From ed047261f06f814eeb88a1f6ee2dd8abd7a14034 Mon Sep 17 00:00:00 2001
From: AndreaCatania <info@andreacatania.com>
Date: Tue, 1 Aug 2017 14:30:58 +0200
Subject: Vendor thirdparty Bullet source for upcoming physics server backend

---
 .../RigidBody/kernels/batchingKernels.h            | 388 +++++++++++++++++++++
 1 file changed, 388 insertions(+)
 create mode 100644 thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h

(limited to 'thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h')

diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
new file mode 100644
index 0000000000..150eedc94b
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
@@ -0,0 +1,388 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* batchingKernelsCL= \
+"/*\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"
+"#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"
+"#define WG_SIZE 64\n"
+"typedef struct \n"
+"{\n"
+"	int m_n;\n"
+"	int m_start;\n"
+"	int m_staticIdx;\n"
+"	int m_paddings[1];\n"
+"} ConstBuffer;\n"
+"typedef struct \n"
+"{\n"
+"	int m_a;\n"
+"	int m_b;\n"
+"	u32 m_idx;\n"
+"}Elem;\n"
+"#define STACK_SIZE (WG_SIZE*10)\n"
+"//#define STACK_SIZE (WG_SIZE)\n"
+"#define RING_SIZE 1024\n"
+"#define RING_SIZE_MASK (RING_SIZE-1)\n"
+"#define CHECK_SIZE (WG_SIZE)\n"
+"#define GET_RING_CAPACITY (RING_SIZE - ldsRingEnd)\n"
+"#define RING_END ldsTmp\n"
+"u32 readBuf(__local u32* buff, int idx)\n"
+"{\n"
+"	idx = idx % (32*CHECK_SIZE);\n"
+"	int bitIdx = idx%32;\n"
+"	int bufIdx = idx/32;\n"
+"	return buff[bufIdx] & (1<<bitIdx);\n"
+"}\n"
+"void writeBuf(__local u32* buff, int idx)\n"
+"{\n"
+"	idx = idx % (32*CHECK_SIZE);\n"
+"	int bitIdx = idx%32;\n"
+"	int bufIdx = idx/32;\n"
+"//	buff[bufIdx] |= (1<<bitIdx);\n"
+"	atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
+"}\n"
+"u32 tryWrite(__local u32* buff, int idx)\n"
+"{\n"
+"	idx = idx % (32*CHECK_SIZE);\n"
+"	int bitIdx = idx%32;\n"
+"	int bufIdx = idx/32;\n"
+"	u32 ans = (u32)atom_or( &buff[bufIdx], (1<<bitIdx) );\n"
+"	return ((ans >> bitIdx)&1) == 0;\n"
+"}\n"
+"//	batching on the GPU\n"
+"__kernel void CreateBatches( __global const struct b3Contact4Data* gConstraints, __global struct b3Contact4Data* gConstraintsOut,\n"
+"		__global const u32* gN, __global const u32* gStart, __global int* batchSizes, \n"
+"		int m_staticIdx )\n"
+"{\n"
+"	__local u32 ldsStackIdx[STACK_SIZE];\n"
+"	__local u32 ldsStackEnd;\n"
+"	__local Elem ldsRingElem[RING_SIZE];\n"
+"	__local u32 ldsRingEnd;\n"
+"	__local u32 ldsTmp;\n"
+"	__local u32 ldsCheckBuffer[CHECK_SIZE];\n"
+"	__local u32 ldsFixedBuffer[CHECK_SIZE];\n"
+"	__local u32 ldsGEnd;\n"
+"	__local u32 ldsDstEnd;\n"
+"	int wgIdx = GET_GROUP_IDX;\n"
+"	int lIdx = GET_LOCAL_IDX;\n"
+"	\n"
+"	const int m_n = gN[wgIdx];\n"
+"	const int m_start = gStart[wgIdx];\n"
+"		\n"
+"	if( lIdx == 0 )\n"
+"	{\n"
+"		ldsRingEnd = 0;\n"
+"		ldsGEnd = 0;\n"
+"		ldsStackEnd = 0;\n"
+"		ldsDstEnd = m_start;\n"
+"	}\n"
+"	\n"
+"	\n"
+"	\n"
+"//	while(1)\n"
+"//was 250\n"
+"	int ie=0;\n"
+"	int maxBatch = 0;\n"
+"	for(ie=0; ie<50; ie++)\n"
+"	{\n"
+"		ldsFixedBuffer[lIdx] = 0;\n"
+"		for(int giter=0; giter<4; giter++)\n"
+"		{\n"
+"			int ringCap = GET_RING_CAPACITY;\n"
+"		\n"
+"			//	1. fill ring\n"
+"			if( ldsGEnd < m_n )\n"
+"			{\n"
+"				while( ringCap > WG_SIZE )\n"
+"				{\n"
+"					if( ldsGEnd >= m_n ) break;\n"
+"					if( lIdx < ringCap - WG_SIZE )\n"
+"					{\n"
+"						int srcIdx;\n"
+"						AtomInc1( ldsGEnd, srcIdx );\n"
+"						if( srcIdx < m_n )\n"
+"						{\n"
+"							int dstIdx;\n"
+"							AtomInc1( ldsRingEnd, dstIdx );\n"
+"							\n"
+"							int a = gConstraints[m_start+srcIdx].m_bodyAPtrAndSignBit;\n"
+"							int b = gConstraints[m_start+srcIdx].m_bodyBPtrAndSignBit;\n"
+"							ldsRingElem[dstIdx].m_a = (a>b)? b:a;\n"
+"							ldsRingElem[dstIdx].m_b = (a>b)? a:b;\n"
+"							ldsRingElem[dstIdx].m_idx = srcIdx;\n"
+"						}\n"
+"					}\n"
+"					ringCap = GET_RING_CAPACITY;\n"
+"				}\n"
+"			}\n"
