722 lines
27 KiB
C++
722 lines
27 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* solveConstraintRowsCL= \
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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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"#define B3_CONSTRAINT_FLAG_ENABLED 1\n"
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"#define B3_GPU_POINT2POINT_CONSTRAINT_TYPE 3\n"
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"#define B3_GPU_FIXED_CONSTRAINT_TYPE 4\n"
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"#define MOTIONCLAMP 100000 //unused, for debugging/safety in case constraint solver fails\n"
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"#define B3_INFINITY 1e30f\n"
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"#define mymake_float4 (float4)\n"
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"__inline float dot3F4(float4 a, float4 b)\n"
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"{\n"
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" float4 a1 = mymake_float4(a.xyz,0.f);\n"
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" float4 b1 = mymake_float4(b.xyz,0.f);\n"
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" return dot(a1, b1);\n"
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"}\n"
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"typedef float4 Quaternion;\n"
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"typedef struct\n"
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"{\n"
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" float4 m_row[3];\n"
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"}Matrix3x3;\n"
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"__inline\n"
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"float4 mtMul1(Matrix3x3 a, float4 b);\n"
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"__inline\n"
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"float4 mtMul3(float4 a, Matrix3x3 b);\n"
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"__inline\n"
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"float4 mtMul1(Matrix3x3 a, float4 b)\n"
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"{\n"
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" float4 ans;\n"
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" ans.x = dot3F4( a.m_row[0], b );\n"
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" ans.y = dot3F4( a.m_row[1], b );\n"
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" ans.z = dot3F4( 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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"float4 mtMul3(float4 a, Matrix3x3 b)\n"
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"{\n"
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" float4 colx = mymake_float4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);\n"
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" float4 coly = mymake_float4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);\n"
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" float4 colz = mymake_float4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);\n"
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" float4 ans;\n"
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" ans.x = dot3F4( a, colx );\n"
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" ans.y = dot3F4( a, coly );\n"
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" ans.z = dot3F4( a, colz );\n"
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" return ans;\n"
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"}\n"
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"typedef struct\n"
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"{\n"
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" Matrix3x3 m_invInertiaWorld;\n"
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" Matrix3x3 m_initInvInertia;\n"
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"} BodyInertia;\n"
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"typedef struct\n"
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"{\n"
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" Matrix3x3 m_basis;//orientation\n"
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" float4 m_origin;//transform\n"
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"}b3Transform;\n"
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"typedef struct\n"
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"{\n"
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"// b3Transform m_worldTransformUnused;\n"
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" float4 m_deltaLinearVelocity;\n"
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" float4 m_deltaAngularVelocity;\n"
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" float4 m_angularFactor;\n"
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" float4 m_linearFactor;\n"
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" float4 m_invMass;\n"
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" float4 m_pushVelocity;\n"
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" float4 m_turnVelocity;\n"
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" float4 m_linearVelocity;\n"
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" float4 m_angularVelocity;\n"
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" union \n"
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" {\n"
