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Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h | 78 |
1 files changed, 78 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h new file mode 100644 index 0000000000..ec0e3f73d6 --- /dev/null +++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h @@ -0,0 +1,78 @@ +/* +Copyright (c) 2013 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 Erwin Coumans + +#ifndef B3_GPU_PGS_CONSTRAINT_SOLVER_H +#define B3_GPU_PGS_CONSTRAINT_SOLVER_H + +struct b3Contact4; +struct b3ContactPoint; + + +class b3Dispatcher; + +#include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h" +#include "Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h" +#include "b3GpuSolverBody.h" +#include "b3GpuSolverConstraint.h" +#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h" +struct b3RigidBodyData; +struct b3InertiaData; + +#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h" +#include "b3GpuGenericConstraint.h" + +class b3GpuPgsConstraintSolver +{ +protected: + int m_staticIdx; + struct b3GpuPgsJacobiSolverInternalData* m_gpuData; + protected: + b3AlignedObjectArray<b3GpuSolverBody> m_tmpSolverBodyPool; + b3GpuConstraintArray m_tmpSolverContactConstraintPool; + b3GpuConstraintArray m_tmpSolverNonContactConstraintPool; + b3GpuConstraintArray m_tmpSolverContactFrictionConstraintPool; + b3GpuConstraintArray m_tmpSolverContactRollingFrictionConstraintPool; + + b3AlignedObjectArray<unsigned int> m_tmpConstraintSizesPool; + + + bool m_usePgs; + void averageVelocities(); + + int m_maxOverrideNumSolverIterations; + + int m_numSplitImpulseRecoveries; + +// int getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias); + void initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb); + +public: + b3GpuPgsConstraintSolver (cl_context ctx, cl_device_id device, cl_command_queue queue,bool usePgs); + virtual~b3GpuPgsConstraintSolver (); + + virtual b3Scalar solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints1,int numConstraints,const b3ContactSolverInfo& infoGlobal); + virtual b3Scalar solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); + b3Scalar solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias,int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); + + + b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); + void solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, + int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints); + + int sortConstraintByBatch3( struct b3BatchConstraint* cs, int numConstraints, int simdWidth , int staticIdx, int numBodies); + void recomputeBatches(); +}; + +#endif //B3_GPU_PGS_CONSTRAINT_SOLVER_H |