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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h | 703 |
1 files changed, 703 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h new file mode 100644 index 0000000000..eb1834ee00 --- /dev/null +++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup.h @@ -0,0 +1,703 @@ +//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project +static const char* solverSetupCL= \ +"/*\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" +"#ifndef B3_CONTACT_CONSTRAINT5_H\n" +"#define B3_CONTACT_CONSTRAINT5_H\n" +"#ifndef B3_FLOAT4_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_FLOAT4_H\n" +"typedef struct b3ContactConstraint4 b3ContactConstraint4_t;\n" +"struct b3ContactConstraint4\n" +"{\n" +" b3Float4 m_linear;//normal?\n" +" b3Float4 m_worldPos[4];\n" +" b3Float4 m_center; // friction\n" +" float m_jacCoeffInv[4];\n" +" float m_b[4];\n" +" float m_appliedRambdaDt[4];\n" +" float m_fJacCoeffInv[2]; // friction\n" +" float m_fAppliedRambdaDt[2]; // friction\n" +" unsigned int m_bodyA;\n" +" unsigned int m_bodyB;\n" +" int m_batchIdx;\n" +" unsigned int m_paddings;\n" +"};\n" +"//inline void setFrictionCoeff(float value) { m_linear[3] = value; }\n" +"inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint) \n" +"{\n" +" return constraint->m_linear.w; \n" +"}\n" +"#endif //B3_CONTACT_CONSTRAINT5_H\n" +"#ifndef B3_RIGIDBODY_DATA_H\n" +"#define B3_RIGIDBODY_DATA_H\n" +"#ifndef B3_FLOAT4_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_FLOAT4_H\n" +"#ifndef B3_QUAT_H\n" +"#define B3_QUAT_H\n" +"#ifndef B3_PLATFORM_DEFINITIONS_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif\n" +"#endif\n" +"#ifndef B3_FLOAT4_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_FLOAT4_H\n" +"#ifdef __cplusplus\n" +"#else\n" +" typedef float4 b3Quat;\n" +" #define b3QuatConstArg const b3Quat\n" +" \n" +" \n" +"inline float4 b3FastNormalize4(float4 v)\n" +"{\n" +" v = (float4)(v.xyz,0.f);\n" +" return fast_normalize(v);\n" +"}\n" +" \n" +"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n" +"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n" +"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n" +"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n" +"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n" +"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n" +"{\n" +" b3Quat ans;\n" +" ans = b3Cross3( 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 - b3Dot3F4(a, b);\n" +" return ans;\n" +"}\n" +"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n" +"{\n" +" b3Quat q;\n" +" q=in;\n" +" //return b3FastNormalize4(in);\n" +" float len = native_sqrt(dot(q, q));\n" +" if(len > 0.f)\n" +" {\n" +" q *= 1.f / len;\n" +" }\n" +" else\n" +" {\n" +" q.x = q.y = q.z = 0.f;\n" +" q.w = 1.f;\n" +" }\n" +" return q;\n" +"}\n" +"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n" +"{\n" +" b3Quat qInv = b3QuatInvert( q );\n" +" float4 vcpy = vec;\n" +" vcpy.w = 0.f;\n" +" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n" +" return out;\n" +"}\n" +"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n" +"{\n" +" return (b3Quat)(-q.xyz, q.w);\n" +"}\n" +"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n" +"{\n" +" return (b3Quat)(-q.xyz, q.w);\n" +"}\n" +"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n" +"{\n" +" return b3QuatRotate( b3QuatInvert( q ), vec );\n" +"}\n" +"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)\n" +"{\n" +" return b3QuatRotate( orientation, point ) + (translation);\n" +"}\n" +" \n" +"#endif \n" +"#endif //B3_QUAT_H\n" +"#ifndef B3_MAT3x3_H\n" +"#define B3_MAT3x3_H\n" +"#ifndef B3_QUAT_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"#endif \n" +"#endif //B3_QUAT_H\n" +"#ifdef __cplusplus\n" +"#else\n" +"typedef struct\n" +"{\n" +" b3Float4 m_row[3];\n" +"}b3Mat3x3;\n" +"#define b3Mat3x3ConstArg