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" void* m_originalBody;\n"
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" int m_originalBodyIndex;\n"
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" };\n"
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" int padding[3];\n"
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"} b3GpuSolverBody;\n"
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"typedef struct\n"
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"{\n"
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" float4 m_pos;\n"
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" Quaternion m_quat;\n"
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" float4 m_linVel;\n"
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" float4 m_angVel;\n"
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" unsigned int m_shapeIdx;\n"
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" float m_invMass;\n"
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" float m_restituitionCoeff;\n"
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" float m_frictionCoeff;\n"
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"} b3RigidBodyCL;\n"
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"typedef struct\n"
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"{\n"
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" float4 m_relpos1CrossNormal;\n"
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" float4 m_contactNormal;\n"
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" float4 m_relpos2CrossNormal;\n"
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" //float4 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal\n"
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" float4 m_angularComponentA;\n"
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" float4 m_angularComponentB;\n"
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" \n"
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" float m_appliedPushImpulse;\n"
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" float m_appliedImpulse;\n"
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" int m_padding1;\n"
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" int m_padding2;\n"
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" float m_friction;\n"
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" float m_jacDiagABInv;\n"
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" float m_rhs;\n"
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" float m_cfm;\n"
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" \n"
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" float m_lowerLimit;\n"
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" float m_upperLimit;\n"
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" float m_rhsPenetration;\n"
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" int m_originalConstraint;\n"
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" int m_overrideNumSolverIterations;\n"
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" int m_frictionIndex;\n"
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" int m_solverBodyIdA;\n"
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" int m_solverBodyIdB;\n"
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"} b3SolverConstraint;\n"
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"typedef struct \n"
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"{\n"
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" int m_bodyAPtrAndSignBit;\n"
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" int m_bodyBPtrAndSignBit;\n"
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" int m_originalConstraintIndex;\n"
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" int m_batchId;\n"
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"} b3BatchConstraint;\n"
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"typedef struct \n"
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"{\n"
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" int m_constraintType;\n"
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" int m_rbA;\n"
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" int m_rbB;\n"
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" float m_breakingImpulseThreshold;\n"
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" float4 m_pivotInA;\n"
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" float4 m_pivotInB;\n"
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" Quaternion m_relTargetAB;\n"
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" int m_flags;\n"
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" int m_padding[3];\n"
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"} b3GpuGenericConstraint;\n"
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"/*b3Transform getWorldTransform(b3RigidBodyCL* rb)\n"
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"{\n"
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" b3Transform newTrans;\n"
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" newTrans.setOrigin(rb->m_pos);\n"
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" newTrans.setRotation(rb->m_quat);\n"
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" return newTrans;\n"
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"}*/\n"
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"__inline\n"
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"float4 cross3(float4 a, float4 b)\n"
