434 lines
13 KiB
C++
434 lines
13 KiB
C++
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//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
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static const char* integrateKernelCL= \
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"/*\n"
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"Copyright (c) 2013 Advanced Micro Devices, Inc. \n"
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"This software is provided 'as-is', without any express or implied warranty.\n"
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"In no event will the authors be held liable for any damages arising from the use of this software.\n"
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"Permission is granted to anyone to use this software for any purpose, \n"
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"including commercial applications, and to alter it and redistribute it freely, \n"
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"subject to the following restrictions:\n"
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"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"
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"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
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"3. This notice may not be removed or altered from any source distribution.\n"
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"*/\n"
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"//Originally written by Erwin Coumans\n"
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"#ifndef B3_RIGIDBODY_DATA_H\n"
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"#define B3_RIGIDBODY_DATA_H\n"
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"#ifndef B3_FLOAT4_H\n"
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"#define B3_FLOAT4_H\n"
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"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
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"#define B3_PLATFORM_DEFINITIONS_H\n"
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"struct MyTest\n"
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"{\n"
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" int bla;\n"
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"};\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"//keep B3_LARGE_FLOAT*B3_LARGE_FLOAT < FLT_MAX\n"
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"#define B3_LARGE_FLOAT 1e18f\n"
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"#define B3_INFINITY 1e18f\n"
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"#define b3Assert(a)\n"
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"#define b3ConstArray(a) __global const a*\n"
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"#define b3AtomicInc atomic_inc\n"
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"#define b3AtomicAdd atomic_add\n"
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"#define b3Fabs fabs\n"
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"#define b3Sqrt native_sqrt\n"
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"#define b3Sin native_sin\n"
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"#define b3Cos native_cos\n"
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"#define B3_STATIC\n"
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"#endif\n"
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"#endif\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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" typedef float4 b3Float4;\n"
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" #define b3Float4ConstArg const b3Float4\n"
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" #define b3MakeFloat4 (float4)\n"
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" float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
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" {\n"
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" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
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" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
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" return dot(a1, b1);\n"
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" }\n"
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" b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)\n"
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" {\n"
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" float4 a1 = b3MakeFloat4(v0.xyz,0.f);\n"
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" float4 b1 = b3MakeFloat4(v1.xyz,0.f);\n"
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" return cross(a1, b1);\n"
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" }\n"
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" #define b3MinFloat4 min\n"
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" #define b3MaxFloat4 max\n"
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" #define b3Normalized(a) normalize(a)\n"
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"#endif \n"
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" \n"
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"inline bool b3IsAlmostZero(b3Float4ConstArg v)\n"
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"{\n"
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" if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6) \n"
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" return false;\n"
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" return true;\n"
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"}\n"
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"inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )\n"
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"{\n"
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" float maxDot = -B3_INFINITY;\n"
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" int i = 0;\n"
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" int ptIndex = -1;\n"
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" for( i = 0; i < vecLen; i++ )\n"
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" {\n"
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" float dot = b3Dot3F4(vecArray[i],vec);\n"
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" \n"
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" if( dot > maxDot )\n"
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" {\n"
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" maxDot = dot;\n"
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" ptIndex = i;\n"
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" }\n"
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" }\n"
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" b3Assert(ptIndex>=0);\n"
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" if (ptIndex<0)\n"
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" {\n"
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" ptIndex = 0;\n"
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" }\n"
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" *dotOut = maxDot;\n"
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" return ptIndex;\n"
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"}\n"
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"#endif //B3_FLOAT4_H\n"
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"#ifndef B3_QUAT_H\n"
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"#define B3_QUAT_H\n"
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"#ifndef B3_PLATFORM_DEFINITIONS_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif\n"
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"#endif\n"
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"#ifndef B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_FLOAT4_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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" typedef float4 b3Quat;\n"
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" #define b3QuatConstArg const b3Quat\n"
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" \n"
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" \n"
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"inline float4 b3FastNormalize4(float4 v)\n"
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"{\n"
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" v = (float4)(v.xyz,0.f);\n"
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" return fast_normalize(v);\n"
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"}\n"
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" \n"
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"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
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"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
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"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
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"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
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"inline b3Quat b3QuatInverse(b3QuatConstArg q);\n"
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"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
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"{\n"
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" b3Quat ans;\n"
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" ans = b3Cross3( a, b );\n"
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" ans += a.w*b+b.w*a;\n"
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"// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);\n"
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" ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
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" return ans;\n"
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"}\n"
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"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
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"{\n"
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" b3Quat q;\n"
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" q=in;\n"
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" //return b3FastNormalize4(in);\n"
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" float len = native_sqrt(dot(q, q));\n"
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" if(len > 0.f)\n"
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" {\n"
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" q *= 1.f / len;\n"
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" }\n"
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" else\n"
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" {\n"
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" q.x = q.y = q.z = 0.f;\n"
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" q.w = 1.f;\n"
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" }\n"
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" return q;\n"
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"}\n"
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"inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
