diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h | 908 |
1 files changed, 0 insertions, 908 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h b/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h deleted file mode 100644 index f4d98d9941..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/RigidBody/kernels/solverUtils.h +++ /dev/null @@ -1,908 +0,0 @@ -//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project -static const char* solverUtilsCL = - "/*\n" - "Copyright (c) 2013 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 Erwin Coumans\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" - "#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 a1, float4 b1)\n" - "{\n" - " float4 a=make_float4(a1.xyz,0.f);\n" - " float4 b=make_float4(b1.xyz,0.f);\n" - " //float4 a=a1;\n" - " //float4 b=b1;\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" - "///////////////////////////////////////\n" - "// Matrix3x3\n" - "///////////////////////////////////////\n" - "typedef struct\n" - "{\n" - " float4 m_row[3];\n" - "}Matrix3x3;\n" - "__inline\n" - "Matrix3x3 mtZero();\n" - "__inline\n" - "Matrix3x3 mtIdentity();\n" - "__inline\n" - "Matrix3x3 mtTranspose(Matrix3x3 m);\n" - "__inline\n" - "Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b);\n" - "__inline\n" - "float4 mtMul1(Matrix3x3 a, float4 b);\n" - "__inline\n" - "float4 mtMul3(float4 a, Matrix3x3 b);\n" - "__inline\n" - "Matrix3x3 mtZero()\n" - "{\n" - " Matrix3x3 m;\n" - " m.m_row[0] = (float4)(0.f);\n" - " m.m_row[1] = (float4)(0.f);\n" - " m.m_row[2] = (float4)(0.f);\n" - " return m;\n" - "}\n" - "__inline\n" - "Matrix3x3 mtIdentity()\n" - "{\n" - " Matrix3x3 m;\n" - " m.m_row[0] = (float4)(1,0,0,0);\n" - " m.m_row[1] = (float4)(0,1,0,0);\n" - " m.m_row[2] = (float4)(0,0,1,0);\n" - " return m;\n" - "}\n" - "__inline\n" - "Matrix3x3 mtTranspose(Matrix3x3 m)\n" - "{\n" - " Matrix3x3 out;\n" - " out.m_row[0] = (float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n" - " out.m_row[1] = (float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n" - " out.m_row[2] = (float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n" - " return out;\n" - "}\n" - "__inline\n" - "Matrix3x3 mtMul(Matrix3x3 a, Matrix3x3 b)\n" - "{\n" - " Matrix3x3 transB;\n" - " transB = mtTranspose( b );\n" - " Matrix3x3 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 = dot3F4(a.m_row[i],transB.m_row[0]);\n" - " ans.m_row[i].y = dot3F4(a.m_row[i],transB.m_row[1]);\n" - " ans.m_row[i].z = dot3F4(a.m_row[i],transB.m_row[2]);\n" - " ans.m_row[i].w = 0.f;\n" - " }\n" - " return ans;\n" - "}\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 = make_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n" - " float4 coly = make_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n" - " float4 colz = make_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" - "__inline\n" - "Quaternion qtMul(Quaternion a, Quaternion b);\n" - "__inline\n" - "Quaternion qtNormalize(Quaternion in);\n" - "__inline\n" - "float4 qtRotate(Quaternion q, float4 vec);\n" - "__inline\n" - "Quaternion qtInvert(Quaternion q);\n" - "__inline\n" - "Quaternion qtMul(Quaternion a, Quaternion b)\n" - "{\n" - " Quaternion ans;\n" - " ans = cross3( 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 - dot3F4(a, b);\n" - " return ans;\n" - "}\n" - "__inline\n" - "Quaternion qtNormalize(Quaternion in)\n" - "{\n" - " return fastNormalize4(in);\n" - "// in /= length( in );\n" - "// return in;\n" - "}\n" - "__inline\n" - "float4 qtRotate(Quaternion q, float4 vec)\n" - "{\n" - " Quaternion qInv = qtInvert( q );\n" - " float4 vcpy = vec;\n" - " vcpy.w = 0.f;\n" - " float4 out = qtMul(qtMul(q,vcpy),qInv);\n" - " return