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"{\n"
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" return cross(a,b);\n"
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"}\n"
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"__inline\n"
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"float4 fastNormalize4(float4 v)\n"
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"{\n"
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" v = mymake_float4(v.xyz,0.f);\n"
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" return fast_normalize(v);\n"
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"}\n"
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"__inline\n"
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"Quaternion qtMul(Quaternion a, Quaternion b);\n"
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"__inline\n"
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"Quaternion qtNormalize(Quaternion in);\n"
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"__inline\n"
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"float4 qtRotate(Quaternion q, float4 vec);\n"
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"__inline\n"
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"Quaternion qtInvert(Quaternion q);\n"
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"__inline\n"
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"Quaternion qtMul(Quaternion a, Quaternion b)\n"
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"{\n"
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" Quaternion ans;\n"
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" ans = cross3( 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 - dot3F4(a, b);\n"
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" return ans;\n"
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"}\n"
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"__inline\n"
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"Quaternion qtNormalize(Quaternion in)\n"
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"{\n"
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" return fastNormalize4(in);\n"
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"// in /= length( in );\n"
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"// return in;\n"
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"}\n"
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"__inline\n"
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"float4 qtRotate(Quaternion q, float4 vec)\n"
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"{\n"
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" Quaternion qInv = qtInvert( 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 = qtMul(qtMul(q,vcpy),qInv);\n"
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" return out;\n"
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"}\n"
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"__inline\n"
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"Quaternion qtInvert(Quaternion q)\n"
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"{\n"
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" return (Quaternion)(-q.xyz, q.w);\n"
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"}\n"
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"__inline void internalApplyImpulse(__global b3GpuSolverBody* body, float4 linearComponent, float4 angularComponent,float impulseMagnitude)\n"
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"{\n"
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" body->m_deltaLinearVelocity += linearComponent*impulseMagnitude*body->m_linearFactor;\n"
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" body->m_deltaAngularVelocity += angularComponent*(impulseMagnitude*body->m_angularFactor);\n"
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"}\n"
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"void resolveSingleConstraintRowGeneric(__global b3GpuSolverBody* body1, __global b3GpuSolverBody* body2, __global b3SolverConstraint* c)\n"
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"{\n"
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" float deltaImpulse = c->m_rhs-c->m_appliedImpulse*c->m_cfm;\n"
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" float deltaVel1Dotn = dot3F4(c->m_contactNormal,body1->m_deltaLinearVelocity) + dot3F4(c->m_relpos1CrossNormal,body1->m_deltaAngularVelocity);\n"
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" float deltaVel2Dotn = -dot3F4(c->m_contactNormal,body2->m_deltaLinearVelocity) + dot3F4(c->m_relpos2CrossNormal,body2->m_deltaAngularVelocity);\n"
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" deltaImpulse -= deltaVel1Dotn*c->m_jacDiagABInv;\n"
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" deltaImpulse -= deltaVel2Dotn*c->m_jacDiagABInv;\n"
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" float sum = c->m_appliedImpulse + deltaImpulse;\n"
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" if (sum < c->m_lowerLimit)\n"
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" {\n"
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" deltaImpulse = c->m_lowerLimit-c->m_appliedImpulse;\n"
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" c->m_appliedImpulse = c->m_lowerLimit;\n"
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" }\n"
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" else if (sum > c->m_upperLimit) \n"
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" {\n"