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"{\n"
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" b3Quat qInv = b3QuatInvert( q );\n"
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" float4 vcpy = vec;\n"
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" vcpy.w = 0.f;\n"
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" float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);\n"
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" return out;\n"
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"}\n"
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"inline b3Quat b3QuatInverse(b3QuatConstArg q)\n"
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"{\n"
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" return (b3Quat)(-q.xyz, q.w);\n"
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"}\n"
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"inline b3Quat b3QuatInvert(b3QuatConstArg q)\n"
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"{\n"
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" return (b3Quat)(-q.xyz, q.w);\n"
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"}\n"
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"inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)\n"
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"{\n"
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" return b3QuatRotate( b3QuatInvert( q ), vec );\n"
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"}\n"
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"inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)\n"
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"{\n"
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" return b3QuatRotate( orientation, point ) + (translation);\n"
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"}\n"
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" \n"
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"#endif \n"
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"#endif //B3_QUAT_H\n"
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"#ifndef B3_MAT3x3_H\n"
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"#define B3_MAT3x3_H\n"
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"#ifndef B3_QUAT_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"#endif \n"
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"#endif //B3_QUAT_H\n"
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"#ifdef __cplusplus\n"
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"#else\n"
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"typedef struct\n"
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"{\n"
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" b3Float4 m_row[3];\n"
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"}b3Mat3x3;\n"
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"#define b3Mat3x3ConstArg const b3Mat3x3\n"
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"#define b3GetRow(m,row) (m.m_row[row])\n"
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"inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)\n"
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"{\n"
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" b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);\n"
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" b3Mat3x3 out;\n"
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" out.m_row[0].x=1-2*quat2.y-2*quat2.z;\n"
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" out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;\n"
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" out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;\n"
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" out.m_row[0].w = 0.f;\n"
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" out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;\n"
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" out.m_row[1].y=1-2*quat2.x-2*quat2.z;\n"
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" out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;\n"
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" out.m_row[1].w = 0.f;\n"
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" out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;\n"
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" out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;\n"
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" out.m_row[2].z=1-2*quat2.x-2*quat2.y;\n"
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" out.m_row[2].w = 0.f;\n"
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" return out;\n"
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"}\n"
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"inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)\n"
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"{\n"
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" b3Mat3x3 out;\n"
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" out.m_row[0] = fabs(matIn.m_row[0]);\n"
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" out.m_row[1] = fabs(matIn.m_row[1]);\n"
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" out.m_row[2] = fabs(matIn.m_row[2]);\n"
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" return out;\n"
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"}\n"
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"__inline\n"
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"b3Mat3x3 mtZero();\n"
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"__inline\n"
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"b3Mat3x3 mtIdentity();\n"
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"__inline\n"
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"b3Mat3x3 mtTranspose(b3Mat3x3 m);\n"
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"__inline\n"
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"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);\n"
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"__inline\n"
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"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);\n"
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"__inline\n"
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"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);\n"
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"__inline\n"
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"b3Mat3x3 mtZero()\n"
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"{\n"
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" b3Mat3x3 m;\n"
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" m.m_row[0] = (b3Float4)(0.f);\n"
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" m.m_row[1] = (b3Float4)(0.f);\n"
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" m.m_row[2] = (b3Float4)(0.f);\n"
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" return m;\n"
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"}\n"
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"__inline\n"
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"b3Mat3x3 mtIdentity()\n"
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"{\n"
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" b3Mat3x3 m;\n"
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" m.m_row[0] = (b3Float4)(1,0,0,0);\n"
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" m.m_row[1] = (b3Float4)(0,1,0,0);\n"
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" m.m_row[2] = (b3Float4)(0,0,1,0);\n"
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" return m;\n"
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"}\n"
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"__inline\n"
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"b3Mat3x3 mtTranspose(b3Mat3x3 m)\n"
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"{\n"
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" b3Mat3x3 out;\n"
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" out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);\n"
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" out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);\n"
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" out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);\n"
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" return out;\n"
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"}\n"
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"__inline\n"
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"b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)\n"
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"{\n"
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" b3Mat3x3 transB;\n"
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" transB = mtTranspose( b );\n"
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" b3Mat3x3 ans;\n"
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" // why this doesn't run when 0ing in the for{}\n"
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" a.m_row[0].w = 0.f;\n"
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" a.m_row[1].w = 0.f;\n"
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" a.m_row[2].w = 0.f;\n"
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" for(int i=0; i<3; i++)\n"
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" {\n"
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"// a.m_row[i].w = 0.f;\n"
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" ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);\n"
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" ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);\n"
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" ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);\n"
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" ans.m_row[i].w = 0.f;\n"
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" }\n"
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" return ans;\n"
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"}\n"
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"__inline\n"
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"b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)\n"
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"{\n"
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" b3Float4 ans;\n"
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" ans.x = b3Dot3F4( a.m_row[0], b );\n"
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" ans.y = b3Dot3F4( a.m_row[1], b );\n"
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" ans.z = b3Dot3F4( a.m_row[2], b );\n"
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" ans.w = 0.f;\n"
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" return ans;\n"
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"}\n"
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"__inline\n"
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"b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)\n"
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"{\n"
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" 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"
|
||
|
|
;
|