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Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h | 433 |
1 files changed, 433 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h new file mode 100644 index 0000000000..a5a432947c --- /dev/null +++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h @@ -0,0 +1,433 @@ +//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project +static const char* integrateKernelCL= \ +"/*\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_RIGIDBODY_DATA_H\n" +"#define B3_RIGIDBODY_DATA_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" +"#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" +"#ifndef B3_RIGIDBODY_DATA_H\n" +"#endif //B3_RIGIDBODY_DATA_H\n" +" \n" +"inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n" +"{\n" +" \n" +" if (bodies[nodeID].m_invMass != 0.f)\n" +" {\n" +" float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n" +" //angular velocity\n" +" {\n" +" b3Float4 axis;\n" +" //add some hardcoded angular damping\n" +" bodies[nodeID].m_angVel.x *= angularDamping;\n" +" bodies[nodeID].m_angVel.y *= angularDamping;\n" +" bodies[nodeID].m_angVel.z *= angularDamping;\n" +" \n" +" b3Float4 angvel = bodies[nodeID].m_angVel;\n" +" float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n" +" \n" +" //limit the angular motion\n" +" if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n" +" {\n" +" fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n" +" }\n" +" if(fAngle < 0.001f)\n" +" {\n" +" // use Taylor's expansions of sync function\n" +" axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n" +" }\n" +" else\n" +" {\n" +" // sync(fAngle) = sin(c*fAngle)/t\n" +" axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n" +" }\n" +" \n" +" b3Quat dorn;\n" +" dorn.x = axis.x;\n" +" dorn.y = axis.y;\n" +" dorn.z = axis.z;\n" +" dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n" +" b3Quat orn0 = bodies[nodeID].m_quat;\n" +" b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n" +" predictedOrn = b3QuatNormalized(predictedOrn);\n" +" bodies[nodeID].m_quat=predictedOrn;\n" +" }\n" +" //linear velocity \n" +" bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep;\n" +" \n" +" //apply gravity\n" +" bodies[nodeID].m_linVel += gravityAcceleration * timeStep;\n" +" \n" +" }\n" +" \n" +"}\n" +"inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration)\n" +"{\n" +" float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f);\n" +" \n" +" if( (body->m_invMass != 0.f))\n" +" {\n" +" //angular velocity\n" +" {\n" +" b3Float4 axis;\n" +" //add some hardcoded angular damping\n" +" body->m_angVel.x *= angularDamping;\n" +" body->m_angVel.y *= angularDamping;\n" +" body->m_angVel.z *= angularDamping;\n" +" \n" +" b3Float4 angvel = body->m_angVel;\n" +" float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel));\n" +" //limit the angular motion\n" +" if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD)\n" +" {\n" +" fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep;\n" +" }\n" +" if(fAngle < 0.001f)\n" +" {\n" +" // use Taylor's expansions of sync function\n" +" axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle);\n" +" }\n" +" else\n" +" {\n" +" // sync(fAngle) = sin(c*fAngle)/t\n" +" axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle);\n" +" }\n" +" b3Quat dorn;\n" +" dorn.x = axis.x;\n" +" dorn.y = axis.y;\n" +" dorn.z = axis.z;\n" +" dorn.w = b3Cos(fAngle * timeStep * 0.5f);\n" +" b3Quat orn0 = body->m_quat;\n" +" b3Quat predictedOrn = b3QuatMul(dorn, orn0);\n" +" predictedOrn = b3QuatNormalized(predictedOrn);\n" +" body->m_quat=predictedOrn;\n" +" }\n" +" //apply gravity\n" +" body->m_linVel += gravityAcceleration * timeStep;\n" +" //linear velocity \n" +" body->m_pos += body->m_linVel * timeStep;\n" +" \n" +" }\n" +" \n" +"}\n" +"__kernel void \n" +" integrateTransformsKernel( __global b3RigidBodyData_t* bodies,const int numNodes, float timeStep, float angularDamping, float4 gravityAcceleration)\n" +"{\n" +" int nodeID = get_global_id(0);\n" +" \n" +" if( nodeID < numNodes)\n" +" {\n" +" integrateSingleTransform(bodies,nodeID, timeStep, angularDamping,gravityAcceleration);\n" +" }\n" +"}\n" +; |