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" deltaImpulse = c->m_upperLimit-c->m_appliedImpulse;\n"
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" c->m_appliedImpulse = c->m_upperLimit;\n"
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" }\n"
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" else\n"
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" {\n"
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" c->m_appliedImpulse = sum;\n"
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" }\n"
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" internalApplyImpulse(body1,c->m_contactNormal*body1->m_invMass,c->m_angularComponentA,deltaImpulse);\n"
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" internalApplyImpulse(body2,-c->m_contactNormal*body2->m_invMass,c->m_angularComponentB,deltaImpulse);\n"
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"}\n"
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"__kernel void solveJointConstraintRows(__global b3GpuSolverBody* solverBodies,\n"
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" __global b3BatchConstraint* batchConstraints,\n"
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" __global b3SolverConstraint* rows,\n"
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" __global unsigned int* numConstraintRowsInfo1, \n"
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" __global unsigned int* rowOffsets,\n"
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" __global b3GpuGenericConstraint* constraints,\n"
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" int batchOffset,\n"
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" int numConstraintsInBatch\n"
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" )\n"
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"{\n"
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" int b = get_global_id(0);\n"
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" if (b>=numConstraintsInBatch)\n"
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" return;\n"
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" __global b3BatchConstraint* c = &batchConstraints[b+batchOffset];\n"
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" int originalConstraintIndex = c->m_originalConstraintIndex;\n"
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" if (constraints[originalConstraintIndex].m_flags&B3_CONSTRAINT_FLAG_ENABLED)\n"
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" {\n"
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" int numConstraintRows = numConstraintRowsInfo1[originalConstraintIndex];\n"
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" int rowOffset = rowOffsets[originalConstraintIndex];\n"
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" for (int jj=0;jj<numConstraintRows;jj++)\n"
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" {\n"
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" __global b3SolverConstraint* constraint = &rows[rowOffset+jj];\n"
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" resolveSingleConstraintRowGeneric(&solverBodies[constraint->m_solverBodyIdA],&solverBodies[constraint->m_solverBodyIdB],constraint);\n"
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" }\n"
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" }\n"
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"};\n"
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"__kernel void initSolverBodies(__global b3GpuSolverBody* solverBodies,__global b3RigidBodyCL* bodiesCL, int numBodies)\n"
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"{\n"
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" int i = get_global_id(0);\n"
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" if (i>=numBodies)\n"
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" return;\n"
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" __global b3GpuSolverBody* solverBody = &solverBodies[i];\n"
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" __global b3RigidBodyCL* bodyCL = &bodiesCL[i];\n"
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" solverBody->m_deltaLinearVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
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" solverBody->m_deltaAngularVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
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" solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
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" solverBody->m_pushVelocity = (float4)(0.f,0.f,0.f,0.f);\n"
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" solverBody->m_invMass = (float4)(bodyCL->m_invMass,bodyCL->m_invMass,bodyCL->m_invMass,0.f);\n"
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" solverBody->m_originalBodyIndex = i;\n"
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" solverBody->m_angularFactor = (float4)(1,1,1,0);\n"
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" solverBody->m_linearFactor = (float4) (1,1,1,0);\n"
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" solverBody->m_linearVelocity = bodyCL->m_linVel;\n"
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" solverBody->m_angularVelocity = bodyCL->m_angVel;\n"
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"}\n"
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"__kernel void breakViolatedConstraintsKernel(__global b3GpuGenericConstraint* constraints, __global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, __global b3SolverConstraint* rows, int numConstraints)\n"
