79 lines
3.6 KiB
C++
79 lines
3.6 KiB
C++
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/*
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Copyright (c) 2013 Advanced Micro Devices, Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//Originally written by Erwin Coumans
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#ifndef B3_GPU_PGS_CONSTRAINT_SOLVER_H
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#define B3_GPU_PGS_CONSTRAINT_SOLVER_H
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struct b3Contact4;
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struct b3ContactPoint;
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class b3Dispatcher;
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#include "Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h"
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#include "Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h"
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#include "b3GpuSolverBody.h"
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#include "b3GpuSolverConstraint.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
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struct b3RigidBodyData;
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struct b3InertiaData;
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#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
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#include "b3GpuGenericConstraint.h"
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class b3GpuPgsConstraintSolver
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{
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protected:
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int m_staticIdx;
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struct b3GpuPgsJacobiSolverInternalData* m_gpuData;
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protected:
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b3AlignedObjectArray<b3GpuSolverBody> m_tmpSolverBodyPool;
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b3GpuConstraintArray m_tmpSolverContactConstraintPool;
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b3GpuConstraintArray m_tmpSolverNonContactConstraintPool;
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b3GpuConstraintArray m_tmpSolverContactFrictionConstraintPool;
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b3GpuConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
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b3AlignedObjectArray<unsigned int> m_tmpConstraintSizesPool;
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bool m_usePgs;
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void averageVelocities();
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int m_maxOverrideNumSolverIterations;
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int m_numSplitImpulseRecoveries;
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// int getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias);
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void initSolverBody(int bodyIndex, b3GpuSolverBody* solverBody, b3RigidBodyData* rb);
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public:
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b3GpuPgsConstraintSolver (cl_context ctx, cl_device_id device, cl_command_queue queue,bool usePgs);
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virtual~b3GpuPgsConstraintSolver ();
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virtual b3Scalar solveGroupCacheFriendlyIterations(b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints1,int numConstraints,const b3ContactSolverInfo& infoGlobal);
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virtual b3Scalar solveGroupCacheFriendlySetup(b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
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b3Scalar solveGroupCacheFriendlyFinish(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias,int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
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b3Scalar solveGroup(b3OpenCLArray<b3RigidBodyData>* gpuBodies,b3OpenCLArray<b3InertiaData>* gpuInertias, int numBodies,b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints,int numConstraints,const b3ContactSolverInfo& infoGlobal);
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void solveJoints(int numBodies, b3OpenCLArray<b3RigidBodyData>* gpuBodies, b3OpenCLArray<b3InertiaData>* gpuInertias,
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int numConstraints, b3OpenCLArray<b3GpuGenericConstraint>* gpuConstraints);
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int sortConstraintByBatch3( struct b3BatchConstraint* cs, int numConstraints, int simdWidth , int staticIdx, int numBodies);
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void recomputeBatches();
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};
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#endif //B3_GPU_PGS_CONSTRAINT_SOLVER_H
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