const b3Mat3x3\n" +"#define b3GetRow(m,row) (m.m_row[row])\n" +"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n" +"{\n" +" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n" +" b3Mat3x3 out;\n" +" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n" +" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n" +" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n" +" out.m_row[0].w = 0.f;\n" +" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n" +" out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n" +" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n" +" out.m_row[1].w = 0.f;\n" +" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n" +" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n" +" out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n" +" out.m_row[2].w = 0.f;\n" +" return out;\n" +"}\n" +"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n" +"{\n" +" b3Mat3x3 out;\n" +" out.m_row[0] = fabs(matIn.m_row[0]);\n" +" out.m_row[1] = fabs(matIn.m_row[1]);\n" +" out.m_row[2] = fabs(matIn.m_row[2]);\n" +" return out;\n" +"}\n" +"__inline\n" +"b3Mat3x3 mtZero();\n" +"__inline\n" +"b3Mat3x3 mtIdentity();\n" +"__inline\n" +"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n" +"__inline\n" +"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n" +"__inline\n" +"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n" +"__inline\n" +"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n" +"__inline\n" +"b3Mat3x3 mtZero()\n" +"{\n" +" b3Mat3x3 m;\n" +" m.m_row[0] = (b3Float4)(0.f);\n" +" m.m_row[1] = (b3Float4)(0.f);\n" +" m.m_row[2] = (b3Float4)(0.f);\n" +" return m;\n" +"}\n" +"__inline\n" +"b3Mat3x3 mtIdentity()\n" +"{\n" +" b3Mat3x3 m;\n" +" m.m_row[0] = (b3Float4)(1,0,0,0);\n" +" m.m_row[1] = (b3Float4)(0,1,0,0);\n" +" m.m_row[2] = (b3Float4)(0,0,1,0);\n" +" return m;\n" +"}\n" +"__inline\n" +"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n" +"{\n" +" b3Mat3x3 out;\n" +" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n" +" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n" +" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n" +" return out;\n" +"}\n" +"__inline\n" +"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n" +"{\n" +" b3Mat3x3 transB;\n" +" transB = mtTranspose( b );\n" +" b3Mat3x3 ans;\n" +" // why this doesn't run when 0ing in the for{}\n" +" a.m_row[0].w = 0.f;\n" +" a.m_row[1].w = 0.f;\n" +" a.m_row[2].w = 0.f;\n" +" for(int i=0; i<3; i++)\n" +" {\n" +"// a.m_row[i].w = 0.f;\n" +" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n" +" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n" +" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n" +" ans.m_row[i].w = 0.f;\n" +" }\n" +" return ans;\n" +"}\n" +"__inline\n" +"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n" +"{\n" +" b3Float4 ans;\n" +" ans.x = b3Dot3F4( a.m_row[0], b );\n" +" ans.y = b3Dot3F4( a.m_row[1], b );\n" +" ans.z = b3Dot3F4( a.m_row[2], b );\n" +" ans.w = 0.f;\n" +" return ans;\n" +"}\n" +"__inline\n" +"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n" +"{\n" +" b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n" +" b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n" +" b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n" +" b3Float4 ans;\n" +" ans.x = b3Dot3F4( a, colx );\n" +" ans.y = b3Dot3F4( a, coly );\n" +" ans.z = b3Dot3F4( a, colz );\n" +" return ans;\n" +"}\n" +"#endif\n" +"#endif //B3_MAT3x3_H\n" +"typedef struct b3RigidBodyData b3RigidBodyData_t;\n" +"struct b3RigidBodyData\n" +"{\n" +" b3Float4 m_pos;\n" +" b3Quat m_quat;\n" +" b3Float4 m_linVel;\n" +" b3Float4 m_angVel;\n" +" int m_collidableIdx;\n" +" float m_invMass;\n" +" float m_restituitionCoeff;\n" +" float m_frictionCoeff;\n" +"};\n" +"typedef struct b3InertiaData b3InertiaData_t;\n" +"struct b3InertiaData\n" +"{\n" +" b3Mat3x3 m_invInertiaWorld;\n" +" b3Mat3x3 