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"{\n"
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" int cid = get_global_id(0);\n"
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" if (cid>=numConstraints)\n"
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" return;\n"
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" int numRows = numConstraintRows[cid];\n"
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" if (numRows)\n"
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" {\n"
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" for (int i=0;i<numRows;i++)\n"
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" {\n"
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" int rowIndex = rowOffsets[cid]+i;\n"
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" float breakingThreshold = constraints[cid].m_breakingImpulseThreshold;\n"
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" if (fabs(rows[rowIndex].m_appliedImpulse) >= breakingThreshold)\n"
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" {\n"
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" constraints[cid].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;\n"
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" }\n"
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" }\n"
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" }\n"
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"}\n"
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"__kernel void getInfo1Kernel(__global unsigned int* infos, __global b3GpuGenericConstraint* constraints, int numConstraints)\n"
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"{\n"
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" int i = get_global_id(0);\n"
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|
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" if (i>=numConstraints)\n"
|
||
|
|
" return;\n"
|
||
|
|
" __global b3GpuGenericConstraint* constraint = &constraints[i];\n"
|
||
|
|
" switch (constraint->m_constraintType)\n"
|
||
|
|
" {\n"
|
||
|
|
" case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
|
||
|
|
" {\n"
|
||
|
|
" infos[i] = 3;\n"
|
||
|
|
" break;\n"
|
||
|
|
" }\n"
|
||
|
|
" case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
|
||
|
|
" {\n"
|
||
|
|
" infos[i] = 6;\n"
|
||
|
|
" break;\n"
|
||
|
|
" }\n"
|
||
|
|
" default:\n"
|
||
|
|
" {\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"__kernel void initBatchConstraintsKernel(__global unsigned int* numConstraintRows, __global unsigned int* rowOffsets, \n"
|
||
|
|
" __global b3BatchConstraint* batchConstraints, \n"
|
||
|
|
" __global b3GpuGenericConstraint* constraints,\n"
|
||
|
|
" __global b3RigidBodyCL* bodies,\n"
|
||
|
|
" int numConstraints)\n"
|
||
|
|
"{\n"
|
||
|
|
" int i = get_global_id(0);\n"
|
||
|
|
" if (i>=numConstraints)\n"
|
||
|
|
" return;\n"
|
||
|
|
" int rbA = constraints[i].m_rbA;\n"
|
||
|
|
" int rbB = constraints[i].m_rbB;\n"
|
||
|
|
" batchConstraints[i].m_bodyAPtrAndSignBit = bodies[rbA].m_invMass != 0.f ? rbA : -rbA;\n"
|
||
|
|
" batchConstraints[i].m_bodyBPtrAndSignBit = bodies[rbB].m_invMass != 0.f ? rbB : -rbB;\n"
|
||
|
|
" batchConstraints[i].m_batchId = -1;\n"
|
||
|
|
" batchConstraints[i].m_originalConstraintIndex = i;\n"
|
||
|
|
"}\n"
|
||
|
|
"typedef struct\n"
|
||
|
|
"{\n"
|
||
|
|
" // integrator parameters: frames per second (1/stepsize), default error\n"
|
||
|
|
" // reduction parameter (0..1).\n"
|
||
|
|
" float fps,erp;\n"
|
||
|
|
" // for the first and second body, pointers to two (linear and angular)\n"
|
||
|
|
" // n*3 jacobian sub matrices, stored by rows. these matrices will have\n"
|
||
|
|
" // been initialized to 0 on entry. if the second body is zero then the\n"
|
||
|
|
" // J2xx pointers may be 0.\n"
|
||
|
|
" union \n"
|
||
|
|
" {\n"
|
||
|
|
" __global float4* m_J1linearAxisFloat4;\n"
|
||
|
|
" __global float* m_J1linearAxis;\n"
|
||
|
|
" };\n"
|
||
|
|
" union\n"
|
||
|
|
" {\n"
|
||
|
|
" __global float4* m_J1angularAxisFloat4;\n"
|
||
|
|
" __global float* m_J1angularAxis;\n"
|
||
|
|
" };\n"
|
||
|
|
" union\n"
|
||
|
|
" {\n"
|
||
|
|
" __global float4* m_J2linearAxisFloat4;\n"
|
||
|
|
" __global float* m_J2linearAxis;\n"
|
||
|
|
" };\n"
|
||
|
|
" union\n"
|
||
|
|
" {\n"
|
||
|
|
" __global float4* m_J2angularAxisFloat4;\n"
|
||
|
|
" __global float* m_J2angularAxis;\n"
|
||
|
|
" };\n"
|
||
|
|
" // elements to jump from one row to the next in J's\n"
|
||
|
|
" int rowskip;\n"
|
||
|
|
" // right hand sides of the equation J*v = c + cfm * lambda. cfm is the\n"
|
||
|
|
" // \"constraint force mixing\" vector. c is set to zero on entry, cfm is\n"
|
||
|
|
" // set to a constant value (typically very small or zero) value on entry.\n"
|
||
|
|
" __global float* m_constraintError;\n"
|
||
|
|
" __global float* cfm;\n"
|
||
|
|
" // lo and hi limits for variables (set to -/+ infinity on entry).\n"
|
||
|
|
" __global float* m_lowerLimit;\n"
|
||
|
|
" __global float* m_upperLimit;\n"
|
||
|
|
" // findex vector for variables. see the LCP solver interface for a\n"
|
||
|
|
" // description of what this does. this is set to -1 on entry.\n"
|
||
|
|
" // note that the returned indexes are relative to the first index of\n"
|
||
|
|
" // the constraint.\n"
|
||
|
|
" __global int *findex;\n"
|
||
|
|
" // number of solver iterations\n"
|
||
|
|
" int m_numIterations;\n"
|
||
|