out;\n" - "}\n" - "__inline\n" - "Quaternion qtInvert(Quaternion q)\n" - "{\n" - " return (Quaternion)(-q.xyz, q.w);\n" - "}\n" - "__inline\n" - "float4 qtInvRotate(const Quaternion q, float4 vec)\n" - "{\n" - " return qtRotate( qtInvert( q ), vec );\n" - "}\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;\n" - "} Constraint4;\n" - "__kernel void CountBodiesKernel(__global struct b3Contact4Data* manifoldPtr, __global unsigned int* bodyCount, __global int2* contactConstraintOffsets, int numContactManifolds, int fixedBodyIndex)\n" - "{\n" - " int i = GET_GLOBAL_IDX;\n" - " \n" - " if( i < numContactManifolds)\n" - " {\n" - " int pa = manifoldPtr[i].m_bodyAPtrAndSignBit;\n" - " bool isFixedA = (pa <0) || (pa == fixedBodyIndex);\n" - " int bodyIndexA = abs(pa);\n" - " if (!isFixedA)\n" - " {\n" - " AtomInc1(bodyCount[bodyIndexA],contactConstraintOffsets[i].x);\n" - " }\n" - " barrier(CLK_GLOBAL_MEM_FENCE);\n" - " int pb = manifoldPtr[i].m_bodyBPtrAndSignBit;\n" - " bool isFixedB = (pb <0) || (pb == fixedBodyIndex);\n" - " int bodyIndexB = abs(pb);\n" - " if (!isFixedB)\n" - " {\n" - " AtomInc1(bodyCount[bodyIndexB],contactConstraintOffsets[i].y);\n" - " } \n" - " }\n" - "}\n" - "__kernel void ClearVelocitiesKernel(__global float4* linearVelocities,__global float4* angularVelocities, int numSplitBodies)\n" - "{\n" - " int i = GET_GLOBAL_IDX;\n" - " \n" - " if( i < numSplitBodies)\n" - " {\n" - " linearVelocities[i] = make_float4(0);\n" - " angularVelocities[i] = make_float4(0);\n" - " }\n" - "}\n" - "__kernel void AverageVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n" - "__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n" - "{\n" - " int i = GET_GLOBAL_IDX;\n" - " if (i<numBodies)\n" - " {\n" - " if (gBodies[i].m_invMass)\n" - " {\n" - " int bodyOffset = offsetSplitBodies[i];\n" - " int count = bodyCount[i];\n" - " float factor = 1.f/((float)count);\n" - " float4 averageLinVel = make_float4(0.f);\n" - " float4 averageAngVel = make_float4(0.f);\n" - " \n" - " for (int j=0;j<count;j++)\n" - " {\n" - " averageLinVel += deltaLinearVelocities[bodyOffset+j]*factor;\n" - " averageAngVel += deltaAngularVelocities[bodyOffset+j]*factor;\n" - " }\n" - " \n" - " for (int j=0;j<count;j++)\n" - " {\n" - " deltaLinearVelocities[bodyOffset+j] = averageLinVel;\n" - " deltaAngularVelocities[bodyOffset+j] = averageAngVel;\n" - " }\n" - " \n" - " }//bodies[i].m_invMass\n" - " }//i<numBodies\n" - "}\n" - "void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n" - "{\n" - " *linear = make_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" - "{\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, float countA, float countB)\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)*countA+(jmj2+jmj3)*countB);\n" - "}\n" - "void btPlaneSpace1 (float4 n, float4* p, float4* q);\n" - " void btPlaneSpace1 (float4 n, float4* p, float4* q)\n" - "{\n" - " if (fabs(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" - "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" - " float4* dLinVelA, float4* dAngVelA, float4* dLinVelB, float4* dAngVelB)\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" - " \n" - " float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n" - " *linVelA+*dLinVelA, *angVelA+*dAngVelA, *linVelB+*dLinVelB, *angVelB+*dAngVelB ) + cs->m_b[ic];\n" - " rambdaDt *= cs->m_jacCoeffInv[ic];\n" - " \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" - " \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" - " if (invMassA)\n" - " {\n" - " *dLinVelA += linImp0;\n" - " *dAngVelA += angImp0;\n" - " }\n" - " if (invMassB)\n" - " {\n" - " *dLinVelB += linImp1;\n" - " *dAngVelB += angImp1;\n" - " }\n" - " }\n" - "}\n" - "// solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,contactConstraintOffsets,offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n" - "void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs, \n" - "__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n" - "__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\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" - " float4 dLinVelA = make_float4(0,0,0,0);\n" - " float4 dAngVelA = make_float4(0,0,0,0);\n" - " float4 dLinVelB = make_float4(0,0,0,0);\n" - " float4 dAngVelB = make_float4(0,0,0,0);\n" - " \n" - " int bodyOffsetA = offsetSplitBodies[aIdx];\n" - " int constraintOffsetA = contactConstraintOffsets[0].x;\n" - " int splitIndexA = bodyOffsetA+constraintOffsetA;\n" - " \n" - " if (invMassA)\n" - " {\n" - " dLinVelA = deltaLinearVelocities[splitIndexA];\n" - " dAngVelA = deltaAngularVelocities[splitIndexA];\n" - " }\n" - " int bodyOffsetB = offsetSplitBodies[bIdx];\n" - " int constraintOffsetB = contactConstraintOffsets[0].y;\n" - " int splitIndexB= bodyOffsetB+constraintOffsetB;\n" - " if (invMassB)\n" - " {\n" - " dLinVelB = deltaLinearVelocities[splitIndexB];\n" - " dAngVelB = deltaAngularVelocities[splitIndexB];\n" - " }\n" - " solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n" - " posB, &linVelB, &angVelB, invMassB, invInertiaB ,&dLinVelA, &dAngVelA, &dLinVelB, &dAngVelB);\n" - " if (invMassA)\n" - " {\n" - " deltaLinearVelocities[splitIndexA] = dLinVelA;\n" - " deltaAngularVelocities[splitIndexA] = dAngVelA;\n" - " } \n" - " if (invMassB)\n" - " {\n" - " deltaLinearVelocities[splitIndexB] = dLinVelB;\n" - " deltaAngularVelocities[splitIndexB] = dAngVelB;\n" - " }\n" - "}\n" - "__kernel void SolveContactJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n" - "__global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,__global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n" - "float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n" - ")\n" - "{\n" - " int i = GET_GLOBAL_IDX;\n" - " if (i<numManifolds)\n" - " {\n" - " solveContactConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n" - " }\n" - "}\n" - "void solveFrictionConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs,\n" - " __global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n" - " __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities)\n" - "{\n" - " float frictionCoeff = 0.7f;//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" - " float4 dLinVelA = make_float4(0,0,0,0);\n" - " float4 dAngVelA = make_float4(0,0,0,0);\n" - " float4 dLinVelB = make_float4(0,0,0,0);\n" - " float4 dAngVelB = make_float4(0,0,0,0);\n" - " \n" - " int bodyOffsetA = offsetSplitBodies[aIdx];\n" - " int constraintOffsetA = contactConstraintOffsets[0].x;\n" - " int splitIndexA = bodyOffsetA+constraintOffsetA;\n" - " \n" - " if (invMassA)\n" - " {\n" - " dLinVelA = deltaLinearVelocities[splitIndexA];\n" - " dAngVelA = deltaAngularVelocities[splitIndexA];\n" - " }\n" - " int bodyOffsetB = offsetSplitBodies[bIdx];\n" - " int constraintOffsetB = contactConstraintOffsets[0].y;\n" - " int splitIndexB= bodyOffsetB+constraintOffsetB;\n" - " if (invMassB)\n" - " {\n" - " dLinVelB = deltaLinearVelocities[splitIndexB];\n" - " dAngVelB = deltaAngularVelocities[splitIndexB];\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+dLinVelA, angVelA+dAngVelA, linVelB+dLinVelB, angVelB+dAngVelB );\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" - " dLinVelA += linImp0;\n" - " dAngVelA += angImp0;\n" - " dLinVelB += linImp1;\n" - " dAngVelB += 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" - " dAngVelA -= (angNA*0.1f)*n;\n" - " dAngVelB -= (angNB*0.1f)*n;\n" - " }\n" - " }\n" - " }\n" - " \n" - " \n" - " }\n" - " if (invMassA)\n" - " {\n" - " deltaLinearVelocities[splitIndexA] = dLinVelA;\n" - " deltaAngularVelocities[splitIndexA] = dAngVelA;\n" - " } \n" - " if (invMassB)\n" - " {\n" - " deltaLinearVelocities[splitIndexB] = dLinVelB;\n" - " deltaAngularVelocities[splitIndexB] = dAngVelB;\n" - " }\n" - " \n" - "}\n" - "__kernel void SolveFrictionJacobiKernel(__global Constraint4* gConstraints, __global Body* gBodies, __global Shape* gShapes ,\n" - " __global int2* contactConstraintOffsets,__global unsigned int* offsetSplitBodies,\n" - " __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,\n" - " float deltaTime, float positionDrift, float positionConstraintCoeff, int fixedBodyIndex, int numManifolds\n" - ")\n" - "{\n" - " int i = GET_GLOBAL_IDX;\n" - " if (i<numManifolds)\n" - " {\n" - " solveFrictionConstraint( gBodies, gShapes, &gConstraints[i] ,&contactConstraintOffsets[i],offsetSplitBodies, deltaLinearVelocities, deltaAngularVelocities);\n" - " }\n" - "}\n" - "__kernel void UpdateBodyVelocitiesKernel(__global Body* gBodies,__global int* offsetSplitBodies,__global const unsigned int* bodyCount,\n" - " __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities, int numBodies)\n" - "{\n" - " int i = GET_GLOBAL_IDX;\n" - " if (i<numBodies)\n" - " {\n" - " if (gBodies[i].m_invMass)\n" - " {\n" - " int bodyOffset = offsetSplitBodies[i];\n" - " int count = bodyCount[i];\n" - " if (count)\n" - " {\n" - " gBodies[i].m_linVel += deltaLinearVelocities[bodyOffset];\n" - " gBodies[i].m_angVel += deltaAngularVelocities[bodyOffset];\n" - " }\n" - " }\n" - " }\n" - "}\n" - "void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVelA, float invMassA, const Matrix3x3 invInertiaA,\n" - " const float4 posB, const float4 linVelB, const float4 angVelB, float invMassB, const Matrix3x3 invInertiaB, \n" - " __global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff,float countA, float countB,\n" - " Constraint4* 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" - " float4 r0 = src->m_worldPosB[ic] - posA;\n" - " float4 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" - " float4 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 , countA, countB);\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" - " float4 center = make_float4(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" - " float4 tangent[2];\n" - " btPlaneSpace1(-src->m_worldNormalOnB,&tangent[0],&tangent[1]);\n" - " \n" - " float4 r[2];\n" - " r[0] = center - posA;\n" - " r[1] = center - posB;\n" - " for(int i=0; i<2; i++)\n" - " {\n" - " float4 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 ,countA, countB);\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] = make_float4(0.f);\n" - " }\n" - " }\n" - "}\n" - "__kernel\n" - "__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" - "void ContactToConstraintSplitKernel(__global const struct b3Contact4Data* gContact, __global const Body* gBodies, __global const Shape* gShapes, __global Constraint4* gConstraintOut, \n" - "__global const unsigned int* bodyCount,\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" - " 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" - " Constraint4 cs;\n" - " float countA = invMassA != 0.f ? (float)bodyCount[aIdx] : 1;\n" - " float countB = invMassB != 0.f ? (float)bodyCount[bIdx] : 1;\n" - " setConstraint4( posA, linVelA, angVelA, invMassA, invInertiaA, posB, linVelB, angVelB, invMassB, invInertiaB,\n" - " &gContact[gIdx], dt, positionDrift, positionConstraintCoeff,countA,countB,\n" - " &cs );\n" - " \n" - " cs.m_batchIdx = gContact[gIdx].m_batchIdx;\n" - " gConstraintOut[gIdx] = cs;\n" - " }\n" - "}\n"; |