1 files changed, 613 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl
new file mode 100644
index 0000000000..3dc48d4350
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl
@@ -0,0 +1,613 @@
+/*
+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 "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.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;
+}
+
+///////////////////////////////////////
+//	Matrix3x3
+///////////////////////////////////////
+
+typedef struct
+{
+	float4 m_row[3];
+}Matrix3x3;
+
+__inline
+Matrix3x3 mtZero();
+
+__inline
+Matrix3x3 mtIdentity();
+
+__inline
+Matrix3x3 mtTranspose(Matrix3x3 m);
+
+__inline
+Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);
+
+__inline
+float4 mtMul1(Matrix3x3 a, float4 b);
+
+__inline
+float4 mtMul3(float4 a, Matrix3x3 b);
+
+__inline
+Matrix3x3 mtZero()
+{
+	Matrix3x3 m;
+	m.m_row[0] = (float4)(0.f);
+	m.m_row[1] = (float4)(0.f);
+	m.m_row[2] = (float4)(0.f);
+	return m;
+}
+
+__inline
+Matrix3x3 mtIdentity()
+{
+	Matrix3x3 m;
+	m.m_row[0] = (float4)(1,0,0,0);
+	m.m_row[1] = (float4)(0,1,0,0);
+	m.m_row[2] = (float4)(0,0,1,0);
+	return m;
+}
+
+__inline
+Matrix3x3 mtTranspose(Matrix3x3 m)
+{
+	Matrix3x3 out;
+	out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
+	out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
+	out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
+	return out;
+}
+
+__inline
+Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)
+{
+	Matrix3x3 transB;
+	transB = mtTranspose( b );
+	Matrix3x3 ans;
+	//	why this doesn't run when 0ing in the for{}
+	a.m_row[0].w = 0.f;
+	a.m_row[1].w = 0.f;
+	a.m_row[2].w = 0.f;
+	for(int i=0; i<3; i++)
+	{
+//	a.m_row[i].w = 0.f;
+		ans.m_row[i].x = dot3F4(a.m_row[i],transB.m_row[0]);
+		ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);
+		ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);
+		ans.m_row[i].w = 0.f;
+	}
+	return ans;
+}
+
+__inline
+float4 mtMul1(Matrix3x3 a, float4 b)
+{
+	float4 ans;
+	ans.x = dot3F4( a.m_row[0], b );
+	ans.y = dot3F4( a.m_row[1], b );
+	ans.z = dot3F4( a.m_row[2], b );
+	ans.w = 0.f;
+	return ans;
+}
+
+__inline
+float4 mtMul3(float4 a, Matrix3x3 b)
+{
+	float4 colx = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
+	float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
+	float4 colz = make_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
+
+	float4 ans;
+	ans.x = dot3F4( a, colx );
+	ans.y = dot3F4( a, coly );
+	ans.z = dot3F4( a, colz );
+	return ans;
+}
+
+///////////////////////////////////////
+//	Quaternion
+///////////////////////////////////////
+
+typedef float4 Quaternion;
+
+__inline
+Quaternion qtMul(Quaternion a, Quaternion b);
+
+__inline
+Quaternion qtNormalize(Quaternion in);
+
+__inline
+float4 qtRotate(Quaternion q, float4 vec);
+
+__inline
+Quaternion qtInvert(Quaternion q);
+
+
+
+
+
+__inline
+Quaternion qtMul(Quaternion a, Quaternion b)