|
" //damping of the velocity\n"
|
||
|
|
" float m_damping;\n"
|
||
|
|
"} b3GpuConstraintInfo2;\n"
|
||
|
|
"void getSkewSymmetricMatrix(float4 vecIn, __global float4* v0,__global float4* v1,__global float4* v2)\n"
|
||
|
|
"{\n"
|
||
|
|
" *v0 = (float4)(0. ,-vecIn.z ,vecIn.y,0.f);\n"
|
||
|
|
" *v1 = (float4)(vecIn.z ,0. ,-vecIn.x,0.f);\n"
|
||
|
|
" *v2 = (float4)(-vecIn.y ,vecIn.x ,0.f,0.f);\n"
|
||
|
|
"}\n"
|
||
|
|
"void getInfo2Point2Point(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies)\n"
|
||
|
|
"{\n"
|
||
|
|
" float4 posA = bodies[constraint->m_rbA].m_pos;\n"
|
||
|
|
" Quaternion rotA = bodies[constraint->m_rbA].m_quat;\n"
|
||
|
|
" float4 posB = bodies[constraint->m_rbB].m_pos;\n"
|
||
|
|
" Quaternion rotB = bodies[constraint->m_rbB].m_quat;\n"
|
||
|
|
" // anchor points in global coordinates with respect to body PORs.\n"
|
||
|
|
" \n"
|
||
|
|
" // set jacobian\n"
|
||
|
|
" info->m_J1linearAxis[0] = 1;\n"
|
||
|
|
" info->m_J1linearAxis[info->rowskip+1] = 1;\n"
|
||
|
|
" info->m_J1linearAxis[2*info->rowskip+2] = 1;\n"
|
||
|
|
" float4 a1 = qtRotate(rotA,constraint->m_pivotInA);\n"
|
||
|
|
" {\n"
|
||
|
|
" __global float4* angular0 = (__global float4*)(info->m_J1angularAxis);\n"
|
||
|
|
" __global float4* angular1 = (__global float4*)(info->m_J1angularAxis+info->rowskip);\n"
|
||
|
|
" __global float4* angular2 = (__global float4*)(info->m_J1angularAxis+2*info->rowskip);\n"
|
||
|
|
" float4 a1neg = -a1;\n"
|
||
|
|
" getSkewSymmetricMatrix(a1neg,angular0,angular1,angular2);\n"
|
||
|
|
" }\n"
|
||
|
|
" if (info->m_J2linearAxis)\n"
|
||
|
|
" {\n"
|
||
|
|
" info->m_J2linearAxis[0] = -1;\n"
|
||
|
|
" info->m_J2linearAxis[info->rowskip+1] = -1;\n"
|
||
|
|
" info->m_J2linearAxis[2*info->rowskip+2] = -1;\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
" float4 a2 = qtRotate(rotB,constraint->m_pivotInB);\n"
|
||
|
|
" \n"
|
||
|
|
" {\n"
|
||
|
|
" // float4 a2n = -a2;\n"
|
||
|
|
" __global float4* angular0 = (__global float4*)(info->m_J2angularAxis);\n"
|
||
|
|
" __global float4* angular1 = (__global float4*)(info->m_J2angularAxis+info->rowskip);\n"
|
||
|
|
" __global float4* angular2 = (__global float4*)(info->m_J2angularAxis+2*info->rowskip);\n"
|
||
|
|
" getSkewSymmetricMatrix(a2,angular0,angular1,angular2);\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
" // set right hand side\n"
|
||
|
|
"// float currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp;\n"
|
||
|
|
" float currERP = info->erp;\n"
|
||
|
|
" float k = info->fps * currERP;\n"
|
||
|
|
" int j;\n"
|
||
|
|
" float4 result = a2 + posB - a1 - posA;\n"
|
||
|
|
" float* resultPtr = &result;\n"
|
||
|
|
" for (j=0; j<3; j++)\n"
|
||
|
|
" {\n"
|
||
|
|
" info->m_constraintError[j*info->rowskip] = k * (resultPtr[j]);\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"Quaternion nearest( Quaternion first, Quaternion qd)\n"
|
||
|
|
"{\n"
|
||
|
|
" Quaternion diff,sum;\n"
|
||
|
|
" diff = first- qd;\n"
|
||
|
|
" sum = first + qd;\n"
|
||
|
|
" \n"
|
||
|
|
" if( dot(diff,diff) < dot(sum,sum) )\n"
|
||
|
|
" return qd;\n"
|
||
|
|
" return (-qd);\n"
|
||
|
|
"}\n"
|
||
|
|
"float b3Acos(float x) \n"
|
||
|
|
"{ \n"
|
||
|
|
" if (x<-1) \n"
|
||
|
|
" x=-1; \n"
|
||
|
|
" if (x>1) \n"
|
||
|
|
" x=1;\n"
|
||
|
|
" return acos(x); \n"
|
||
|
|
"}\n"
|
||
|
|
"float getAngle(Quaternion orn)\n"
|
||
|
|
"{\n"
|
||
|
|
" if (orn.w>=1.f)\n"
|
||
|
|
" orn.w=1.f;\n"
|
||
|
|
" float s = 2.f * b3Acos(orn.w);\n"
|
||
|
|
" return s;\n"
|
||
|
|
"}\n"
|
||
|
|
"void calculateDiffAxisAngleQuaternion( Quaternion orn0,Quaternion orn1a,float4* axis,float* angle)\n"
|
||
|
|
"{\n"
|
||
|
|
" Quaternion orn1 = nearest(orn0,orn1a);\n"
|
||
|
|
" \n"
|
||
|
|
" Quaternion dorn = qtMul(orn1,qtInvert(orn0));\n"
|
||
|
|
" *angle = getAngle(dorn);\n"
|
||
|
|
" *axis = (float4)(dorn.x,dorn.y,dorn.z,0.f);\n"
|
||
|
|
" \n"
|
||
|
|
" //check for axis length\n"
|
||
|
|
" float len = dot3F4(*axis,*axis);\n"
|
||
|
|
" if (len < FLT_EPSILON*FLT_EPSILON)\n"
|
||
|
|
" *axis = (float4)(1,0,0,0);\n"
|
||
|
|
" else\n"
|
||
|
|
" *axis /= sqrt(len);\n"
|
||
|
|
"}\n"
|
||
|
|
"void getInfo2FixedOrientation(__global b3GpuGenericConstraint* constraint,b3GpuConstraintInfo2* info,__global b3RigidBodyCL* bodies, int start_row)\n"
|
||
|
|
"{\n"
|
||
|
|
" Quaternion worldOrnA = bodies[constraint->m_rbA].m_quat;\n"
|
||
|
|
" Quaternion worldOrnB = bodies[constraint->m_rbB].m_quat;\n"
|
||
|
|
" int s = info->rowskip;\n"
|
||
|
|
" int start_index = start_row * s;\n"
|
||
|
|
" // 3 rows to make body rotations equal\n"
|
||
|
|
" info->m_J1angularAxis[start_index] = 1;\n"
|
||
|
|
" info->m_J1angularAxis[start_index + s + 1] = 1;\n"
|
||
|
|
" info->m_J1angularAxis[start_index + s*2+2] = 1;\n"
|
||
|
|
" if ( info->m_J2angularAxis)\n"
|
||
|
|
" {\n"
|
||
|
|
" info->m_J2angularAxis[start_index] = -1;\n"
|
||
|
|
" info->m_J2angularAxis[start_index + s+1] = -1;\n"
|
||
|
|
" info->m_J2angularAxis[start_index + s*2+2] = -1;\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
" float currERP = info->erp;\n"
|
||
|
|
" float k = info->fps * currERP;\n"
|
||
|
|
" float4 diff;\n"
|
||
|
|
" float angle;\n"
|
||
|
|
" float4 qrelCur = qtMul(worldOrnA,qtInvert(worldOrnB));\n"
|
||
|
|
" \n"
|
||
|
|
" calculateDiffAxisAngleQuaternion(constraint->m_relTargetAB,qrelCur,&diff,&angle);\n"
|
||
|
|
" diff*=-angle;\n"
|
||
|
|
" \n"
|
||
|
|
" float* resultPtr = &diff;\n"
|
||
|
|
" \n"
|
||
|
|
" for (int j=0; j<3; j++)\n"