m_initInvInertia;\n" +"};\n" +"#endif //B3_RIGIDBODY_DATA_H\n" +" \n" +"void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q);\n" +" void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q)\n" +"{\n" +" if (b3Fabs(n.z) > 0.70710678f) {\n" +" // choose p in y-z plane\n" +" float a = n.y*n.y + n.z*n.z;\n" +" float k = 1.f/sqrt(a);\n" +" p[0].x = 0;\n" +" p[0].y = -n.z*k;\n" +" p[0].z = n.y*k;\n" +" // set q = n x p\n" +" q[0].x = a*k;\n" +" q[0].y = -n.x*p[0].z;\n" +" q[0].z = n.x*p[0].y;\n" +" }\n" +" else {\n" +" // choose p in x-y plane\n" +" float a = n.x*n.x + n.y*n.y;\n" +" float k = 1.f/sqrt(a);\n" +" p[0].x = -n.y*k;\n" +" p[0].y = n.x*k;\n" +" p[0].z = 0;\n" +" // set q = n x p\n" +" q[0].x = -n.z*p[0].y;\n" +" q[0].y = n.z*p[0].x;\n" +" q[0].z = a*k;\n" +" }\n" +"}\n" +" \n" +"void setLinearAndAngular( b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1)\n" +"{\n" +" *linear = b3MakeFloat4(n.x,n.y,n.z,0.f);\n" +" *angular0 = b3Cross3(r0, n);\n" +" *angular1 = -b3Cross3(r1, n);\n" +"}\n" +"float calcRelVel( b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0,\n" +" b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1 )\n" +"{\n" +" return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1);\n" +"}\n" +"float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1,\n" +" float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1)\n" +"{\n" +" // linear0,1 are normlized\n" +" float jmj0 = invMass0;//b3Dot3F4(linear0, linear0)*invMass0;\n" +" float jmj1 = b3Dot3F4(mtMul3(angular0,*invInertia0), angular0);\n" +" float jmj2 = invMass1;//b3Dot3F4(linear1, linear1)*invMass1;\n" +" float jmj3 = b3Dot3F4(mtMul3(angular1,*invInertia1), angular1);\n" +" return -1.f/(jmj0+jmj1+jmj2+jmj3);\n" +"}\n" +"void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA,\n" +" b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB, \n" +" __global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,\n" +" b3ContactConstraint4_t* dstC )\n" +"{\n" +" dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit);\n" +" dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit);\n" +" float dtInv = 1.f/dt;\n" +" for(int ic=0; ic<4; ic++)\n" +" {\n" +" dstC->m_appliedRambdaDt[ic] = 0.f;\n" +" }\n" +" dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;\n" +" dstC->m_linear = src->m_worldNormalOnB;\n" +" dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );\n" +" for(int ic=0; ic<4; ic++)\n" +" {\n" +" b3Float4 r0 = src->m_worldPosB[ic] - posA;\n" +" b3Float4 r1 = src->m_worldPosB[ic] - posB;\n" +" if( ic >= src->m_worldNormalOnB.w )//npoints\n" +" {\n" +" dstC->m_jacCoeffInv[ic] = 0.f;\n" +" continue;\n" +" }\n" +" float relVelN;\n" +" {\n" +" b3Float4 linear, angular0, angular1;\n" +" setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);\n" +" dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,\n" +" invMassA, &invInertiaA, invMassB, &invInertiaB );\n" +" relVelN = calcRelVel(linear, -linear, angular0, angular1,\n" +" linVelA, angVelA, linVelB, angVelB);\n" +" float e = 0.f;//src->getRestituitionCoeff();\n" +" if( relVelN*relVelN < 0.004f ) e = 0.f;\n" +" dstC->m_b[ic] = e*relVelN;\n" +" //float penetration = src->m_worldPosB[ic].w;\n" +" dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;\n" +" dstC->m_appliedRambdaDt[ic] = 0.f;\n" +" }\n" +" }\n" +" if( src->m_worldNormalOnB.w > 0 )//npoints\n" +" { // prepare friction\n" +" b3Float4 center = b3MakeFloat4(0.f,0.f,0.f,0.f);\n" +" for(int i=0; i<src->m_worldNormalOnB.w; i++) \n" +" center += src->m_worldPosB[i];\n" +" center /= (float)src->m_worldNormalOnB.w;\n" +" b3Float4 tangent[2];\n" +" b3PlaneSpace1(src->m_worldNormalOnB,&tangent[0],&tangent[1]);\n" +" \n" +" b3Float4 r[2];\n" +" r[0] = center - posA;\n" +" r[1] = center - posB;\n" +" for(int i=0; i<2; i++)\n" +" {\n" +" b3Float4 