+{
+	Quaternion ans;
+	ans = cross3( a, b );
+	ans += a.w*b+b.w*a;
+//	ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
+	ans.w = a.w*b.w - dot3F4(a, b);
+	return ans;
+}
+
+__inline
+Quaternion qtNormalize(Quaternion in)
+{
+	return fastNormalize4(in);
+//	in /= length( in );
+//	return in;
+}
+__inline
+float4 qtRotate(Quaternion q, float4 vec)
+{
+	Quaternion qInv = qtInvert( q );
+	float4 vcpy = vec;
+	vcpy.w = 0.f;
+	float4 out = qtMul(qtMul(q,vcpy),qInv);
+	return out;
+}
+
+__inline
+Quaternion qtInvert(Quaternion q)
+{
+	return (Quaternion)(-q.xyz, q.w);
+}
+
+__inline
+float4 qtInvRotate(const Quaternion q, float4 vec)
+{
+	return qtRotate( qtInvert( q ), vec );
+}
+
+
+
+
+#define WG_SIZE 64
+
+typedef struct
+{
+	float4 m_pos;
+	Quaternion m_quat;
+	float4 m_linVel;
+	float4 m_angVel;
+
+	u32 m_shapeIdx;
+	float m_invMass;
+	float m_restituitionCoeff;
+	float m_frictionCoeff;
+} Body;
+
+typedef struct
+{
+	Matrix3x3 m_invInertia;
+	Matrix3x3 m_initInvInertia;
+} Shape;
+
+typedef struct
+{
+	float4 m_linear;
+	float4 m_worldPos[4];
+	float4 m_center;	
+	float m_jacCoeffInv[4];
+	float m_b[4];
+	float m_appliedRambdaDt[4];
+
+	float m_fJacCoeffInv[2];	
+	float m_fAppliedRambdaDt[2];	
+
+	u32 m_bodyA;
+	u32 m_bodyB;
+
+	int m_batchIdx;
+	u32 m_paddings[1];
+} Constraint4;
+
+
+
+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;
+
+
+
+
+//	others
+__kernel
+__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
+void ReorderContactKernel(__global struct b3Contact4Data* in, __global struct b3Contact4Data* out, __global int2* sortData, int4 cb )
+{
+	int nContacts = cb.x;
+	int gIdx = GET_GLOBAL_IDX;
+
+	if( gIdx < nContacts )
+	{
+		int srcIdx = sortData[gIdx].y;
+		out[gIdx] = in[srcIdx];
+	}
+}
+
+__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
+void SetDeterminismSortDataChildShapeB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataOut, int nContacts)
+{
+	int gIdx = GET_GLOBAL_IDX;
+
+	if( gIdx < nContacts )
+	{
+		int2 sd;
+		sd.x = contactsIn[gIdx].m_childIndexB;
+		sd.y = gIdx;
+		sortDataOut[gIdx] = sd;
+	}
+}
+
+__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
+void SetDeterminismSortDataChildShapeA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)
+{
+	int gIdx = GET_GLOBAL_IDX;
+
+	if( gIdx < nContacts )
+	{
+		int2 sdIn;
+		sdIn = sortDataInOut[gIdx];
+		int2 sdOut;
+		sdOut.x = contactsIn[sdIn.y].m_childIndexA;
+		sdOut.y = sdIn.y;
+		sortDataInOut[gIdx] = sdOut;
+	}
+}
+
+__kernel __attribute__((reqd_work_group_size(WG_SIZE,1,1)))
+void SetDeterminismSortDataBodyA(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)
+{
+	int gIdx = GET_GLOBAL_IDX;
+
+	if( gIdx < nContacts )
+	{
+		int2 sdIn;
+		sdIn = sortDataInOut[gIdx];
+		int2 sdOut;
+		sdOut.x = contactsIn[sdIn.y].m_bodyAPtrAndSignBit;
+		sdOut.y = sdIn.y;
+		sortDataInOut[gIdx] = sdOut;
+	}
+}
+
+
+__kernel