|
||
|
|
" {\n"
|
||
|
|
" info->m_constraintError[(3+j)*info->rowskip] = k * resultPtr[j];\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
"}\n"
|
||
|
|
"__kernel void writeBackVelocitiesKernel(__global b3RigidBodyCL* bodies,__global b3GpuSolverBody* solverBodies,int numBodies)\n"
|
||
|
|
"{\n"
|
||
|
|
" int i = get_global_id(0);\n"
|
||
|
|
" if (i>=numBodies)\n"
|
||
|
|
" return;\n"
|
||
|
|
" if (bodies[i].m_invMass)\n"
|
||
|
|
" {\n"
|
||
|
|
"// if (length(solverBodies[i].m_deltaLinearVelocity)<MOTIONCLAMP)\n"
|
||
|
|
" {\n"
|
||
|
|
" bodies[i].m_linVel += solverBodies[i].m_deltaLinearVelocity;\n"
|
||
|
|
" }\n"
|
||
|
|
"// if (length(solverBodies[i].m_deltaAngularVelocity)<MOTIONCLAMP)\n"
|
||
|
|
" {\n"
|
||
|
|
" bodies[i].m_angVel += solverBodies[i].m_deltaAngularVelocity;\n"
|
||
|
|
" } \n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
"__kernel void getInfo2Kernel(__global b3SolverConstraint* solverConstraintRows, \n"
|
||
|
|
" __global unsigned int* infos, \n"
|
||
|
|
" __global unsigned int* constraintRowOffsets, \n"
|
||
|
|
" __global b3GpuGenericConstraint* constraints, \n"
|
||
|
|
" __global b3BatchConstraint* batchConstraints, \n"
|
||
|
|
" __global b3RigidBodyCL* bodies,\n"
|
||
|
|
" __global BodyInertia* inertias,\n"
|
||
|
|
" __global b3GpuSolverBody* solverBodies,\n"
|
||
|
|
" float timeStep,\n"
|
||
|
|
" float globalErp,\n"
|
||
|
|
" float globalCfm,\n"
|
||
|
|
" float globalDamping,\n"
|
||
|
|
" int globalNumIterations,\n"
|
||
|
|
" int numConstraints)\n"
|
||
|
|
"{\n"
|
||
|
|
" int i = get_global_id(0);\n"
|
||
|
|
" if (i>=numConstraints)\n"
|
||
|
|
" return;\n"
|
||
|
|
" \n"
|
||
|
|
" //for now, always initialize the batch info\n"
|
||
|
|
" int info1 = infos[i];\n"
|
||
|
|
" \n"
|
||
|
|
" __global b3SolverConstraint* currentConstraintRow = &solverConstraintRows[constraintRowOffsets[i]];\n"
|
||
|
|
" __global b3GpuGenericConstraint* constraint = &constraints[i];\n"
|
||
|
|
" __global b3RigidBodyCL* rbA = &bodies[ constraint->m_rbA];\n"
|
||
|
|
" __global b3RigidBodyCL* rbB = &bodies[ constraint->m_rbB];\n"
|
||
|
|
" int solverBodyIdA = constraint->m_rbA;\n"
|
||
|
|
" int solverBodyIdB = constraint->m_rbB;\n"
|
||
|
|
" __global b3GpuSolverBody* bodyAPtr = &solverBodies[solverBodyIdA];\n"
|
||
|
|
" __global b3GpuSolverBody* bodyBPtr = &solverBodies[solverBodyIdB];\n"
|
||
|
|
" if (rbA->m_invMass)\n"
|
||
|
|
" {\n"
|
||
|
|
" batchConstraints[i].m_bodyAPtrAndSignBit = solverBodyIdA;\n"
|
||
|
|
" } else\n"
|
||
|
|
" {\n"
|
||
|
|
"// if (!solverBodyIdA)\n"
|
||
|
|
"// m_staticIdx = 0;\n"
|
||
|
|
" batchConstraints[i].m_bodyAPtrAndSignBit = -solverBodyIdA;\n"
|
||
|
|
" }\n"
|
||
|
|
" if (rbB->m_invMass)\n"
|
||
|
|
" {\n"
|
||
|
|
" batchConstraints[i].m_bodyBPtrAndSignBit = solverBodyIdB;\n"
|
||
|
|
" } else\n"
|
||
|
|
" {\n"
|
||
|
|
"// if (!solverBodyIdB)\n"
|
||
|
|
"// m_staticIdx = 0;\n"
|
||
|
|
" batchConstraints[i].m_bodyBPtrAndSignBit = -solverBodyIdB;\n"
|
||
|
|
" }\n"
|
||
|
|
" if (info1)\n"
|
||
|
|
" {\n"
|
||
|
|
" int overrideNumSolverIterations = 0;//constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;\n"
|
||
|
|
"// if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)\n"
|
||
|
|
" // m_maxOverrideNumSolverIterations = overrideNumSolverIterations;\n"
|
||
|
|
" int j;\n"
|
||
|
|
" for ( j=0;j<info1;j++)\n"
|
||
|
|
" {\n"
|
||
|
|
"// memset(¤tConstraintRow[j],0,sizeof(b3SolverConstraint));\n"
|
||
|
|
" currentConstraintRow[j].m_angularComponentA = (float4)(0,0,0,0);\n"
|
||
|
|
" currentConstraintRow[j].m_angularComponentB = (float4)(0,0,0,0);\n"
|
||
|
|
" currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_cfm = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_contactNormal = (float4)(0,0,0,0);\n"
|
||
|
|
" currentConstraintRow[j].m_friction = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_frictionIndex = 0;\n"
|
||
|
|
" currentConstraintRow[j].m_jacDiagABInv = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_lowerLimit = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_upperLimit = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_originalConstraint = i;\n"
|
||
|
|
" currentConstraintRow[j].m_overrideNumSolverIterations = 0;\n"
|
||
|
|
" currentConstraintRow[j].m_relpos1CrossNormal = (float4)(0,0,0,0);\n"
|
||
|
|
" currentConstraintRow[j].m_relpos2CrossNormal = (float4)(0,0,0,0);\n"
|
||
|
|
" currentConstraintRow[j].m_rhs = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_rhsPenetration = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_solverBodyIdA = 0;\n"
|
||
|
|
" currentConstraintRow[j].m_solverBodyIdB = 0;\n"
|
||
|
|
" \n"
|
||
|
|
" currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;\n"
|
||
|
|
" currentConstraintRow[j].m_upperLimit = B3_INFINITY;\n"
|
||
|
|
" currentConstraintRow[j].m_appliedImpulse = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_appliedPushImpulse = 0.f;\n"
|
||
|
|
" currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;\n"
|
||
|
|
" currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;\n"
|
||
|
|
" currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations; \n"
|
||
|
|
" }\n"
|
||
|
|
" bodyAPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
|
||
|
|
" bodyAPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
|
||
|
|
" bodyAPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
|
||
|
|
" bodyAPtr->m_turnVelocity = (float4)(0,0,0,0);\n"
|
||
|
|
" bodyBPtr->m_deltaLinearVelocity = (float4)(0,0,0,0);\n"
