diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h | 420 |
1 files changed, 0 insertions, 420 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h deleted file mode 100644 index 9707cdb25d..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solveFriction.h +++ /dev/null @@ -1,420 +0,0 @@ -//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project -static const char* solveFrictionCL = - "/*\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 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 solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n" - "void solveFrictionConstraint(__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" - " \n" - " {\n" - " float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};\n" - " float minRambdaDt[4] = {0.f,0.f,0.f,0.f};\n" - " float sum = 0;\n" - " for(int j=0; j<4; j++)\n" - " {\n" - " sum +=ldsCs[0].m_appliedRambdaDt[j];\n" - " }\n" - " frictionCoeff = 0.7f;\n" - " for(int j=0; j<4; j++)\n" - " {\n" - " maxRambdaDt[j] = frictionCoeff*sum;\n" - " minRambdaDt[j] = -maxRambdaDt[j];\n" - " }\n" - " \n" - "// solveFriction( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n" - "// posB, &linVelB, &angVelB, invMassB, invInertiaB, maxRambdaDt, minRambdaDt );\n" - " \n" - " \n" - " {\n" - " \n" - " __global Constraint4* cs = ldsCs;\n" - " \n" - " if( cs->m_fJacCoeffInv[0] == 0 && cs->m_fJacCoeffInv[0] == 0 ) return;\n" - " const float4 center = cs->m_center;\n" - " \n" - " float4 n = -cs->m_linear;\n" - " \n" - " float4 tangent[2];\n" - " btPlaneSpace1(&n,&tangent[0],&tangent[1]);\n" - " float4 angular0, angular1, linear;\n" - " float4 r0 = center - posA;\n" - " float4 r1 = center - posB;\n" - " for(int i=0; i<2; i++)\n" - " {\n" - " setLinearAndAngular( tangent[i], r0, r1, &linear, &angular0, &angular1 );\n" - " float rambdaDt = calcRelVel(linear, -linear, angular0, angular1,\n" - " linVelA, angVelA, linVelB, angVelB );\n" - " rambdaDt *= cs->m_fJacCoeffInv[i];\n" - " \n" - " {\n" - " float prevSum = cs->m_fAppliedRambdaDt[i];\n" - " float updated = prevSum;\n" - " updated += rambdaDt;\n" - " updated = max2( updated, minRambdaDt[i] );\n" - " updated = min2( updated, maxRambdaDt[i] );\n" - " rambdaDt = updated - prevSum;\n" - " cs->m_fAppliedRambdaDt[i] = updated;\n" - " }\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" - " \n" - " linVelA += linImp0;\n" - " angVelA += angImp0;\n" - " linVelB += linImp1;\n" - " angVelB += angImp1;\n" - " }\n" - " { // angular damping for point constraint\n" - " float4 ab = normalize3( posB - posA );\n" - " float4 ac = normalize3( center - posA );\n" - " if( dot3F4( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f))\n" - " {\n" - " float angNA = dot3F4( n, angVelA );\n" - " float angNB = dot3F4( n, angVelB );\n" - " \n" - " angVelA -= (angNA*0.1f)*n;\n" - " angVelB -= (angNB*0.1f)*n;\n" - " }\n" - " }\n" - " }\n" - " \n" - " \n" - " }\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" - " 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 BatchSolveKernelFriction(__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" - " 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" - " \n" - " if( gN[cellIdx] == 0 ) \n" - " return;\n" - " int maxBatch = batchSizes[cellIdx];\n" - " const int start = gOffsets[cellIdx];\n" - " const int end = start + gN[cellIdx];\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" - " solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n" - " idx+=64;\n" - " } else\n" - " {\n" - " break;\n" - " }\n" - " }\n" - " GROUP_LDS_BARRIER;\n" - " if( lIdx == 0 )\n" - " {\n" - " ldsCurBatch++;\n" - " }\n" - " GROUP_LDS_BARRIER;\n" - " }\n" - " \n" - " \n" - "}\n" - "__kernel void solveSingleFrictionKernel(__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" - " \n" - " int idx=batchOffset+index;\n" - " \n" - " solveFrictionConstraint( gBodies, gShapes, &gConstraints[idx] );\n" - " } \n" - "}\n"; |