+__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
+void SetDeterminismSortDataBodyB(__global struct b3Contact4Data* contactsIn, __global int2* sortDataInOut, int nContacts)
+{
+	int gIdx = GET_GLOBAL_IDX;
+
+	if( gIdx < nContacts )
+	{
+		int2 sdIn;
+		sdIn = sortDataInOut[gIdx];
+		int2 sdOut;
+		sdOut.x = contactsIn[sdIn.y].m_bodyBPtrAndSignBit;
+		sdOut.y = sdIn.y;
+		sortDataInOut[gIdx] = sdOut;
+	}
+}
+
+
+
+
+typedef struct
+{
+	int m_nContacts;
+	int m_staticIdx;
+	float m_scale;
+	int m_nSplit;
+} ConstBufferSSD;
+
+
+__constant const int gridTable4x4[] = 
+{
+    0,1,17,16,
+	1,2,18,19,
+	17,18,32,3,
+	16,19,3,34
+};
+
+__constant const int gridTable8x8[] = 
+{
+	  0,  2,  3, 16, 17, 18, 19,  1,
+	 66, 64, 80, 67, 82, 81, 65, 83,
+	131,144,128,130,147,129,145,146,
+	208,195,194,192,193,211,210,209,
+	 21, 22, 23,  5,  4,  6,  7, 20,
+	 86, 85, 69, 87, 70, 68, 84, 71,
+	151,133,149,150,135,148,132,134,
+	197,27,214,213,212,199,198,196
+	
+};
+
+
+
+
+#define USE_SPATIAL_BATCHING 1
+#define USE_4x4_GRID 1
+
+__kernel
+__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
+void SetSortDataKernel(__global struct b3Contact4Data* gContact, __global Body* gBodies, __global int2* gSortDataOut, 
+int nContacts,float scale,int4 nSplit,int staticIdx)
+
+{
+	int gIdx = GET_GLOBAL_IDX;
+	
+	if( gIdx < nContacts )
+	{
+		int aPtrAndSignBit  = gContact[gIdx].m_bodyAPtrAndSignBit;
+		int bPtrAndSignBit  = gContact[gIdx].m_bodyBPtrAndSignBit;
+
+		int aIdx = abs(aPtrAndSignBit );
+		int bIdx = abs(bPtrAndSignBit);
+
+		bool aStatic = (aPtrAndSignBit<0) ||(aPtrAndSignBit==staticIdx);
+		bool bStatic = (bPtrAndSignBit<0) ||(bPtrAndSignBit==staticIdx);
+
+#if USE_SPATIAL_BATCHING		
+		int idx = (aStatic)? bIdx: aIdx;
+		float4 p = gBodies[idx].m_pos;
+		int xIdx = (int)((p.x-((p.x<0.f)?1.f:0.f))*scale) & (nSplit.x-1);
+		int yIdx = (int)((p.y-((p.y<0.f)?1.f:0.f))*scale) & (nSplit.y-1);
+		int zIdx = (int)((p.z-((p.z<0.f)?1.f:0.f))*scale) & (nSplit.z-1);
+		int newIndex = (xIdx+yIdx*nSplit.x+zIdx*nSplit.x*nSplit.y);
+		
+#else//USE_SPATIAL_BATCHING
+	#if USE_4x4_GRID
+		int aa = aIdx&3;
+		int bb = bIdx&3;
+		if (aStatic)
+			aa = bb;
+		if (bStatic)
+			bb = aa;
+
+		int gridIndex = aa + bb*4;
+		int newIndex = gridTable4x4[gridIndex];
+	#else//USE_4x4_GRID
+		int aa = aIdx&7;
+		int bb = bIdx&7;
+		if (aStatic)
+			aa = bb;
+		if (bStatic)
+			bb = aa;
+
+		int gridIndex = aa + bb*8;
+		int newIndex = gridTable8x8[gridIndex];
+	#endif//USE_4x4_GRID
+#endif//USE_SPATIAL_BATCHING
+
+
+		gSortDataOut[gIdx].x = newIndex;
+		gSortDataOut[gIdx].y = gIdx;
+	}
+	else
+	{
+		gSortDataOut[gIdx].x = 0xffffffff;
+	}
+}
+
+__kernel
+__attribute__((reqd_work_group_size(WG_SIZE,1,1)))
+void CopyConstraintKernel(__global struct b3Contact4Data* gIn, __global struct b3Contact4Data* gOut, int4 cb )
+{
+	int gIdx = GET_GLOBAL_IDX;
+	if( gIdx < cb.x )
+	{
+		gOut[gIdx] = gIn[gIdx];
+	}
+}
+
+
+