+"			GROUP_LDS_BARRIER;\n"
+"	\n"
+"			//	2. fill stack\n"
+"			__local Elem* dst = ldsRingElem;\n"
+"			if( lIdx == 0 ) RING_END = 0;\n"
+"			int srcIdx=lIdx;\n"
+"			int end = ldsRingEnd;\n"
+"			{\n"
+"				for(int ii=0; ii<end; ii+=WG_SIZE, srcIdx+=WG_SIZE)\n"
+"				{\n"
+"					Elem e;\n"
+"					if(srcIdx<end) e = ldsRingElem[srcIdx];\n"
+"					bool done = (srcIdx<end)?false:true;\n"
+"					for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) ldsCheckBuffer[lIdx] = 0;\n"
+"					\n"
+"					if( !done )\n"
+"					{\n"
+"						int aUsed = readBuf( ldsFixedBuffer, abs(e.m_a));\n"
+"						int bUsed = readBuf( ldsFixedBuffer, abs(e.m_b));\n"
+"						if( aUsed==0 && bUsed==0 )\n"
+"						{\n"
+"							int aAvailable=1;\n"
+"							int bAvailable=1;\n"
+"							int ea = abs(e.m_a);\n"
+"							int eb = abs(e.m_b);\n"
+"							bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n"
+"							bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n"
+"							\n"
+"							if (!aStatic)\n"
+"								aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
+"							if (!bStatic)\n"
+"								bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
+"							\n"
+"							//aAvailable = aStatic? 1: aAvailable;\n"
+"							//bAvailable = bStatic? 1: bAvailable;\n"
+"							bool success = (aAvailable && bAvailable);\n"
+"							if(success)\n"
+"							{\n"
+"							\n"
+"								if (!aStatic)\n"
+"									writeBuf( ldsFixedBuffer, ea );\n"
+"								if (!bStatic)\n"
+"									writeBuf( ldsFixedBuffer, eb );\n"
+"							}\n"
+"							done = success;\n"
+"						}\n"
+"					}\n"
+"					//	put it aside\n"
+"					if(srcIdx<end)\n"
+"					{\n"
+"						if( done )\n"
+"						{\n"
+"							int dstIdx; AtomInc1( ldsStackEnd, dstIdx );\n"
+"							if( dstIdx < STACK_SIZE )\n"
+"								ldsStackIdx[dstIdx] = e.m_idx;\n"
+"							else{\n"
+"								done = false;\n"
+"								AtomAdd( ldsStackEnd, -1 );\n"
+"							}\n"
+"						}\n"
+"						if( !done )\n"
+"						{\n"
+"							int dstIdx; AtomInc1( RING_END, dstIdx );\n"
+"							dst[dstIdx] = e;\n"
+"						}\n"
+"					}\n"
+"					//	if filled, flush\n"
+"					if( ldsStackEnd == STACK_SIZE )\n"
+"					{\n"
+"						for(int i=lIdx; i<STACK_SIZE; i+=WG_SIZE)\n"
+"						{\n"
+"							int idx = m_start + ldsStackIdx[i];\n"
+"							int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
+"							gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
+"							gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
+"						}\n"
+"						if( lIdx == 0 ) ldsStackEnd = 0;\n"
+"						//for(int i=lIdx; i<CHECK_SIZE; i+=WG_SIZE) \n"
+"						ldsFixedBuffer[lIdx] = 0;\n"
+"					}\n"
+"				}\n"
+"			}\n"
+"			if( lIdx == 0 ) ldsRingEnd = RING_END;\n"
+"		}\n"
+"		GROUP_LDS_BARRIER;\n"
+"		for(int i=lIdx; i<ldsStackEnd; i+=WG_SIZE)\n"
+"		{\n"
+"			int idx = m_start + ldsStackIdx[i];\n"
+"			int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
+"			gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
+"			gConstraintsOut[ dstIdx ].m_batchIdx = ie;\n"
+"		}\n"
+"		//	in case it couldn't consume any pair. Flush them\n"
+"		//	todo. Serial batch worth while?\n"
+"		if( ldsStackEnd == 0 )\n"
+"		{\n"
+"			for(int i=lIdx; i<ldsRingEnd; i+=WG_SIZE)\n"
+"			{\n"
+"				int idx = m_start + ldsRingElem[i].m_idx;\n"
+"				int dstIdx; AtomInc1( ldsDstEnd, dstIdx );\n"
+"				gConstraintsOut[ dstIdx ] = gConstraints[ idx ];\n"
+"				int curBatch = 100+i;\n"
+"				if (maxBatch < curBatch)\n"
+"					maxBatch = curBatch;\n"
+"				\n"
+"				gConstraintsOut[ dstIdx ].m_batchIdx = curBatch;\n"
+"				\n"
+"			}\n"
+"			GROUP_LDS_BARRIER;\n"
+"			if( lIdx == 0 ) ldsRingEnd = 0;\n"
+"		}\n"
+"		if( lIdx == 0 ) ldsStackEnd = 0;\n"
+"		GROUP_LDS_BARRIER;\n"
+"		//	termination\n"
+"		if( ldsGEnd == m_n && ldsRingEnd == 0 )\n"
+"			break;\n"
+"	}\n"
+"	if( lIdx == 0 )\n"
+"	{\n"
+"		if (maxBatch < ie)\n"
+"			maxBatch=ie;\n"
+"		batchSizes[wgIdx]=maxBatch;\n"
+"	}\n"
+"}\n"
+;
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