linear, angular0, angular1;\n" +" setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1);\n" +" dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1,\n" +" invMassA, &invInertiaA, invMassB, &invInertiaB );\n" +" dstC->m_fAppliedRambdaDt[i] = 0.f;\n" +" }\n" +" dstC->m_center = center;\n" +" }\n" +" for(int i=0; i<4; i++)\n" +" {\n" +" if( i<src->m_worldNormalOnB.w )\n" +" {\n" +" dstC->m_worldPos[i] = src->m_worldPosB[i];\n" +" }\n" +" else\n" +" {\n" +" dstC->m_worldPos[i] = b3MakeFloat4(0.f,0.f,0.f,0.f);\n" +" }\n" +" }\n" +"}\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" +"///////////////////////////////////////\n" +"// Vector\n" +"///////////////////////////////////////\n" +"__inline\n" +"float fastDiv(float numerator, float denominator)\n" +"{\n" +" return native_divide(numerator, denominator); \n" +"// return numerator/denominator; \n" +"}\n" +"__inline\n" +"float4 fastDiv4(float4 numerator, float4 denominator)\n" +"{\n" +" return native_divide(numerator, denominator); \n" +"}\n" +"__inline\n" +"float fastSqrtf(float f2)\n" +"{\n" +" return native_sqrt(f2);\n" +"// return sqrt(f2);\n" +"}\n" +"__inline\n" +"float fastRSqrt(float f2)\n" +"{\n" +" return native_rsqrt(f2);\n" +"}\n" +"__inline\n" +"float fastLength4(float4 v)\n" +"{\n" +" return fast_length(v);\n" +"}\n" +"__inline\n" +"float4 fastNormalize4(float4 v)\n" +"{\n" +" return fast_normalize(v);\n" +"}\n" +"__inline\n" +"float sqrtf(float a)\n" +"{\n" +"// return sqrt(a);\n" +" return native_sqrt(a);\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 = make_float4(a.xyz,0.f);\n" +" float4 b1 = make_float4(b.xyz,0.f);\n" +" return dot(a1, b1);\n" +"}\n" +"__inline\n" +"float length3(const float4 a)\n" +"{\n" +" return sqrtf(dot3F4(a,a));\n" +"}\n" +"__inline\n" +"float dot4(const float4 a, const float4 b)\n" +"{\n" +" return dot( a, b );\n" +"}\n" +"// for height\n" +"__inline\n" +"float dot3w1(const float4 point, const float4 eqn)\n" +"{\n" +" return dot3F4(point,eqn) + eqn.w;\n" +"}\n" +"__inline\n" +"float4 normalize3(const float4 a)\n" +"{\n" +" float4 n = make_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" +"__inline\n" +"float4 normalize4(const float4 a)\n" +"{\n" +" float length = sqrtf(dot4(a, a));\n" +" return 1.f/length * a;\n" +"}\n" +"__inline\n" +"float4 createEquation(const float4 a, const float4 b, const float4 c)\n" +"{\n" +" float4 eqn;\n" +" float4 ab = b-a;\n" +" float4 ac = c-a;\n" +" eqn = normalize3( cross3(ab, ac) );\n" +" eqn.w = -dot3F4(eqn,a);\n" +" return eqn;\n" +"}\n" +"#define WG_SIZE 64\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" +" \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" +"typedef struct\n" +"{\n" +" int m_nContacts;\n" +" float m_dt;\n" +" float m_positionDrift;\n" +" float m_positionConstraintCoeff;\n" +"} ConstBufferCTC;\n" +"__kernel\n" +"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" +"void ContactToConstraintKernel(__global struct b3Contact4Data* gContact, __global b3RigidBodyData_t* gBodies, __global b3InertiaData_t* gShapes, __global b3ContactConstraint4_t* gConstraintOut, \n" +"int nContacts,\n" +"float dt,\n" +"float positionDrift,\n" +"float positionConstraintCoeff\n" +")\n" +"{\n" +" int gIdx = GET_GLOBAL_IDX;\n" +" \n" +" if( gIdx < nContacts )\n" +" {\n" +" int aIdx = abs(gContact[gIdx].m_bodyAPtrAndSignBit);\n" +" int bIdx = abs(gContact[gIdx].m_bodyBPtrAndSignBit);\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" +" b3Mat3x3 invInertiaA = gShapes[aIdx].m_initInvInertia;\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" +" b3Mat3x3 invInertiaB = gShapes[bIdx].m_initInvInertia;\n" +" b3ContactConstraint4_t cs;\n" +" setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n" +" &gContact[gIdx], dt, positionDrift, positionConstraintCoeff,\n" +" &cs );\n" +" \n" +" cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n" +" gConstraintOut[gIdx] = cs;\n" +" }\n" +"}\n" +; |