|
||
|
|
" bodyBPtr->m_deltaAngularVelocity = (float4)(0,0,0,0);\n"
|
||
|
|
" bodyBPtr->m_pushVelocity = (float4)(0,0,0,0);\n"
|
||
|
|
" bodyBPtr->m_turnVelocity = (float4)(0,0,0,0);\n"
|
||
|
|
" int rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
|
||
|
|
" \n"
|
||
|
|
" b3GpuConstraintInfo2 info2;\n"
|
||
|
|
" info2.fps = 1.f/timeStep;\n"
|
||
|
|
" info2.erp = globalErp;\n"
|
||
|
|
" info2.m_J1linearAxisFloat4 = ¤tConstraintRow->m_contactNormal;\n"
|
||
|
|
" info2.m_J1angularAxisFloat4 = ¤tConstraintRow->m_relpos1CrossNormal;\n"
|
||
|
|
" info2.m_J2linearAxisFloat4 = 0;\n"
|
||
|
|
" info2.m_J2angularAxisFloat4 = ¤tConstraintRow->m_relpos2CrossNormal;\n"
|
||
|
|
" info2.rowskip = sizeof(b3SolverConstraint)/sizeof(float);//check this\n"
|
||
|
|
" ///the size of b3SolverConstraint needs be a multiple of float\n"
|
||
|
|
"// b3Assert(info2.rowskip*sizeof(float)== sizeof(b3SolverConstraint));\n"
|
||
|
|
" info2.m_constraintError = ¤tConstraintRow->m_rhs;\n"
|
||
|
|
" currentConstraintRow->m_cfm = globalCfm;\n"
|
||
|
|
" info2.m_damping = globalDamping;\n"
|
||
|
|
" info2.cfm = ¤tConstraintRow->m_cfm;\n"
|
||
|
|
" info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit;\n"
|
||
|
|
" info2.m_upperLimit = ¤tConstraintRow->m_upperLimit;\n"
|
||
|
|
" info2.m_numIterations = globalNumIterations;\n"
|
||
|
|
" switch (constraint->m_constraintType)\n"
|
||
|
|
" {\n"
|
||
|
|
" case B3_GPU_POINT2POINT_CONSTRAINT_TYPE:\n"
|
||
|
|
" {\n"
|
||
|
|
" getInfo2Point2Point(constraint,&info2,bodies);\n"
|
||
|
|
" break;\n"
|
||
|
|
" }\n"
|
||
|
|
" case B3_GPU_FIXED_CONSTRAINT_TYPE:\n"
|
||
|
|
" {\n"
|
||
|
|
" getInfo2Point2Point(constraint,&info2,bodies);\n"
|
||
|
|
" getInfo2FixedOrientation(constraint,&info2,bodies,3);\n"
|
||
|
|
" break;\n"
|
||
|
|
" }\n"
|
||
|
|
" default:\n"
|
||
|
|
" {\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
" ///finalize the constraint setup\n"
|
||
|
|
" for ( j=0;j<info1;j++)\n"
|
||
|
|
" {\n"
|
||
|
|
" __global b3SolverConstraint* solverConstraint = ¤tConstraintRow[j];\n"
|
||
|
|
" if (solverConstraint->m_upperLimit>=constraint->m_breakingImpulseThreshold)\n"
|
||
|
|
" {\n"
|
||
|
|
" solverConstraint->m_upperLimit = constraint->m_breakingImpulseThreshold;\n"
|
||
|
|
" }\n"
|
||
|
|
" if (solverConstraint->m_lowerLimit<=-constraint->m_breakingImpulseThreshold)\n"
|
||
|
|
" {\n"
|
||
|
|
" solverConstraint->m_lowerLimit = -constraint->m_breakingImpulseThreshold;\n"
|
||
|
|
" }\n"
|
||
|
|
"// solverConstraint->m_originalContactPoint = constraint;\n"
|
||
|
|
" \n"
|
||
|
|
" Matrix3x3 invInertiaWorldA= inertias[constraint->m_rbA].m_invInertiaWorld;\n"
|
||
|
|
" {\n"
|
||
|
|
" //float4 angularFactorA(1,1,1);\n"
|
||
|
|
" float4 ftorqueAxis1 = solverConstraint->m_relpos1CrossNormal;\n"
|
||
|
|
" solverConstraint->m_angularComponentA = mtMul1(invInertiaWorldA,ftorqueAxis1);//*angularFactorA;\n"
|
||
|
|
" }\n"
|
||
|
|
" \n"
|
||
|
|
" Matrix3x3 invInertiaWorldB= inertias[constraint->m_rbB].m_invInertiaWorld;\n"
|
||
|
|
" {\n"
|
||
|
|
" float4 ftorqueAxis2 = solverConstraint->m_relpos2CrossNormal;\n"
|
||
|
|
" solverConstraint->m_angularComponentB = mtMul1(invInertiaWorldB,ftorqueAxis2);//*constraint->m_rbB.getAngularFactor();\n"
|
||
|
|
" }\n"
|
||
|
|
" {\n"
|
||
|
|
" //it is ok to use solverConstraint->m_contactNormal instead of -solverConstraint->m_contactNormal\n"
|
||
|
|
" //because it gets multiplied iMJlB\n"
|
||
|
|
" float4 iMJlA = solverConstraint->m_contactNormal*rbA->m_invMass;\n"
|
||
|
|
" float4 iMJaA = mtMul3(solverConstraint->m_relpos1CrossNormal,invInertiaWorldA);\n"
|
||
|
|
" float4 iMJlB = solverConstraint->m_contactNormal*rbB->m_invMass;//sign of normal?\n"
|
||
|
|
" float4 iMJaB = mtMul3(solverConstraint->m_relpos2CrossNormal,invInertiaWorldB);\n"
|
||
|
|
" float sum = dot3F4(iMJlA,solverConstraint->m_contactNormal);\n"
|
||
|
|
" sum += dot3F4(iMJaA,solverConstraint->m_relpos1CrossNormal);\n"
|
||
|
|
" sum += dot3F4(iMJlB,solverConstraint->m_contactNormal);\n"
|
||
|
|
" sum += dot3F4(iMJaB,solverConstraint->m_relpos2CrossNormal);\n"
|
||
|
|
" float fsum = fabs(sum);\n"
|
||
|
|
" if (fsum>FLT_EPSILON)\n"
|
||
|
|
" {\n"
|
||
|
|
" solverConstraint->m_jacDiagABInv = 1.f/sum;\n"
|
||
|
|
" } else\n"
|
||
|
|
" {\n"
|
||
|
|
" solverConstraint->m_jacDiagABInv = 0.f;\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
" ///fix rhs\n"
|
||
|
|
" ///todo: add force/torque accelerators\n"
|
||
|
|
" {\n"
|
||
|
|
" float rel_vel;\n"
|
||
|
|
" float vel1Dotn = dot3F4(solverConstraint->m_contactNormal,rbA->m_linVel) + dot3F4(solverConstraint->m_relpos1CrossNormal,rbA->m_angVel);\n"
|
||
|
|
" float vel2Dotn = -dot3F4(solverConstraint->m_contactNormal,rbB->m_linVel) + dot3F4(solverConstraint->m_relpos2CrossNormal,rbB->m_angVel);\n"
|
||
|
|
" rel_vel = vel1Dotn+vel2Dotn;\n"
|
||
|
|
" float restitution = 0.f;\n"
|
||
|
|
" float positionalError = solverConstraint->m_rhs;//already filled in by getConstraintInfo2\n"
|
||
|
|
" float velocityError = restitution - rel_vel * info2.m_damping;\n"
|
||
|
|
" float penetrationImpulse = positionalError*solverConstraint->m_jacDiagABInv;\n"
|
||
|
|
" float velocityImpulse = velocityError *solverConstraint->m_jacDiagABInv;\n"
|
||
|
|
" solverConstraint->m_rhs = penetrationImpulse+velocityImpulse;\n"
|
||
|
|
" solverConstraint->m_appliedImpulse = 0.f;\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
" }\n"
|
||
|
|
"}\n"
|
||
|
|
;
|