOCAL_IDX;\n" + " int wgIdx = GET_GROUP_IDX;\n" + "// int gIdx = GET_GLOBAL_IDX;\n" + "// debugInfo[gIdx].m_valInt0 = gIdx;\n" + " //debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n" + " \n" + " \n" + " int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n" + " int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n" + " int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n" + " int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n" + " int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n" + " //int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);\n" + " //int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);\n" + " //int cellIdx = xIdx+yIdx*nSplit;\n" + " \n" + " if( gN[cellIdx] == 0 ) \n" + " return;\n" + " int maxBatch = batchSizes[cellIdx];\n" + " \n" + " \n" + " const int start = gOffsets[cellIdx];\n" + " const int end = start + gN[cellIdx];\n" + " \n" + " \n" + " \n" + " if( lIdx == 0 )\n" + " {\n" + " ldsCurBatch = 0;\n" + " ldsNextBatch = 0;\n" + " ldsStart = start;\n" + " }\n" + " GROUP_LDS_BARRIER;\n" + " int idx=ldsStart+lIdx;\n" + " while (ldsCurBatch < maxBatch)\n" + " {\n" + " for(; idx<end; )\n" + " {\n" + " if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n" + " {\n" + " solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n" + " idx+=64;\n" + " } else\n" + " {\n" + " break;\n" + " }\n" + " }\n" + " GROUP_LDS_BARRIER;\n" + " \n" + " if( lIdx == 0 )\n" + " {\n" + " ldsCurBatch++;\n" + " }\n" + " GROUP_LDS_BARRIER;\n" + " }\n" + " \n" + " \n" + "}\n" + "__kernel void solveSingleContactKernel(__global Body* gBodies,\n" + " __global Shape* gShapes,\n" + " __global Constraint4* gConstraints,\n" + " int cellIdx,\n" + " int batchOffset,\n" + " int numConstraintsInBatch\n" + " )\n" + "{\n" + " int index = get_global_id(0);\n" + " if (index < numConstraintsInBatch)\n" + " {\n" + " int idx=batchOffset+index;\n" + " solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n" + " } \n" + "}\n"; |