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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl | 277 |
1 files changed, 0 insertions, 277 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl deleted file mode 100644 index 8e2de7b5a6..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl +++ /dev/null @@ -1,277 +0,0 @@ - -/* -Copyright (c) 2012 Advanced Micro Devices, Inc. - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -//Originally written by Takahiro Harada - -#include "Bullet3Dynamics/shared/b3ConvertConstraint4.h" - -#pragma OPENCL EXTENSION cl_amd_printf : enable -#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable -#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable -#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable -#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable - - -#ifdef cl_ext_atomic_counters_32 -#pragma OPENCL EXTENSION cl_ext_atomic_counters_32 : enable -#else -#define counter32_t volatile global int* -#endif - -typedef unsigned int u32; -typedef unsigned short u16; -typedef unsigned char u8; - -#define GET_GROUP_IDX get_group_id(0) -#define GET_LOCAL_IDX get_local_id(0) -#define GET_GLOBAL_IDX get_global_id(0) -#define GET_GROUP_SIZE get_local_size(0) -#define GET_NUM_GROUPS get_num_groups(0) -#define GROUP_LDS_BARRIER barrier(CLK_LOCAL_MEM_FENCE) -#define GROUP_MEM_FENCE mem_fence(CLK_LOCAL_MEM_FENCE) -#define AtomInc(x) atom_inc(&(x)) -#define AtomInc1(x, out) out = atom_inc(&(x)) -#define AppendInc(x, out) out = atomic_inc(x) -#define AtomAdd(x, value) atom_add(&(x), value) -#define AtomCmpxhg(x, cmp, value) atom_cmpxchg( &(x), cmp, value ) -#define AtomXhg(x, value) atom_xchg ( &(x), value ) - - -#define SELECT_UINT4( b, a, condition ) select( b,a,condition ) - -#define make_float4 (float4) -#define make_float2 (float2) -#define make_uint4 (uint4) -#define make_int4 (int4) -#define make_uint2 (uint2) -#define make_int2 (int2) - - -#define max2 max -#define min2 min - - -/////////////////////////////////////// -// Vector -/////////////////////////////////////// -__inline -float fastDiv(float numerator, float denominator) -{ - return native_divide(numerator, denominator); -// return numerator/denominator; -} - -__inline -float4 fastDiv4(float4 numerator, float4 denominator) -{ - return native_divide(numerator, denominator); -} - -__inline -float fastSqrtf(float f2) -{ - return native_sqrt(f2); -// return sqrt(f2); -} - -__inline -float fastRSqrt(float f2) -{ - return native_rsqrt(f2); -} - -__inline -float fastLength4(float4 v) -{ - return fast_length(v); -} - -__inline -float4 fastNormalize4(float4 v) -{ - return fast_normalize(v); -} - - -__inline -float sqrtf(float a) -{ -// return sqrt(a); - return native_sqrt(a); -} - -__inline -float4 cross3(float4 a, float4 b) -{ - return cross(a,b); -} - -__inline -float dot3F4(float4 a, float4 b) -{ - float4 a1 = make_float4(a.xyz,0.f); - float4 b1 = make_float4(b.xyz,0.f); - return dot(a1, b1); -} - -__inline -float length3(const float4 a) -{ - return sqrtf(dot3F4(a,a)); -} - -__inline -float dot4(const float4 a, const float4 b) -{ - return dot( a, b ); -} - -// for height -__inline -float dot3w1(const float4 point, const float4 eqn) -{ - return dot3F4(point,eqn) + eqn.w; -} - -__inline -float4 normalize3(const float4 a) -{ - float4 n = make_float4(a.x, a.y, a.z, 0.f); - return fastNormalize4( n ); -// float length = sqrtf(dot3F4(a, a)); -// return 1.f/length * a; -} - -__inline -float4 normalize4(const float4 a) -{ - float length = sqrtf(dot4(a, a)); - return 1.f/length * a; -} - -__inline -float4 createEquation(const float4 a, const float4 b, const float4 c) -{ - float4 eqn; - float4 ab = b-a; - float4 ac = c-a; - eqn = normalize3( cross3(ab, ac) ); - eqn.w = -dot3F4(eqn,a); - return eqn; -} - - - -#define WG_SIZE 64 - - - - - - - -typedef struct -{ - int m_nConstraints; - int m_start; - int m_batchIdx; - int m_nSplit; -// int m_paddings[1]; -} ConstBuffer; - -typedef struct -{ - int m_solveFriction; - int m_maxBatch; // long batch really kills the performance - int m_batchIdx; - int m_nSplit; -// int m_paddings[1]; -} ConstBufferBatchSolve; - - - - - - - -typedef struct -{ - int m_valInt0; - int m_valInt1; - int m_valInt2; - int m_valInt3; - - float m_val0; - float m_val1; - float m_val2; - float m_val3; -} SolverDebugInfo; - - - - - - -typedef struct -{ - int m_nContacts; - float m_dt; - float m_positionDrift; - float m_positionConstraintCoeff; -} ConstBufferCTC; - -__kernel -__attribute__((reqd_work_group_size(WG_SIZE,1,1))) -void ContactToConstraintKernel(__global struct b3Contact4Data* gContact, __global b3RigidBodyData_t* gBodies, __global b3InertiaData_t* gShapes, __global b3ContactConstraint4_t* gConstraintOut, -int nContacts, -float dt, -float positionDrift, -float positionConstraintCoeff -) -{ - int gIdx = GET_GLOBAL_IDX; - - if( gIdx < nContacts ) - { - int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit); - int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit); - - float4 posA = gBodies[aIdx].m_pos; - float4 linVelA = gBodies[aIdx].m_linVel; - float4 angVelA = gBodies[aIdx].m_angVel; - float invMassA = gBodies[aIdx].m_invMass; - b3Mat3x3 invInertiaA = gShapes[aIdx].m_initInvInertia; - - float4 posB = gBodies[bIdx].m_pos; - float4 linVelB = gBodies[bIdx].m_linVel; - float4 angVelB = gBodies[bIdx].m_angVel; - float invMassB = gBodies[bIdx].m_invMass; - b3Mat3x3 invInertiaB = gShapes[bIdx].m_initInvInertia; - - b3ContactConstraint4_t cs; - - setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB, - &gContact[gIdx], dt, positionDrift, positionConstraintCoeff, - &cs ); - - cs.m_batchIdx = gContact[gIdx].m_batchIdx; - - gConstraintOut[gIdx] = cs; - } -} - - - - - |