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Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solveContact.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solveContact.h | 393 |
1 files changed, 393 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solveContact.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solveContact.h new file mode 100644 index 0000000000..15a049992b --- /dev/null +++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/solveContact.h @@ -0,0 +1,393 @@ +//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project +static const char* solveContactCL= \ +"/*\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" +"//#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 mymake_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" +"float4 fastNormalize4(float4 v)\n" +"{\n" +" return fast_normalize(v);\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 = mymake_float4(a.xyz,0.f);\n" +" float4 b1 = mymake_float4(b.xyz,0.f);\n" +" return dot(a1, b1);\n" +"}\n" +"__inline\n" +"float4 normalize3(const float4 a)\n" +"{\n" +" float4 n = mymake_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" +"///////////////////////////////////////\n" +"// Matrix3x3\n" +"///////////////////////////////////////\n" +"typedef struct\n" +"{\n" +" float4 m_row[3];\n" +"}Matrix3x3;\n" +"__inline\n" +"float4 mtMul1(Matrix3x3 a, float4 b);\n" +"__inline\n" +"float4 mtMul3(float4 a, Matrix3x3 b);\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 = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n" +" float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n" +" float4 colz = mymake_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" +"#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[1];\n" +"} Constraint4;\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" +"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1);\n" +"void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)\n" +"{\n" +" *linear = mymake_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" +"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);\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)\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+jmj2+jmj3);\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" +"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" +"{\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" +" float rambdaDt = calcRelVel( cs->m_linear, -cs->m_linear, angular0, angular1, \n" +" *linVelA, *angVelA, *linVelB, *angVelB ) + cs->m_b[ic];\n" +" rambdaDt *= cs->m_jacCoeffInv[ic];\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" +" 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" +" *linVelA += linImp0;\n" +" *angVelA += angImp0;\n" +" *linVelB += linImp1;\n" +" *angVelB += angImp1;\n" +" }\n" +"}\n" +"void btPlaneSpace1 (const float4* n, float4* p, float4* q);\n" +" void btPlaneSpace1 (const float4* n, float4* p, float4* q)\n" +"{\n" +" if (fabs(n[0].z) > 0.70710678f) {\n" +" // choose p in y-z plane\n" +" float a = n[0].y*n[0].y + n[0].z*n[0].z;\n" +" float k = 1.f/sqrt(a);\n" +" p[0].x = 0;\n" +" p[0].y = -n[0].z*k;\n" +" p[0].z = n[0].y*k;\n" +" // set q = n x p\n" +" q[0].x = a*k;\n" +" q[0].y = -n[0].x*p[0].z;\n" +" q[0].z = n[0].x*p[0].y;\n" +" }\n" +" else {\n" +" // choose p in x-y plane\n" +" float a = n[0].x*n[0].x + n[0].y*n[0].y;\n" +" float k = 1.f/sqrt(a);\n" +" p[0].x = -n[0].y*k;\n" +" p[0].y = n[0].x*k;\n" +" p[0].z = 0;\n" +" // set q = n x p\n" +" q[0].x = -n[0].z*p[0].y;\n" +" q[0].y = n[0].z*p[0].x;\n" +" q[0].z = a*k;\n" +" }\n" +"}\n" +"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs);\n" +"void solveContactConstraint(__global Body* gBodies, __global Shape* gShapes, __global Constraint4* ldsCs)\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" +" solveContact( ldsCs, posA, &linVelA, &angVelA, invMassA, invInertiaA,\n" +" posB, &linVelB, &angVelB, invMassB, invInertiaB );\n" +" if (gBodies[aIdx].m_invMass)\n" +" {\n" +" gBodies[aIdx].m_linVel = linVelA;\n" +" gBodies[aIdx].m_angVel = angVelA;\n" +" } else\n" +" {\n" +" gBodies[aIdx].m_linVel = mymake_float4(0,0,0,0);\n" +" gBodies[aIdx].m_angVel = mymake_float4(0,0,0,0);\n" +" \n" +" }\n" +" if (gBodies[bIdx].m_invMass)\n" +" {\n" +" gBodies[bIdx].m_linVel = linVelB;\n" +" gBodies[bIdx].m_angVel = angVelB;\n" +" } else\n" +" {\n" +" gBodies[bIdx].m_linVel = mymake_float4(0,0,0,0);\n" +" gBodies[bIdx].m_angVel = mymake_float4(0,0,0,0);\n" +" \n" +" }\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" +"__kernel\n" +"__attribute__((reqd_work_group_size(WG_SIZE,1,1)))\n" +"void BatchSolveKernelContact(__global Body* gBodies,\n" +" __global Shape* gShapes,\n" +" __global Constraint4* gConstraints,\n" +" __global int* gN,\n" +" __global int* gOffsets,\n" +" __global int* batchSizes,\n" +" int maxBatch1,\n" +" int cellBatch,\n" +" int4 nSplit\n" +" )\n" +"{\n" +" //__local int ldsBatchIdx[WG_SIZE+1];\n" +" __local int ldsCurBatch;\n" +" __local int ldsNextBatch;\n" +" __local int ldsStart;\n" +" int lIdx = GET_LOCAL_IDX;\n" +" int wgIdx = GET_GROUP_IDX;\n" +"// int gIdx = GET_GLOBAL_IDX;\n" +"// debugInfo[gIdx].m_valInt0 = gIdx;\n" +" //debugInfo[gIdx].m_valInt1 = GET_GROUP_SIZE;\n" +" \n" +" \n" +" int zIdx = (wgIdx/((nSplit.x*nSplit.y)/4))*2+((cellBatch&4)>>2);\n" +" int remain= (wgIdx%((nSplit.x*nSplit.y)/4));\n" +" int yIdx = (remain/(nSplit.x/2))*2 + ((cellBatch&2)>>1);\n" +" int xIdx = (remain%(nSplit.x/2))*2 + (cellBatch&1);\n" +" int cellIdx = xIdx+yIdx*nSplit.x+zIdx*(nSplit.x*nSplit.y);\n" +" //int xIdx = (wgIdx/(nSplit/2))*2 + (bIdx&1);\n" +" //int yIdx = (wgIdx%(nSplit/2))*2 + (bIdx>>1);\n" +" //int cellIdx = xIdx+yIdx*nSplit;\n" +" \n" +" if( gN[cellIdx] == 0 ) \n" +" return;\n" +" int maxBatch = batchSizes[cellIdx];\n" +" \n" +" \n" +" const int start = gOffsets[cellIdx];\n" +" const int end = start + gN[cellIdx];\n" +" \n" +" \n" +" \n" +" if( lIdx == 0 )\n" +" {\n" +" ldsCurBatch = 0;\n" +" ldsNextBatch = 0;\n" +" ldsStart = start;\n" +" }\n" +" GROUP_LDS_BARRIER;\n" +" int idx=ldsStart+lIdx;\n" +" while (ldsCurBatch < maxBatch)\n" +" {\n" +" for(; idx<end; )\n" +" {\n" +" if (gConstraints[idx].m_batchIdx == ldsCurBatch)\n" +" {\n" +" solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n" +" idx+=64;\n" +" } else\n" +" {\n" +" break;\n" +" }\n" +" }\n" +" GROUP_LDS_BARRIER;\n" +" \n" +" if( lIdx == 0 )\n" +" {\n" +" ldsCurBatch++;\n" +" }\n" +" GROUP_LDS_BARRIER;\n" +" }\n" +" \n" +" \n" +"}\n" +"__kernel void solveSingleContactKernel(__global Body* gBodies,\n" +" __global Shape* gShapes,\n" +" __global Constraint4* gConstraints,\n" +" int cellIdx,\n" +" int batchOffset,\n" +" int numConstraintsInBatch\n" +" )\n" +"{\n" +" int index = get_global_id(0);\n" +" if (index < numConstraintsInBatch)\n" +" {\n" +" int idx=batchOffset+index;\n" +" solveContactConstraint( gBodies, gShapes, &gConstraints[idx] );\n" +" } \n" +"}\n" +; |